JP2006250565A - Navigation device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device and a method capable of improving accuracy of guide of right/left turn or the like at a crossing or the like wherein an actual road shape is different from a stored content. <P>SOLUTION: This navigation device 1 determines a route to a destination, and guides a vehicle along the determined route. When an own vehicle approaches a node spot having a branched road in the calculated route, the navigation device 1 determines in which direction the vehicle is to be advanced from the node spot from map information stored beforehand. Then, the navigation device 1 presents the determined direction to a driver. When the presented direction is different from a direction in which own vehicle has traveled, the navigation device 1 stores the direction in which own vehicle has actually traveled correlatively with the node spot. When own vehicle travels again via the stored node spot, the navigation device 1 determines the direction in which the vehicle is to be advanced from the stored direction in addition to the map information stored beforehand, and presents it. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a navigation apparatus and method.

Conventionally, a straight line extending in the direction of the approach node from the guidance target intersection node on the guidance route is used as a reference direction, and the angle range around the intersection based on this reference direction is defined as a linear direction angle range, a right turn direction angle range, and a left turn direction. There is known a navigation device that divides into angular ranges and determines whether to make a straight turn, right turn, or left turn guidance at an intersection depending on which angle range the direction connecting the guidance target intersection node and the escape node belongs to. (For example, refer to Patent Document 1).
Japanese Patent No. 3056816

  However, since the conventional navigation apparatus determines whether to go straight, turn right, or turn left based on the contents of the map database stored in advance, the actual road shape differs from the stored contents. In such cases, there is a possibility that it is not guided accurately.

  The present invention has been made to solve such a conventional problem, and the object of the present invention is to improve the accuracy of guidance such as turning left and right at an intersection where the actual road shape and stored contents are different. It is an object of the present invention to provide a navigation apparatus and method that can be performed.

  The navigation device of the present invention obtains a route to a destination and guides the vehicle according to the obtained route. The navigation device includes a first storage means, a route calculation means, a traveling direction determination means, a presentation means, 2 storage means. The first storage means stores map information, and the route calculation means calculates a route to the destination from the map information stored by the first storage means. Further, the traveling direction determination means determines the node point from the map information stored in the first storage means when the host vehicle approaches the node point having a branch road among the routes calculated by the route calculation means. This is to determine which direction to proceed. The presenting means presents the direction determined by the traveling direction determining means to the driver. The second storage means stores the direction in which the host vehicle actually traveled in association with the node point when the direction presented by the presenting unit is different from the direction in which the host vehicle actually traveled. Further, the traveling direction determination means determines the direction to travel from the direction stored in the second storage means when the host vehicle travels again at the node point.

  According to the present invention, even if the stored map information does not match the actual road information, if the vehicle has traveled in a direction that is not in the map information in the past, the direction in which the vehicle traveled at that time is stored. Therefore, it will be used for subsequent processing. As a result, it is possible to reduce the possibility of erroneous guidance when traveling again at an intersection or the like where the actual road shape differs from the stored content. Accordingly, it is possible to improve the accuracy of guidance such as turning left or right at an intersection or the like where the actual road shape differs from the stored content.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described with reference to the drawings.

  FIG. 1 is a configuration diagram of a navigation device according to the first embodiment of the present invention. As shown in FIG. 1, the navigation apparatus 1 according to the first embodiment obtains a route to a destination and guides the vehicle according to the obtained route. The navigation device 1 includes a first storage unit (first storage unit) 10, a map processing unit 11, a position detection unit 12, an orientation detection unit 13, a speed detection unit 14, a control unit 20, an audio output unit 30, and an internal memory. 40.

  The first storage unit 10 is configured by, for example, a CD-ROM, and stores map information including various road information such as intersection position data, and data such as voice information necessary for route guidance. Yes. In the first storage unit 10, data is read by the map processing unit 11, and the read data is input to the control unit 20.

  The position detection unit 12 is configured by, for example, a GPS receiver, and detects the latitude and longitude of the current location of the vehicle, that is, current location information, based on a signal received from the antenna 12a. The azimuth detecting unit 13 detects a change in azimuth accompanying the traveling of the host vehicle, and is configured by, for example, a geomagnetic sensor or a gyro. Moreover, the speed detection part 14 detects the speed of the own vehicle, for example, is provided including the sensor etc. which are provided in the vicinity of a wheel and detect rotation of a wheel. Further, these detection units 12 to 14 are connected to the control unit 20 and transmit the detected information to the control unit 20.

  Based on the input information, the control unit 20 obtains a route to the destination, or instructs the voice output unit 30 to output a voice at the time of route guidance. The voice output unit 30 is configured to provide route guidance to the driver by voice. For example, the voice output unit 30 is configured to voice-notify the driver of directions such as a left turn or a right turn when approaching an intersection.

  Here, detailed configurations of the control unit 20 and the internal memory 40 will be described. The control unit 20 includes a route calculation unit (route calculation unit) 21, a guidance information processing unit (traveling direction determination unit) 22, a map matching processing unit 23, a target intersection determination unit 24, a guidance content comparison unit 25, a guidance It consists of a content setting unit 26. The internal memory 40 includes a recommended route storage unit 41 and a guidance content storage unit 42.

  The route calculation unit 21 calculates a route to the destination from the map information stored in the first storage unit 10. Specifically, the route calculation unit 21 calculates a recommended route from the start point node to the end point node based on the Dijkstra method or the like, with the current location detected by the position detection unit 12 as the start point node and the destination as the end point node. It is the composition to do. The route calculation unit 21 is connected to the internal memory 40 and is configured to transmit the calculated route information to the internal memory 40.

  The recommended route storage unit 41 of the internal memory 40 reads the route information from the route calculation unit 21 and temporarily stores it. The recommended route storage unit 41 is configured to store a new route when a new route is calculated by the route calculation unit 21.

  The guidance content storage unit 42 stores guidance content obtained from the route information stored in the recommended route storage unit 41. Here, the guidance content means at least two of information on a node point having a branch path and information on a direction having a branch path at the node point.

  The guidance information processing unit 22 of the control unit 20 determines in which direction the node point should proceed when the host vehicle approaches the node point based on the guidance content stored in the guidance content storage unit 42. It is. The guidance information processing unit 22 is connected to the voice output unit 30 and transmits information on the determined traveling direction to the voice output unit 30. Thereby, the voice output unit 30 presents the traveling direction determined by the guidance information processing unit 22 to the driver.

  Further, the map matching processing unit 23 of the control unit 20 includes an estimated position estimated from the azimuth data and speed data detected by the azimuth detecting unit 13 and the speed detecting unit 14, and a positioning position detected by the position detecting unit 12. Is the current position of the vehicle, and this position is superimposed on the map information.

  The target intersection determination unit 24 determines whether or not the host vehicle is approaching a node point having a branch road such as an intersection based on the map matching result by the map matching processing unit 23.

  The navigation device 1 includes a steering angle input unit 50 and a nonvolatile memory (second storage means) 60. The steering angle input unit 50 is configured by, for example, a steering angle sensor that detects a rotation angle of the steering, and outputs a signal of an angle according to the rotation angle when a rotation torque is applied to the steering. The steering angle input unit 50 is connected to the guidance content comparison unit 25 and transmits a rotation angle signal to the guidance content comparison unit 25.

  The guidance content comparison unit 25 compares and determines whether or not the guidance direction output by the audio output unit 30 and the direction in which the host vehicle actually traveled differ when the host vehicle travels through a node point. . At the time of comparison judgment, the guidance content comparison unit 25 refers to data as shown in FIG.

  FIG. 2 is an explanatory diagram of directions and the like referred to by the guidance content comparison unit 25. (a) shows each direction, and (b) shows the direction between the road stored in the map information and the actual road. Show.

  As shown in FIG. 2, the navigation device 1 defines a direction within a range of about 20 ° in front of the vehicle 100 (region A) as a straight direction, as shown in FIG. Further, the navigation device 1 defines the direction within about 20 ° on the left side of the region A (region B) as the bear left direction, and the direction within about 20 ° on the right side of the region A (region C) as the bear light direction. It stipulates. Furthermore, the navigation device 1 defines the direction within the range of about 110 ° on the left side of the vehicle 100 (region D) as the left turn direction, and the direction within the range of about 110 ° on the right side of the vehicle 100 (region E) as the right turn direction. It stipulates. In addition, the navigation device 1 defines the direction within the range of about 40 ° left rear of the vehicle 100 (region F) as an acute left turn direction, and the direction within the range of about 40 ° right rear of the vehicle 100 (region G). It is defined as the U-turn direction.

  The guidance content comparison unit 25 compares and determines whether or not the guidance direction output by the audio output unit 30 and the direction in which the host vehicle actually traveled differ with reference to FIG. For this reason, as shown in FIG. 2B, when the own vehicle actually travels in the left turn direction even though the voice output direction is presented by the audio output unit 30 at the node point, the guidance content comparison unit 25 Determines that these directions are different.

  Reference is again made to FIG. When the direction presented by the audio output unit 30 is different from the direction in which the host vehicle actually traveled, the guidance content setting unit 26 associates the direction in which the host vehicle has actually traveled with the node point in accordance with the nonvolatile memory. 60 is stored. For this reason, when both directions differ, the non-volatile memory 60 will function as a memory | storage part which matches and memorize | stores the direction which the own vehicle actually drive | worked with the node point.

  The target intersection determination unit 24 also has a function of determining whether or not the subject vehicle has traveled in the past when it is determined that the host vehicle is approaching the node point. Furthermore, when the target intersection determination unit 24 determines that the node has traveled in the past, the content stored in the nonvolatile memory 60 is transmitted to the guidance information processing unit 22. Here, when the guidance direction presented in the past is different from the actual traveling direction, the nonvolatile memory 60 stores information on the actual traveling direction. For this reason, the guidance information processing unit 22 travels again at the node point, and when the guidance direction presented in the past and the actually traveled direction are different, the direction stored in the nonvolatile memory 60 is Therefore, the direction to proceed will be determined. On the other hand, if both directions are not different in the past, the guidance information processing unit 22 determines the direction to proceed from the map information because the direction information is not stored in the nonvolatile memory 60 for the node point. Become.

  Next, the navigation method according to the first embodiment will be described. FIG. 3 is an explanatory diagram of the navigation method according to the first embodiment. In the figure, a solid line indicates a recommended route calculated by the route calculation unit 21, and a broken line indicates a route on which the vehicle 100 actually travels.

  First, when the vehicle driver sets a destination, the route calculation unit 21 obtains a recommended route from the current location and the destination of the host vehicle 100 detected by the position detection unit 12 and the map information in the first storage unit 10 ( First step). The recommended route storage unit 41 of the internal memory 40 stores recommended route information. Further, the guidance content storage unit 42 stores information on the node points 101 to 103 obtained from the recommended route, and stores information on directions in which the node points 101 to 103 can travel based on the map information.

  Next, if the host vehicle 100 reaches the first node point 101, the guidance information processing unit 22 determines that the vehicle should turn right. At this time, since the host vehicle 100 has never traveled the first node point 101, the guidance information processing unit 22 determines the traveling direction at the first node point 101 from the map information (second step). Then, the guidance information processing unit 22 determines that the first node point 101 should be turned to the right and instructs the audio output unit 30 to present the right turn direction. Thereby, the voice output unit 30 presents a right turn (fourth step).

  The driver then operates the steering wheel to turn the vehicle to the right. At this time, the steering angle input unit 50 detects the steering angle and transmits it to the guidance content comparison unit 25. The guidance content comparison unit 25 determines whether or not the traveling direction of the host vehicle 100 indicated by the signal from the rudder angle input unit 50 matches the direction presented by the audio output unit 30. Here, since both match, the guidance content setting unit 26 does not store the direction information in the nonvolatile memory 60 for the first node point 101.

  Next, if the host vehicle 100 reaches the second node point 102, the guidance information processing unit 22 determines that the vehicle should turn left (second step), and instructs the audio output unit 30 to present the left turn direction. Thereby, the audio | voice output part 30 presents that it turns left (4th step).

  At this time, the steering angle input unit 50 detects the steering angle and transmits the detected steering angle to the guidance content comparison unit 25. The guidance content comparison unit 25 detects the traveling direction of the host vehicle 100 indicated by the signal from the steering angle input unit 50. Then, it is determined whether or not the direction presented by the voice output unit 30 matches. Here, since they are different, the guidance content setting unit 26 stores information on the bear left direction in the nonvolatile memory 60 for the second node point 102. Thereafter, the vehicle 100 reaches the destination via the third node point 103.

  Next, it is assumed that the host vehicle 100 tries to travel to the destination via the node points 101 to 103 again. Then, it is assumed that the host vehicle 100 reaches the first node point 101 again. At this time, since the direction presented in the past at the first node point 101 and the direction in which the host vehicle actually traveled are the same, the guidance information processing unit 22 should turn right at the first node point 101 from the map information. Is determined (second step). And the audio | voice output part 30 presents that it turns right (4th step).

  Next, it is assumed that the host vehicle 100 reaches the second node point 102 again. At this time, since the direction presented in the past at the second node point 102 and the direction in which the host vehicle actually traveled are different, the guidance information processing unit 22 determines the second from the map information and the content stored in the nonvolatile memory 60. It is determined that the node point 102 should travel in the bear left direction (third step). And the audio | voice output part 30 presents that it drive | works in a bear left direction (4th step).

  As described above, in the navigation method of the present embodiment, when the past presentation direction is different from the actual traveling direction, information on the actual traveling direction is stored and used for the subsequent traveling. . For this reason, the accuracy of guidance such as a right or left turn can be improved in the next and subsequent travels even at intersections where the actual road shape differs from the stored content.

  Next, the details of the navigation method according to the first embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing details of the navigation method according to the first embodiment. As shown in the figure, in the navigation device 1, the route calculation unit 21 obtains a recommended route, and the recommended route storage unit 41 stores the recommended route. Then, the guidance content storage unit 42 extracts node point information from the recommended route (ST1).

  Next, the target intersection determination unit 24 determines whether or not the approaching node point has traveled in the past (ST2). If it is determined that the vehicle has not traveled in the past (ST2: NO), the process proceeds to step ST4. On the other hand, when it is determined that the vehicle has traveled in the past (ST2: YES), the guidance information processing unit 22 determines whether or not the direction presented in the past and the actual travel direction are different for the node point. (ST3). If it is determined that the direction presented in the past is not different from the direction actually traveled (ST3: NO), the process proceeds to step ST4.

  In step ST4, the guidance information processing unit 22 determines a direction to proceed based on the map information, and the voice output unit 30 outputs a voice so as to proceed in the direction determined by the guidance information processing unit 22 (ST4). After that, the guidance content comparison unit 25 holds the voice guidance content output as a voice (ST5). Next, the steering angle input unit 50 detects the steering angle (ST6).

  And the guidance content comparison part 25 inputs the information of a steering angle, and judges whether the hold | maintained audio | voice guidance and a steering angle correspond (ST7). Here, when it is determined that they match (ST7: YES), the nonvolatile memory 60 does not store information on the direction in which the vehicle has actually traveled (ST8), and the process ends thereafter. If it is determined that they do not match (ST7: NO), the non-volatile memory 60 stores information on the direction in which the vehicle has actually traveled (ST9), and then the process ends.

  By the way, when it is determined that the direction presented in the past and the direction actually traveled are different (ST3: YES), information on the direction is stored in the nonvolatile memory 60 as shown in step ST9. For this reason, the guidance information processing unit 22 determines the direction to proceed based on the map information and the content stored in the nonvolatile memory 60, and the voice output unit 30 proceeds in the direction determined by the guidance information processing unit 22. Audio is output (ST10). Thereafter, the process ends.

  And the process of said step ST1-ST10 will be repeated until a vehicle power supply is turned off, for example.

  Thus, according to the navigation device 1 and the navigation method according to the present embodiment, when the direction presented at the node point is different from the direction in which the host vehicle actually traveled, the direction is stored and the node point is stored. When traveling again, the direction to travel is determined from the map information and the direction in which the host vehicle actually traveled. For this reason, even if the stored map information does not match the actual road information, if the host vehicle has traveled in a direction that does not exist in the map information in the past, the direction of travel at that time is stored, It will be used for subsequent processing. As a result, it is possible to reduce the possibility of erroneous guidance when traveling again at an intersection or the like where the actual road shape differs from the stored content. Accordingly, it is possible to improve the accuracy of guidance such as turning left or right at an intersection or the like where the actual road shape differs from the stored content.

  Next, a second embodiment of the present invention will be described. The navigation device 2 according to the second embodiment is the same as that of the first embodiment, but part of the processing content is different from that of the first embodiment. Hereinafter, differences from the first embodiment will be described.

  In the first embodiment, the non-volatile memory 60 associates the information of the node point with the direction in which the vehicle has actually traveled for the node point where the direction voice-guided by the voice output unit 30 and the direction in which the host vehicle actually traveled are different. I was going to remember it. On the other hand, in the second embodiment, the non-volatile memory 60 does not store the direction in which voice guidance is provided by the voice output unit 30 and the direction in which the host vehicle actually travels is different. In other words, the non-volatile memory 60 is actually used when the node point in which the both directions are different is a point where the host vehicle has deviated from the route in an attempt to travel the route calculated by the route calculation unit 21 in the past. The traveling direction and the node point are associated with each other and stored. In other words, the non-volatile memory 60 determines the actual traveling direction and its node point when the direction of voice guidance and the direction in which the host vehicle actually traveled differ for the node point that has been off the route in the past. Are stored in association with each other.

  Thereby, the detection error of the steering angle input part (detection means) 50 can be taken into consideration and stored in the nonvolatile memory 60. For example, when turning left substantially at a right angle at the intersection, the steering angle input unit 50 should detect an angle of 90 degrees. However, it is assumed that the rudder angle input unit 50 detects 60 degrees or the like due to a detection error. At this time, the non-volatile memory 60 of the first embodiment stores the direction of 60 degrees as the actual traveling direction. Therefore, the navigation device 1 according to the first embodiment will guide the direction of 60 degrees obtained by the detection error when the vehicle travels next at the intersection.

  However, in the navigation device 2 according to the second embodiment, the direction of the voice guidance and the direction detected by the rudder angle input unit 50 are different for the node points that have been off the route in the past. The direction detected by the input unit 50 and its node point are stored in association with each other. Here, the node point that has been off the route in the past is a point where the driver has made a mistake in driving, and therefore, the direction that is voice-guided at the node point and the direction indicated by the rudder angle input unit 50 Are different from each other, it is difficult to consider that this is a detection error of the rudder angle input unit 50. Therefore, for a node point that has been off the route in the past, if the direction that was voice-guided and the direction actually traveled are different, the actual travel direction and the node point are stored in association with each other. The nonvolatile memory 60 can be stored with high accuracy.

  Next, an outline of the operation of the navigation device according to the second embodiment will be described. First, the driver of the own vehicle sets a destination. And the own vehicle travels along the recommended route to the destination. However, it is assumed that the driver has traveled in a direction different from the recommended route when passing through a certain node point. At this time, the navigation device 1 detects that the vehicle is traveling off the recommended route, and stores information on the node point that has traveled in a direction different from the recommended route in the nonvolatile memory 60.

  Next, the navigation device 2 obtains a recommended route again at the next and subsequent travels, and provides voice guidance to the destination. Next, it is assumed that the own vehicle has reached a certain node point. At this time, the control unit 20 determines from the stored contents of the non-volatile memory 60 whether or not the node point has caused a path off in the past.

  If the node point where the host vehicle has reached is a node point that has never been out of the path in the past, the navigation device 2 performs voice guidance as usual. In other words, in the navigation device 2 according to the second embodiment, when a node point that has never been out of the past route is reached, voice guidance is performed based on the map information.

  On the other hand, when the node point where the host vehicle has reached is a node point where the off-route has occurred in the past, the navigation device 2 determines whether the direction in which the voice guidance is performed and the direction detected by the rudder angle input unit 50 match. If these directions are different, the direction detected by the steering angle input unit 50 is stored in the nonvolatile memory 60.

  In this way, according to the navigation device 2 and the navigation method according to the second embodiment, it is possible to improve the accuracy of guidance such as turning right or left at an intersection or the like where the actual road shape differs from the stored content.

  Furthermore, according to the second embodiment, when the direction of voice guidance and the direction detected by the rudder angle input unit 50 are different for the node points that have been off the route in the past, the rudder angle input unit 50 Is stored in association with the detected direction and its node point. Here, a node point that has been off the route in the past is a point where the driver has erroneously driven. For this reason, if the direction voice-guided at the node point is different from the direction indicated by the rudder angle input unit 50, it is unlikely that this is a detection error of the rudder angle input unit 50. Therefore, for a node point that has been off the route in the past, if the direction that was voice-guided and the direction actually traveled are different, the actual travel direction and the node point are stored in association with each other. The nonvolatile memory 60 can be stored with high accuracy.

  As described above, the present invention has been described based on the embodiment, but the present invention is not limited to the above embodiment, and may be modified without departing from the gist of the present invention.

  For example, in the above-described embodiment, once the voice content by the voice output unit 30 and the actual traveling direction are different, the direction information is stored in the nonvolatile memory 60, but the direction is changed several times at the same point. When it is determined that they are different, the direction information may be stored in the nonvolatile memory 60. As a result, information storage due to a misdetection of the steering angle can be prevented.

  Further, the direction in which the host vehicle actually travels may be obtained based on information from the direction detection unit 13 as well as information from the steering angle input unit 50, or the steering angle input unit 50 and the direction detection unit 13 may be obtained. And may be obtained based on both information. Thereby, both information can be averaged and the shape of an actual road can be calculated | required in character.

1 is a configuration diagram of a navigation device according to a first embodiment of the present invention. It is explanatory drawing of the direction etc. which a guidance content comparison part refers, (a) has shown each direction, (b) has shown the direction of the road memorize | stored in map information, and an actual road. It is explanatory drawing of the navigation method which concerns on 1st Embodiment. It is a flowchart which shows the detail of the navigation method which concerns on 1st Embodiment.

Explanation of symbols

1, 2 ... Navigation device 10 ... 1st memory | storage part (1st memory | storage means)
DESCRIPTION OF SYMBOLS 11 ... Map processing part 12 ... Position detection part 13 ... Direction detection part 14 ... Speed detection part 20 ... Control part 21 ... Path | route calculation part (path | route calculation means)
22 ... Guidance information processing unit (traveling direction judging means)
23 ... Map matching processing unit 24 ... Target intersection determination unit 25 ... Guidance content comparison unit 26 ... Guidance content setting unit 30 ... Audio output unit (presentation means)
40 ... Internal memory 41 ... Recommended route storage unit 42 ... Guidance content storage unit 50 ... Steering angle input unit (detection means)
60... Non-volatile memory (second storage means)
100 ... Own vehicle 101-103 ... Node point

Claims (4)

A navigation device that obtains a route to a destination and guides the vehicle according to the obtained route,
First storage means for storing map information;
Route calculation means for calculating a route to the destination from the map information stored in the first storage means;
Of the routes calculated by the route calculation means, when the host vehicle approaches a node point having a branch road, the node point is set in any direction based on the map information stored in the first storage means. A traveling direction judging means for judging whether to proceed;
Presenting means for presenting to the driver the direction determined by the traveling direction determining means;
A second storage unit that stores the direction in which the host vehicle actually traveled in association with the node point when the direction presented by the presenting unit and the direction in which the host vehicle actually traveled differ;
The advancing direction determination means determines a direction to travel based on the direction stored in the second storage means when the host vehicle travels at a node point stored in the second storage means. Navigation device. It further comprises detection means for detecting the direction in which the host vehicle actually traveled,
The second storage means is configured such that a node point in which the direction presented by the presenting means and the direction detected by the detecting means are different from the route trying to travel on a route previously calculated by the route calculating means. The navigation device according to claim 1, wherein, when the node point has been detached, the direction detected by the detection unit is stored in association with the node point. It further comprises detection means for detecting the direction in which the host vehicle actually traveled,
The second storage means determines the direction detected by the detection means when the direction presented by the presentation means and the direction detected by the detection means are different for the node point a plurality of times. The navigation device according to claim 1, wherein the navigation device is stored in association with a node point. A navigation method for obtaining a route to a destination and guiding a vehicle according to the obtained route,
A first step of calculating a route to the destination from the stored map information;
When the host vehicle approaches a node point having a branch path in the route calculated in the first step, when the host vehicle has not traveled on the node point, or the host vehicle travels on the node point. If the direction that was previously guided at the node point and the direction in which the vehicle actually traveled are the same, the node point is set to which direction based on the stored map information. A second step of determining whether to proceed;
When the host vehicle approaches a node point having a branch road among the routes calculated in the first step, the host vehicle may have traveled at the node point, and the direction and actual direction previously guided at the node point A third step of determining in which direction the node point should travel based on the direction in which the host vehicle has actually traveled in the past when the direction in which the host vehicle has traveled is different;
A fourth step of presenting the direction determined in the second step or the third step to the driver;
A navigation method characterized by comprising:

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