JP2009198193A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize guiding of a plurality of routes without a frequent route search in running of a vehicle. <P>SOLUTION: A plurality of recommendable routes from the starting place to the destination are set (step S10). Based on the recommendable routes, a guiding object point is set (steps S30 and S120) and it is determined whether the present location of the driver's own vehicle is near the guiding object point (steps S40 and S130). When the present location of the driver's own vehicle is determined to be near the guiding object point, as the result of determination, route guiding for the set recommendable routes in a plurality is performed (steps S50 and S140). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a navigation device for a vehicle.

  Conventionally, in a navigation apparatus that searches for a route to a destination and guides the vehicle to the destination, a plurality of routes are searched for each guidance point set on the route, and the plurality of searched routes are simultaneously guided. By doing so, what performs guidance of a plurality of routes is known (refer to patent documents 1).

JP 2001-255162 A

  Since the conventional navigation device disclosed in Patent Document 1 searches for a plurality of routes for each guide point, the route must be frequently searched during vehicle travel. Therefore, there is a problem that the processing load of the navigation device increases.

A navigation device according to the invention of claim 1 includes route setting means for setting a plurality of routes from a departure place to a destination, point setting means for setting a guidance target point based on the plurality of routes set by the route setting means, A position detection means for detecting the current position of the vehicle, a determination means for determining whether the current position of the vehicle detected by the position detection means is in the vicinity of the guidance target point, and the current position of the vehicle is guided by the determination means. Route guidance means for guiding a plurality of routes when it is determined to be near the target point.
According to a second aspect of the present invention, in the navigation device according to the first aspect, the point setting means sets branch points of a plurality of routes as guidance target points.
According to a third aspect of the present invention, in the navigation device according to the second aspect, the route guidance means includes, for each route that branches at a branch point among a plurality of routes, an estimated required time to the destination, a distance to the destination, It is a guide for at least one of traffic jams and toll roads.
According to a fourth aspect of the present invention, in the navigation device according to any one of the first to third aspects, when the vehicle deviates from the plurality of routes, the current position of the vehicle is connected to each of the plurality of routes. The apparatus further comprises connection route search means for searching for a plurality of connection routes, and the point setting means sets guidance target points on the plurality of connection routes searched by the connection route search means.
According to a fifth aspect of the present invention, in the navigation device according to the fourth aspect, the point setting means sets branch points of a plurality of connection routes as guidance target points.
According to a sixth aspect of the present invention, in the navigation device according to the fifth aspect, the route guiding means guides which of the plurality of connection routes each of the connection routes branched at the branch point is connected to each of the plurality of routes. To do.
The invention of claim 7 is the navigation device according to any one of claims 4 to 6, based on the plurality of connection routes searched by the connection route search means when the vehicle deviates from the plurality of routes. A re-search determination unit that determines whether or not to re-search a route, and a re-search unit that re-searches a route when the re-search determination unit determines to re-search the route.
According to an eighth aspect of the present invention, in the navigation device according to the seventh aspect, when the length of at least one of the plurality of connection routes is less than a predetermined threshold, the re-search determination unit determines the route. If it is determined that the search is not performed again and the lengths of the plurality of connection routes are all equal to or greater than the threshold value, it is determined that the route is searched again.

  According to the present invention, it is possible to realize guidance for a plurality of routes without frequently searching for routes while the vehicle is traveling.

  A navigation device according to an embodiment of the present invention will be described. The navigation device of this embodiment is mounted on a vehicle and used. When the user sets a destination, the navigation device of this embodiment searches for a plurality of recommended routes to the destination, and guides the host vehicle to the destination according to the searched plurality of recommended routes. The specific processing contents at this time will be described later. Furthermore, when the host vehicle deviates from the recommended route while the host vehicle is traveling toward the destination, the navigation device of the present embodiment is based on the positional relationship between the current position of the host vehicle and the recommended route. It is determined whether or not to re-search for a route to the destination. If it is determined that the route is to be searched again, a reroute calculation is performed to search again for a recommended route to the destination.

  The configuration of the navigation device of this embodiment is shown in the block diagram of FIG. The navigation device 1 includes a control unit 10, a vibration gyro 11, a vehicle speed sensor 12, a hard disk (HDD) 13, a GPS receiving unit 14, a VICS (Vehicle Information and Communication System) (registered trademark) information receiving unit 15, a display monitor 16, and a speaker. 17 and an input device 18.

  The control unit 10 includes a microprocessor, various peripheral circuits, a RAM, a ROM, and the like, and executes various processes. For example, the current position of the host vehicle is detected every predetermined time based on the detection signal of the motion state of the host vehicle output from the vibration gyro 11 and the vehicle speed sensor 12 and the GPS signal output from the GPS receiver 14. Perform the process. Further, based on various data such as map data recorded in the HDD 13, processing for guiding the host vehicle to the destination is performed according to a plurality of recommended routes as described above. In addition to this, various processes are executed by the control unit 10.

  The vibration gyro 11 is a sensor for detecting the angular velocity of the host vehicle. The vehicle speed sensor 12 is a sensor for detecting the vehicle speed of the host vehicle. A detection signal indicating the motion state of the host vehicle detected using these sensors is output to the control unit 10 as described above, and is used for the current position detection process performed by the control unit 10.

  The HDD 13 is a non-volatile recording medium in which various data including map data are recorded. Data recorded in the HDD 13 is read out under the control of the control unit 10 as necessary, and is used for various processes and controls executed by the control unit 10.

  The map data recorded in the HDD 13 includes route calculation data, route guidance data, road data, and background data. The route calculation data is data used to calculate the estimated required time to the destination. The route guidance data is data used to guide the host vehicle to the destination, and represents, for example, an intersection name or a road name. The road data is data for representing the shape of the road. The background data is data for representing map shapes other than roads such as rivers and railways, and various facilities on the map (landmarks).

  The GPS receiver 14 receives a GPS signal transmitted from a GPS satellite and outputs it to the controller 10. The GPS signal includes the position and transmission time of the GPS satellite that transmitted the GPS signal as information for obtaining the position of the host vehicle and the current time. Therefore, when the GPS receiving unit 14 receives GPS signals from a predetermined number or more of GPS satellites, the control unit 10 can calculate the current position and the current time of the host vehicle.

  The VICS information receiving unit 15 receives VICS information transmitted from the VICS center to the navigation device 1. With this VICS information, various road traffic information such as traffic jam information, traffic regulation information, and parking lot information is transmitted to the navigation device 1. The VICS information received by the VICS information receiving unit 15 is output to the control unit 10 and used when the control unit 10 searches for a recommended route, and the contents thereof are displayed on the display monitor 16.

  The transmission of VICS information from the VICS center to the navigation device 1 is performed mainly by radio wave beacons installed on highways, optical beacons installed mainly on general roads, or FM multiplex broadcasting. . The radio wave beacon and the optical beacon transmit VICS information locally to the vehicle passing near the installation point by radio waves or light (infrared rays). In contrast, FM multiplex broadcasting can transmit VICS information to a relatively wide area.

  The display monitor 16 is a device for displaying various images and videos, and a liquid crystal display or the like is used. The display monitor 16 displays a map image around the vehicle position. The display monitor 16 is installed at a position that is easy to see from the driver's seat, for example, on the dashboard of the host vehicle or in the instrument panel. The speaker 17 outputs a route guidance voice or the like under the control of the control unit 10.

  The input device 18 is a device for a user to perform various input operations for operating the navigation device 1 and includes various input switches. The user operates the input device 18 to input, for example, the name of a facility or point desired to be set as the destination, select a destination from registered locations registered in advance, or select any map on the map. Or scroll in the direction. The input device 18 can be realized by an operation panel, a remote controller, or the like. Alternatively, the input device 18 may be a touch panel integrated with the display monitor 16.

  When the user operates the input device 18 to set a destination, the navigation device 1 starts route guidance for guiding the host vehicle to the destination. A flowchart of processing executed by the control unit 10 at this time is shown in FIG. The flowchart of FIG. 2 will be described below.

  In step S10, a recommended route is set. Here, a plurality of routes from the current location of the host vehicle to the destination set by the user are searched based on a predetermined route search condition. At this time, a route search calculation by a predetermined algorithm is performed based on the above-described route calculation data among the map data recorded in the HDD 13. The plurality of routes searched in this way are set as recommended routes to the destination.

  In step S10, two or more types of route search conditions are set, and a plurality of recommended routes can be set by searching for a route that matches each route search condition. For example, the route that has the shortest estimated travel time from the departure point to the destination (the shortest route), the route that has the shortest travel distance from the departure point to the destination (the shortest route), and the departure point except for toll roads It is possible to search for a route (paid avoidance route) with the shortest estimated required time from the destination to the destination and set each as a recommended route. Alternatively, a plurality of recommended routes may be set under one route search condition. For example, a plurality of recommended routes can be set by setting a predetermined number of routes searched in ascending order of the estimated required time as recommended routes. In step S10, a plurality of recommended routes are set in this way.

  In step S20, the recommended route set in step S10 is displayed on the display monitor 16. Here, for example, a recommended route is displayed by displaying a map on the display monitor 16 and displaying the recommended route in a different color from other roads on the map. At this time, it is preferable that the user can identify each recommended route by displaying a plurality of recommended routes in different colors. Thus, the user can easily recognize each recommended route on the map screen displayed on the display monitor 16.

  In step S30, a guidance target point is set for each recommended route set in step S10. Here, two types of guidance target points are set: a guidance target point for normal route guidance, a guidance target point for multiple route guidance, and the like. The normal route guidance is route guidance performed to guide the host vehicle to a destination according to a recommended route during traveling. Therefore, a right / left turn intersection, a branch point, a junction, and the like on each recommended route are set as guidance target points for normal route guidance.

  On the other hand, the multiple route guidance indicates to the user which recommended route should be traveled when the vehicle can travel on any two or more of the recommended routes set in step S10. This is route guidance for making a judgment. Therefore, a point at which any two or more recommended routes branch out of the plurality of recommended routes set in step S10 is set as the guidance target point for multi-route guidance.

  In step S40, it is determined whether or not the current position of the host vehicle detected by the control unit 10 every predetermined time is near the guidance target point set in step S30. When one of the two types of guidance target points set in step S30 exists ahead on the road on which the host vehicle is traveling, and the distance from the current position of the host vehicle to the guidance target point is within a predetermined distance Determines that the current position of the host vehicle is near the guidance target point, and proceeds to step S50. On the other hand, when the above conditions are not satisfied, it is determined that the current position of the host vehicle is not near the guidance target point, and the process proceeds to step S60.

  In step S50, route guidance is performed for the recommended route corresponding to the guidance target point determined to be near the current position of the host vehicle in step S40. At this time, route guidance with different contents is performed depending on which of the two types of guidance target points described above. That is, in the case of a guidance target point for normal route guidance, normal route guidance is performed by instructing the direction in which the host vehicle should travel according to the recommended route currently being traveled by an image or voice.

  On the other hand, if it is a guidance target point for multi-route guidance, it will travel along which recommended route by telling the user what kind of features each recommended route has branched from there Help the user decide what to do. For example, information such as the estimated required time to the destination, the distance to the destination, the traffic congestion status, and the presence / absence of a toll road is transmitted to the user as information representing the characteristics of each recommended route. By guiding such information for each recommended route that branches off from the guidance target point, multiple route guidance is performed.

  When performing multiple route guidance in step S50, in order to distinguish a plurality of recommended routes to be guided, for example, each recommended route is expressed as “Route 1”, “Route 2”, etc. A prominent road name through which each recommended route passes can be used. In addition, when a plurality of route search conditions are set in step S10 and a plurality of routes searched according to each route search condition are set as recommended routes, a plurality of recommended routes are respectively set using the route search conditions. You may distinguish. Alternatively, when a plurality of recommended routes are displayed in different colors on the display monitor 16, the plurality of recommended routes may be distinguished from each other by their display colors.

  In step S60, it is determined whether or not the host vehicle deviates from the recommended route set in step S10. If the host vehicle has not deviated from the recommended route, the process proceeds to step S70, and if deviated, the process proceeds to step S80. Note that whether or not the host vehicle deviates from the recommended route can be determined based on the positional relationship between the current position of the host vehicle and each recommended route. For example, when the current position of the host vehicle is not on any of the recommended routes, or when it is away from any of the recommended routes by a predetermined distance or more, it is determined that the host vehicle has deviated from the recommended route.

  Alternatively, based on the traveling direction of the host vehicle and the content of the route guidance performed in step S50, it may be determined whether or not the host vehicle deviates from the recommended route. That is, when the host vehicle has traveled in the same direction as the traveling direction instructed by the normal route guidance in step S50, it is determined that the host vehicle has not deviated from the recommended route. On the other hand, when the host vehicle travels in a direction different from the instructed traveling direction, it is determined that the host vehicle has deviated from the recommended route. In this way, the determination in step S60 may be performed.

  If it is determined in step S60 that the host vehicle has not deviated from the recommended route, it is determined in the next step S70 whether the host vehicle has arrived at the destination. If it has not arrived at the destination yet, the process returns to step S40, and the above processing is repeated. On the other hand, when the host vehicle arrives at the destination, the flowchart of FIG. 2 is ended and the route guidance is completed.

  On the other hand, when it is determined in step S60 that the host vehicle deviates from the recommended route, in the next step S80, a connection route from the host vehicle position to each recommended route is searched. Here, a plurality of connection routes are searched for respectively connecting the current position of the host vehicle and each of the plurality of recommended routes set in step S10. That is, a connection route from the vehicle position is searched for each recommended route.

  In step S80, for the recommended route that the host vehicle has traveled before the departure, the connection route that is most appropriate for returning from the current position of the host vehicle to the recommended route, for example, the connection with the shortest distance to the recommended route. Search for a route or a connection route that has the shortest estimated required time to the destination. At this time, it is not always necessary to return to the point of departure, and any point on the recommended route may be returned. On the other hand, for the recommended route that the host vehicle has not traveled before the departure, the most appropriate connection route is searched from the current position of the host vehicle to the recommended route.

  In step S90, it is determined whether or not the length of the connection route from the current position of the host vehicle to each recommended route is greater than or equal to a predetermined threshold value. If the length of each connection route is greater than or equal to the threshold value, that is, if the distance from the current position of the vehicle is greater than or equal to the threshold value for all the recommended routes that have been set, the route is re-searched. Therefore, the process proceeds to the next step S100. On the other hand, when the length of any of the connection routes is less than the threshold value, that is, when the distance from the current position of the host vehicle is less than the threshold value for at least one of the set recommended routes, Proceeding to step S120 without re-searching. In this way, it is determined whether or not the route is to be searched again based on the positional relationship between the current position of the host vehicle and each recommended route.

  A specific example of determining whether or not to re-search for a route as described above is shown in FIG. In the example of FIG. 3, a total of three recommended routes R1, R2, and R3 are set between the departure point O and the destination D. Note that the recommended routes R1 and R2 partially overlap. It is assumed that the host vehicle deviates from the middle recommended route R2 among the three recommended routes and is at the host vehicle position 20.

  In the case as shown in FIG. 3, in step S80, connection routes C1, C2, and C3 from the vehicle position 20 to each recommended route are searched. Note that the connection path C2 overlaps a part of the connection path C1. If the lengths of the plurality of connection paths C1 to C3 are all equal to or greater than the predetermined threshold value, it is determined in step S90 that the path is searched again, and the process proceeds to step S100. On the other hand, if at least one of the plurality of connection paths C1 to C3 is less than the predetermined threshold value, it is determined in step 90 that the route is not searched again, and the process proceeds to step S120. In this way, the determination in step S90 is performed.

  In step S100, a reroute calculation for re-searching the route to the destination is executed. Thereby, a plurality of recommended routes from the current position of the host vehicle to the destination are newly searched again. In the next step S110, the original recommended route set before the execution of the reroute calculation is deleted, and a new recommended route re-searched by the reroute calculation is set.

  If step S110 is performed, it will return to step S20. Thereby, a plurality of new recommended routes set in step S110 are displayed in step S20, and guidance target points are set for the plurality of recommended routes in step S30. When the host vehicle approaches the guidance target point set in this way, route guidance in step S50 is executed to guide a plurality of newly set recommended routes.

  On the other hand, if it is determined in step S90 that the length of any of the connection routes is less than the threshold value, in the next step S120, a guidance target point is set for each connection route searched in step S80. Here, unlike the above-described step S30, only guidance target points for multi-route guidance are set on each connection route. That is, a point where any two or more connection paths among a plurality of connection paths are branched is set as a guidance target point.

  In step S130, as in step S40 described above, it is determined whether or not the current position of the host vehicle is near the guidance target point set on the connection route in step S120. That is, when any of the guidance target points set in step S120 exists ahead on the road on which the host vehicle is traveling, and the distance from the current position of the host vehicle to the guidance target point is within a predetermined distance. Then, it is determined that the current position of the host vehicle is near the guidance target point, and the process proceeds to step S140. On the other hand, when the above conditions are not satisfied, it is determined that the current position of the host vehicle is not near the guidance target point, and the process proceeds to step S150.

  In step S140, route guidance is performed for the connection route corresponding to the guidance target point determined to be near the current position of the host vehicle in step S130. Here, the information indicating which of the plurality of recommended routes each of the connection routes branched from the guidance target point is connected to is returned to the recommended route by traveling to which of the recommended routes. Help the user decide what to do.

  As an example, a case where route guidance is performed at the vehicle position 20 shown in FIG. 3 will be described. In this case, if the branch point ahead of the host vehicle position 20 is advanced to the left, it can return to the recommended route R1 or R2 through the connection route C1 or C2, and if the branch point is advanced to the right, the connection route C3 is It is possible to return to the recommended route R3. By transmitting such information to the user, route guidance can be performed for the connection route.

  Note that when route guidance is performed for a connection route in step S140, a plurality of recommended routes as connection destinations can be distinguished and guided by the same method as described in step S50. At this time, each connection route may be displayed on the map so as to be identifiable by a method similar to the recommended route, or may not be displayed.

  In step S150, it is determined whether or not the host vehicle has returned to any of the plurality of recommended routes set in step S10. If the host vehicle returns to one of the recommended routes and the host vehicle is traveling on the recommended route, the process returns to step S40. On the other hand, if the host vehicle has not returned to any of the recommended routes and remains in a state of deviating from the recommended route, the process returns to step S130. When returning to step S40 or step S130, the processing as described above is repeated.

  In step S90, it is determined whether or not to re-search the route based on the distance from the vehicle position to each recommended route instead of the length of the connection route connecting the vehicle position and each recommended route. It is good to do. That is, the distance from the vehicle position to each recommended route is calculated, and if it is determined in step S90 that all of the distances are equal to or greater than the predetermined threshold value, the reroute calculation is performed and the recommended route is restored. Proceed to step S100 to search. On the other hand, if it is determined in step S90 that the distance to at least one recommended route among the calculated distances from the current position of the vehicle to each recommended route is less than the predetermined threshold value, the recommended route is determined. Since it is not necessary to search again, the process proceeds to step S120. In this way, it may be determined whether to re-search for a route.

  Furthermore, the threshold value used when determining whether or not to re-search for a route in step S90 may be changed. For example, this threshold value can be changed according to the scale of the map on which the recommended route is displayed. That is, when the map scale is relatively large and therefore the range of the map displayed on the display monitor 16 is relatively narrow, the threshold value in step S90 is changed to a small value according to the map scale. . On the other hand, if the map scale is relatively small, and therefore the range of the map displayed on the display monitor 16 is relatively wide, the threshold value in step S90 is increased to a large value according to the map scale. And change.

  By performing the above process, if the vehicle deviates from the recommended route, the reroute calculation is not performed while the recommended route is displayed on the map screen. An operation can be performed. As a result, when the route to be taken before returning to the recommended route can be easily seen from the map screen, it is possible to prevent the reroute calculation from being performed even if the host vehicle deviates from the recommended route. Therefore, the route can be re-searched by determining the situation more appropriately.

According to the embodiment described above, the following operational effects are obtained.
(1) A plurality of recommended routes are set from the departure point to the destination (step S10), a guidance target point is set based on the plurality of recommended routes (steps S30 and S120), and the current position of the host vehicle is guided. It is determined whether it is near the target point (steps S40 and S130). As a result of this determination, when it is determined that the current position of the host vehicle is in the vicinity of the guidance target point, route guidance for guiding the set recommended routes is performed (steps S50 and S140). Since it did in this way, guidance of a plurality of courses can be realized, without carrying out frequent course searches while vehicles are running.

(2) In step S30, branch points of the set recommended routes are set as guidance target points. Since it did in this way, the guidance target point for multiple route guidance can be appropriately set with respect to a some recommended route.

(3) In step S50, for each recommended route that branches at the branch point set as the guidance target point among a plurality of recommended routes that have been set, the estimated required time to the destination, the distance to the destination, the traffic congestion status, and the toll road By guiding at least one of the presence / absence of multiple routes, it is possible to perform multi-route guidance. In this way, by transmitting information indicating the characteristics of each recommended route to the user, it is possible to assist the user in determining which recommended route should be traveled.

(4) It is determined whether or not the vehicle deviates from a plurality of recommended routes set (step S60), and when it is determined that the vehicle deviates, the current position of the vehicle is connected to each of the plurality of recommended routes. A plurality of connection paths to be searched is searched (step S80). In step S120, guidance target points are set on the plurality of connection routes searched in this way. Specifically, branch points of a plurality of connection routes are set as guidance target points. Since it did in this way, even if it is a time when the own vehicle deviates from a recommended route, the guidance target point for multi-route guidance can be set appropriately.

(5) In step S140, a plurality of routes are guided by guiding to which of the plurality of recommended routes each of the connection routes branched at the branch point set as the guidance target point among the plurality of searched connection routes. Give guidance. Since it did in this way, it can help a user at the time of judging which connection route should drive and return to a recommendation route.

(6) When it is determined in step S60 that the vehicle has deviated from the plurality of recommended routes set, it is determined whether or not to re-search the recommended route based on the plurality of connection routes searched in step S80 (step S90). As a result of this determination, when it is determined that the recommended route is to be searched again, a reroute calculation is executed to search for the recommended route again (step S100). Since it did in this way, it can prevent that the search of the recommendation path | route unnecessary for a user is performed, and can search for a recommendation path | route in an appropriate condition again.

(7) In step S90, if at least one of the plurality of connection routes searched in step S80 is less than a predetermined threshold value, it is determined that the route is not searched again. On the other hand, when the lengths of the plurality of searched connection routes are all equal to or greater than the threshold value, it is determined that the route is searched again. Since it did in this way, it can be judged appropriately whether the route is searched again.

  The embodiment and various modifications described above are merely examples. Therefore, the present invention is not limited to these contents as long as the features of the invention are not impaired.

  In the embodiment described above, each unit described in the claims is realized by the processing executed in the control unit 10 of the navigation device 1. That is, the control unit 10 of the navigation device 1 can function as a route setting unit, a point setting unit, a position detection unit, a determination unit, a route guidance unit, a connection route search unit, a re-search determination unit, and a re-search unit. . Note that the above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the embodiments and the items described in the claims.

It is a block diagram which shows the structure of the navigation apparatus by one Embodiment. It is a flowchart of the process performed at the time of route guidance. It is a figure which shows the specific example which determines whether a route is searched again.

Explanation of symbols

1: Navigation device 10: Control unit 11: Vibration gyro 12: Vehicle speed sensor 13: HDD 14: GPS reception unit 15: VICS information reception unit 16: Display monitor 17: Speaker 18: Input device

Claims (8)

Route setting means for setting a plurality of routes from the starting point to the destination,
Point setting means for setting a guidance target point based on the plurality of routes set by the route setting means;
Position detecting means for detecting the current position of the vehicle;
Determination means for determining whether or not the current position of the vehicle detected by the position detection means is near the guidance target point;
A navigation apparatus comprising: route guidance means for guiding the plurality of routes when the determination means determines that the current position of the vehicle is near the guidance target point. The navigation device according to claim 1, wherein
The navigation apparatus characterized in that the point setting means sets branch points of the plurality of routes as the guidance target points. The navigation device according to claim 2, wherein
The route guidance means includes at least one of an estimated required time to the destination, a distance to the destination, a traffic jam, and a toll road for each route that branches at the branch point among the plurality of routes. Navigation device characterized by guiding one. In the navigation device according to any one of claims 1 to 3,
When the vehicle deviates from the plurality of routes, the vehicle further comprises connection route search means for searching for a plurality of connection routes respectively connecting the current position of the vehicle and each of the plurality of routes,
The navigation apparatus characterized in that the point setting means sets the guidance target point on the plurality of connection routes searched by the connection route search means. The navigation device according to claim 4, wherein
The navigation device characterized in that the point setting means sets a branch point of the plurality of connection routes as the guidance target point. The navigation device according to claim 5, wherein
The route guidance means guides to which of the plurality of routes each of the connection routes branching at the branch point among the plurality of connection routes. The navigation device according to any one of claims 4 to 6,
When the vehicle deviates from the plurality of routes, a re-search determination unit that determines whether to re-search a route based on the plurality of connection routes searched by the connection route search unit;
A navigation device, comprising: a re-search unit that re-searches a route when the re-search determination unit determines to re-search the route. The navigation device according to claim 7,
The re-search determination unit determines that the route is not re-searched when at least one of the plurality of connection routes is less than a predetermined threshold, and determines the length of the plurality of connection routes. A navigation device characterized by determining that the route is to be re-searched when both are equal to or greater than the threshold value.

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