JP2009264749A - Apparatus, method, and program for route search and storage medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route search apparatus for proposing satisfactory routes by altering a computation amount of route computation by distinguishing a first route search a user is waiting for from a second route search not to be recognized by the user without keeping the user waiting. <P>SOLUTION: The route search apparatus includes a storage part for storing map data, computes a route to a destination on the basis of the map data in the case where the destination is set by a user, and performs a first route search, which is a search for a guidance route. The route search apparatus computes routes on the basis of the map data when a mobile body is moving along the guidance route and performs a second route search, which is a search for a new candidate route. The route search apparatus increases the computation amount of route computation of the second route search not to be recognized by the user more than the computation amount of route computation of the first route search the computation of which should be performed at a high speed. Thus, satisfactory routes are proposed without keeping the user waiting. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a route search method using map data.

  A route search function is provided in a car navigation device, a map providing application using the Internet, and the like. The route search function is a function for automatically calculating a route from a geographical departure point to a destination using map data and presenting it to the user.

  In general, long-distance route calculation takes time because the number of candidate roads increases. In general, map data has a hierarchical structure, and in long-distance route calculation, data including only main roads is used to reduce the amount of calculation and increase the calculation speed.

  Further, Patent Document 1 discloses that the map data of the vehicle-mounted navigation device has a hierarchical structure based on the information amount of the road network, and a hierarchy from a lower hierarchy with a lot of road network information to an upper hierarchy with a little information on the road network. , And when searching for a route in a lower layer, when the link in the lower layer corresponds to a link in the upper layer, the route search is shifted from the lower layer to the upper layer, so that the route search and display thereof can be performed at high speed. A possible method has been proposed.

JP 2000-337902 A

  However, the above method reduces the amount of calculation even though it is not necessary to speed up the calculation in the route search that the user does not recognize, such as when the vehicle is traveling on the guidance route. There was a problem of end.

  Examples of problems to be solved by the present invention include the above. The present invention distinguishes between a route search in which the user waits for a result and a route search that the user does not recognize, and changes the amount of route calculation, so that the user does not wait for the user in the route search in which the user waits for the result, and the user An object of the present invention is to provide a route search device that can search a better route and propose to the user in route search that is not recognized by the user.

  In the first aspect of the present invention, the route search device performs a route calculation to the destination based on the map data when the storage unit for storing the map data and the destination are set by the user. First route search means for searching for a guide route; and second route search means for calculating a route based on the map data and searching for a new candidate route when a moving body is moving on the guide route. And route calculation amount changing means for increasing the calculation amount of the route calculation by the second route search means to be larger than the calculation amount of the route calculation by the first route search means.

  In the invention according to claim 11, the route search method executed in the route search device including a storage unit for storing map data, when the destination is set by the user, the object is based on the map data. A first route search step for calculating a route to the ground and searching for a guidance route, and when a moving body is moving on the guidance route, a route calculation is performed based on the map data, and a new candidate route is obtained. A second route search step for searching, and a route calculation amount changing step for increasing the calculation amount of the route calculation in the second route search step from the calculation amount of the route calculation in the first route search step. Features.

  In the invention according to claim 12, a route search program executed in a route search device comprising a storage unit for storing map data and a computer is configured such that when the user sets a destination, the map data 1st route searching means for calculating a route to the destination based on the route, and searching for a guide route, when a moving body is moving on the guide route, calculating a route based on the map data, The computer as a second route search means for searching for a candidate route, a route calculation amount change means for increasing the calculation amount of the route calculation by the second route search means than the calculation amount of the route calculation by the first route search means. It is made to function.

  In one aspect of the present invention, a route search device performs a route calculation to the destination based on the map data when a destination is set by a storage unit that stores map data and a user, First route search means for searching for a guide route; and second route search means for searching for a new candidate route by calculating a route based on the map data when a moving body is moving on the guide route. Route calculation amount changing means for increasing the calculation amount of the route calculation by the second route search means to be greater than the calculation amount of the route calculation by the first route search means.

  In the above route search apparatus, the route calculation amount changing means increases the calculation amount of the route calculation of the second route search that is not recognized by the user, compared to the calculation amount of the route calculation of the first route search that must speed up the calculation. And search for more candidate routes. Accordingly, it is possible to provide a route search device that does not wait for the user in the first route search for which the user waits for the result and can propose a better candidate route in the second route search that the user does not recognize.

  In one aspect of the route search device, the route calculation amount changing unit increases the number of roads used in the route calculation by the second route search unit than the number of roads used in the route calculation by the first route search unit. As a method of increasing the number of roads, there are a method of using a hierarchical structure of map data, which will be described later, a method of increasing the number of candidate links by increasing the angle at which links are included in candidates, and the like.

  In another aspect of the route search apparatus, the route calculation amount changing unit expands a target area for route calculation by the second route search unit to a target area for route calculation by the first route search unit. By expanding the area to be searched, the later-described route calculation data to be searched increases, so the amount of calculation increases.

In another aspect of the route search apparatus, the route search device further includes road traffic information acquisition means for acquiring road traffic information, and the route calculation amount changing means includes the road traffic information used in the route calculation by the second route search means. The data amount is set to be larger than the data amount of road traffic information used in route calculation by the first route search means. For example, the first route search uses only the road traffic information about major roads among the acquired road traffic information, and the second route search uses all the acquired road traffic information to increase the amount of calculation. Can be made.
In another aspect of the route search apparatus, the route calculation amount changing unit performs a cost increase / decrease process for each road performed by route calculation by the second route search unit by route calculation by the first route search unit. More than the cost increase / decrease process for each road. For example, a predetermined cost is used in the first route search, a road shape is confirmed in the second route search, and a cost is increased in the first predetermined road shape (a road with many curves, etc.) In the second predetermined road shape (a single road without a traffic light, etc.), the amount of calculation can be increased by performing a process for reducing the cost.

  In an aspect of the route search device, the second route search searches for a new candidate route at regular intervals when a moving body is moving on the guidance route. By performing a second route search periodically with the passage of a certain time as a trigger, a better candidate route may be found while the vehicle is traveling on the guidance route.

  In another aspect of the route search apparatus, the route search device further includes road traffic information acquisition means for acquiring road traffic information, and the second route search means is configured to move the guide route when the moving body is moving. When road traffic information is acquired, a new candidate route is searched. The second route search is performed using the acquisition of road traffic information as a trigger. Thereby, there is a possibility that a better candidate route may be found according to the acquired traffic information such as traffic jam information and time regulation information.

  In another aspect of the route search device, the second route search means searches for a new candidate route in the past when the moving body is moving on the guidance route. When approaching a point, a new candidate route is searched. It is assumed that the second route search means performs the second route search means triggered by the fact that the second route search means has approached a point where a new candidate route has been searched in the past. Since there is a high possibility that a candidate route exists at a point where the second route search has been performed in the past, a better candidate route may be found. Here, “approaching” means that a point before a predetermined distance has been reached.

  In another mode of the above route search device, the route search device further includes road registration means for a user to register registered road data based on the map data, wherein the second route search means is configured such that the mobile object is the guide route. When moving, if a registered road corresponding to the registered road data is approached, a new candidate route is searched. The second route search is performed using the case of approaching the registered road as a trigger. When approaching a registered road, there is a possibility that the user wishes to use the registered road. Thereby, a better candidate route may be found for the user.

  In another aspect of the route search device, the map data includes loop-out data, and the second route search means corresponds to the loop-out data when a moving body is moving along the guide route. When approaching a loophole, a new candidate route is searched. It is assumed that the second route search is performed with the approach to the escape route as a trigger. Since there is a loophole nearby, there is a possibility of avoiding traffic jams. Thereby, a better candidate route may be found.

In another aspect of the present invention, a route search method executed in a route search device including a storage unit that stores map data includes: a destination set by a user based on the map data; A first route search step for searching for a route to find a guide route, and when a moving body is moving on the guide route, calculate a route based on the map data and search for a new candidate route And a route calculation amount changing step for increasing the calculation amount of the route calculation in the second route search step from the calculation amount of the route calculation in the first route search step.
In still another aspect of the present invention, a route search program executed in a route search device including a storage unit that stores map data and a computer has the map data when a destination is set by a user. 1st route searching means for calculating a route to the destination based on the route, and searching for a guide route, when a moving body is moving on the guide route, calculating a route based on the map data, The computer as a second route search means for searching for a candidate route, a route calculation amount change means for increasing the calculation amount of the route calculation by the second route search means than the calculation amount of the route calculation by the first route search means. Make it work.

  According to the route search method and the route search program described above, the calculation amount of the route calculation is changed by distinguishing between the first route search for which the user waits for the result and the second route search that the user does not recognize. It is possible to propose a better candidate route in the second route search without waiting. Note that the route search program can be suitably handled in a state of being recorded on a recording medium.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The following description shows an example in which the present invention is applied to a vehicle navigation apparatus.

[Navigation device]
FIG. 1 shows the configuration of the navigation device 1. In addition, the navigation apparatus 1 shall be mounted in the vehicle as a moving body. As shown in FIG. 1, the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, an interface 37, a communication device 38, a display unit 40, and an audio output unit 50. And an input device 60.

  The autonomous positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.

  The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are connected via a bus line 30. Are connected to each other.

  The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive. The data storage unit 36 is configured by, for example, an HDD and stores various data used for navigation processing such as map data. The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and acquires information distributed from a VICS (Vehicle Information Communication System) center or the like.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and image information that can be displayed immediately, such as a VRAM (Video RAM). A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an information display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.

  The audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20. A D / A converter 51 to perform, an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

[Route search device]
Next, the route search device 100 according to the present invention will be described. FIG. 2 shows a functional configuration of the route search apparatus 100 for executing the route search. Note that the route search device 100 is substantially realized by the components of the navigation device 1 shown in FIG.

  As illustrated, the route search device 100 includes a storage unit 101, a route search unit 102, a calculation amount change unit 103, an information acquisition unit 104, and a registration unit 105.

  The storage unit 101 stores map data.

  The route search unit 102 searches for a first route search for a guide route to a destination set by the user based on the map data, and a new candidate while the vehicle is traveling on the guide route searched in the first route search. A second route search for searching for a route is performed. The user can obtain a guidance route to a desired destination by the first route search, and can obtain a new candidate route by the second route search.

  In the case of the second route search, the calculation amount changing unit 103 increases the calculation amount of the route calculation more than the first route search. The methods for increasing the amount of calculation include “a method for increasing the number of roads to be searched”, “a method for expanding the area to be searched”, “a method for increasing road traffic information such as traffic jams used for searching”, “ There is a method of increasing a process for increasing or decreasing a preset cost in search under a predetermined condition.

  The “method for increasing the number of roads to be searched” will be described later. In the “method for enlarging the area to be searched”, since the later-described route calculation data to be searched increases by expanding the area to be searched, the amount of calculation increases.

  The “method of increasing road traffic information such as traffic jams used in the search” is obtained, for example, using only the road traffic information about the main road among the acquired road traffic information in the first route search and acquired in the second route search. The calculation amount can be increased by using all road traffic information.

  For example, the method of increasing the process of increasing or decreasing the preset cost in the search under a predetermined condition uses, for example, a preset cost in the first route search and confirms the road shape in the second route search. The first predetermined road shape (road with many curves, etc.) is processed to increase the cost, and the second predetermined road shape (single road without traffic light, etc.) is processed to reduce the cost. The amount of calculation can be increased by, for example.

  In this way, the calculation amount of the route calculation of the second route search that is not recognized by the user is increased more than the calculation amount of the route calculation of the first route search that has to speed up the calculation. By searching, it is possible to propose a better candidate route in the second route search without waiting for the user in the first route search.

  The information acquisition unit 104 acquires external information such as road traffic information. The road traffic information is information related to all roads, that is, traffic jams covering the entire searched route, construction, traffic regulation, and the like, and is acquired by, for example, VICS or Internet communication.

  In the registration unit 105, the user registers registered road data based on the map data. The registered road data is information regarding registered roads on map data registered by the user.

  The data storage unit 36 in FIG. 1 functions as the storage unit 101, the system controller 20 including the CPU 22 functions as the route search unit 102 and the calculation amount change unit 103, the communication device 38 functions as the information acquisition unit 104, The input device 60 functions as the registration unit 105.

[Map data]
FIG. 3A schematically shows the structure of map data used in this embodiment. The map data has a hierarchical structure including a plurality of layers corresponding to a plurality of different scales. Although FIG. 3A illustrates the map data of three layers for convenience of explanation, the map data may have a larger number of hierarchical structures. In each layer, one unit of map data is called a parcel P. In FIG. 3, layer 3 is the highest layer and corresponds to the widest map. Layer 1 is the lowest layer and corresponds to the most detailed map.

  FIG. 3B shows the configuration of the map data 120. The map data 120 is prepared separately for each layer, and includes map display data 122 and route calculation data 124, respectively. The map display data 122 is data used to display a map image to the user, and mainly includes image data corresponding to the map. The route calculation data 124 is data used for route calculation by the route search function.

  FIG. 4 shows the configuration of the route calculation data 124. The route calculation data 124 includes node data 125, link data 126, registered road data 127, and exit road data 128. The node corresponds to a predetermined point such as an intersection on the road, and the node data 125 is data indicating the node. On the other hand, the link corresponds to one section of the road divided by an intersection or the like, and the link data 126 is data indicating the link. The registered road data 127 is information related to a registered road stored in the storage unit 101 by the user selecting a road to be registered on the map data by the registration unit 105. The loop-out data 128 is information related to a loop-out path that is associated in advance with respect to a road on which traffic congestion is likely to occur and is another road in the same direction in which traffic congestion is unlikely to occur. In this embodiment, the registered road and the exit road are used as a trigger for the route search unit 102 to start the second route search, and the registered road data 127 and the exit road data 128 are subject to calculation of the route calculation in the second route search. It becomes. In the route calculation data, the upper layer corresponding to a wide-area map has a smaller number of roads (that is, a smaller amount of information), and the lower layer corresponding to a detailed map has a larger number of roads (that is, a larger amount of information).

  Specifically, the calculation amount changing unit 103 changes the calculation amount of the route calculation using the hierarchical structure of the map data shown in FIG. The calculation amount changing unit 103 increases the calculation amount by changing the ratio of using the upper layer or the lower layer in the route search and increasing the number of target roads. For example, the amount of calculation is increased by increasing the ratio of using the upper layer in the first route search and increasing the ratio of using the lower layer in the second route search. In addition, the link common between each hierarchy is matched, and route search transfers to each hierarchy across the said link.

  Further, the calculation amount changing unit 103 may change the calculation amount by increasing or decreasing the number of candidate links to be searched for routes among a plurality of links connected to one node. FIG. 5 is an example of increase / decrease in the number of candidate links. As shown in FIG. 5, the node N0001 includes a link L0001, a link L0002, a link L0003, a link L0004, and a link L0005. When the link within the angle β is targeted with respect to the direction D of the destination, the link L0001 and the link L0002 are candidate links. When the link within the angle α is targeted with respect to the direction D of the destination, the link L0001, the link L0002, the link L0003, and the link L0004 are candidate links. As described above, the calculation amount changing unit 103 increases the number of candidate links by increasing the angle at which the links are included in the candidates.

  That is, the calculation amount changing unit 103 can increase the calculation amount by increasing the number of roads to be searched by changing the target layer or changing the angle at which the link is included in the candidate as described above.

[Route search processing]
Next, route search processing will be described. FIG. 6 is a flowchart of route search processing. This process is realized mainly by the CPU 22 shown in FIG. 1 executing a program prepared in advance.

  First, the route search unit 102 receives designation of a destination by the user (step S1). The route search unit 102 performs a first route search (step S2). Then, the route search unit 102 determines a guide route to the destination designated by the user (step S3). The user starts traveling on the guidance route (step S4).

  The route search unit 102 determines whether or not the vehicle has deviated from the guidance route (step S5). When the vehicle deviates from the guidance route (step S5; Yes), since the user is waiting for the search result, the process returns to step S2 to search for a new guidance route by the first route search. When the vehicle has not deviated from the guidance route (step S5; No), the route search unit 102 determines whether or not a certain time has passed (step S6). When the predetermined time has elapsed (step S6; Yes), the route search unit 102 executes step S11. When the fixed time has not elapsed (step S6; No), the route search unit 102 determines whether road traffic information has been acquired (step S7). When road traffic information is acquired (step S7; Yes), the route search part 102 performs step S11. When road traffic information is not acquired (step S7; No), the route search part 102 determines whether the vehicle approached the point which performed the 2nd route search in the past (step S8). When approaching a point where the second route search has been executed in the past (step S8; Yes), the route search unit 102 executes step S11. When it has not approached the point which performed the 2nd route search in the past (step S8; No), the route search part 102 determines whether the vehicle approached the registration road (step S9). When approaching a registered road (step S9; Yes), the route search part 102 performs step S11. When the vehicle is not approaching the registered road (step S9; No), the route search unit 102 determines whether or not the vehicle has approached the exit road (step S10). When the route is not approaching (step S10; No), the route search unit 102 executes step S15. When approaching a loophole (step S10; Yes), the calculation amount changing unit 103 increases the calculation amount, and the route search unit 102 performs a second route search (step S11). Then, the route search unit 102 proposes to the user a new candidate route to the destination designated by the user (step S12), and determines whether or not the user has selected the proposed candidate route (step S13). When the user selects a candidate route (step S13; Yes), the route search unit 102 sets the candidate route as a guide route (step S14). Then, the process returns to step S4, and steps S4 to S14 are repeated. When the user does not select a candidate route (step S13; No), the route search unit 102 determines whether or not the candidate route has arrived (step S15). When it has not arrived at the destination (step S15; No), a process returns to step S5 and repeats steps S5-S15. If the destination is reached (step S15; Yes), the route search process is terminated.

[Modification]
In the above embodiment, the calculation amount changing unit 103 can increase the calculation amount by “increasing the number of roads to be searched”. However, the application of the present invention is not limited to this mode, and the calculation amount The change unit 103 also performs “expansion of area to be searched”, “increase in traffic information such as traffic jam used in search”, and “increase in processing to increase / decrease a preset cost in search under a predetermined condition”. The amount of calculation can be increased.

  In the above embodiment, in the route search process, as a trigger for starting the second route search, “a certain time has elapsed”, “obtain road traffic information”, “approach to a point where the second route search has been executed in the past”, “ Although all five of “approach to registered road” and “approach to escape road” were included, the application of the present invention is not limited to this form, and one to five of triggers for starting the second route search are included. Route search processing may be performed in any combination.

It is a block diagram which shows the structure of a navigation apparatus. It is a functional block diagram which shows the structure relevant to a route search process. The structure of the map data used in the Example of this invention is shown typically. The structural example of the data for route calculation is shown. An example of increasing or decreasing the number of candidate links is shown. It is a flowchart of the route search process by an Example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 101 Memory | storage part 102 Route search part 103 Computation amount change part 104 Information acquisition part 105 Registration part 120 Map data 122 Map display data 124 Route calculation data 125 Node data 126 Link data 127 Registered road data 128 Pathway data

Claims (13)

A storage unit for storing map data;
First route search means for calculating a route to the destination based on the map data and searching for a guidance route when a destination is set by the user;
A second route search means for calculating a route based on the map data and searching for a new candidate route when a moving body is moving along the guidance route;
Route calculation amount changing means for increasing the calculation amount of the route calculation by the second route search means to be greater than the calculation amount of the route calculation by the first route search means;
A route search apparatus comprising:   2. The route according to claim 1, wherein the route calculation amount changing unit makes the number of roads used in route calculation by the second route search unit larger than the number of roads used in route calculation by the first route search unit. Search device.   3. The route according to claim 1, wherein the route calculation amount changing unit expands a target area of the route calculation by the second route search unit to a target area of the route calculation by the first route search unit. Search device. A road traffic information acquisition means for acquiring the road traffic information;
The route calculation amount changing means increases the data amount of road traffic information used in route calculation by the second route search means to be larger than the data amount of road traffic information used in route calculation by the first route search means. The route search device according to any one of claims 1 to 3.   The route calculation amount changing unit executes the cost increase / decrease process for each road performed by the route calculation by the second route search unit more than the cost increase / decrease process for each road performed by the route calculation by the first route search unit. The route search device according to any one of claims 1 to 4, wherein:   The said 2nd route search means searches for a new candidate route for every fixed time, when a mobile body is moving the said guidance route, The one of Claim 1 thru | or 5 characterized by the above-mentioned. Route search device. A road traffic information acquisition means for acquiring the road traffic information;
The said 2nd route search means searches for a new candidate route, when the said road traffic information is acquired when the mobile body is moving the said guidance route, The any one of Claim 1 thru | or 6 characterized by the above-mentioned. The route search device according to claim 1.   The second route search means searches for a new candidate route when a moving body is moving along the guidance route and approaches a point where the second route search means has searched for a new candidate route in the past. The route search device according to any one of claims 1 to 7, wherein A road registration means for a user to register registered road data based on the map data;
The second route search means searches for a new candidate route when a moving body is moving on the guidance route and approaches a registered road corresponding to the registered road data. The route search device according to any one of 1 to 8. The map data includes loophole data,
The second route search means searches for a new candidate route when a moving body is moving on the guidance route and approaches a wayway corresponding to the wayway data. The route search device according to claim 9. A route search method executed in a route search device including a storage unit that stores map data,
A first route search step of calculating a route to the destination based on the map data and searching for a guidance route when a destination is set by the user;
A second route search step of performing a route calculation based on the map data and searching for a new candidate route when a moving body is moving along the guidance route;
A route calculation amount changing step for increasing the calculation amount of the route calculation in the second route search step from the calculation amount of the route calculation in the first route search step;
A route search method characterized by comprising: A route search program executed in a route search device comprising a storage unit for storing map data and a computer,
First route searching means for calculating a route to the destination based on the map data and searching for a guidance route when a destination is set by the user;
A second route search means for calculating a route based on the map data and searching for a new candidate route when a moving body is moving along the guidance route;
Route calculation amount changing means for increasing the calculation amount of the route calculation by the second route search means to be greater than the calculation amount of the route calculation by the first route search means;
A route search program for causing the computer to function as:   A recording medium in which the route search program according to claim 12 is recorded.

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