JP2012093180A - Navigation device and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance a more effective use of a specific route which is preliminarily stored as the route suitable for a specific use.SOLUTION: A navigation device 10 includes a road map information storage device F3 which stores specific route information showing a specific route preliminarily specified as the route suitable for a sightseeing road, etc., and road information of which a node showing the road, a link and a movement cost are corresponded, and a retrieval target node group to be used for a retrieval of a recommended movement route to a destination is decided, and recommended movement route candidates are retrieved based on the decided retrieval target node group, and the recommended movement route is specified from among the retrieved recommended movement route candidates. In the retrieval of the recommended movement route candidates, decision is made whether an end point node corresponding to a start point node included in the retrieval target node group is included in the retrieval target node group, and the specific route including the end point node decided as included in the retrieval target node group and a start point node corresponding to the end point node is adopted as a part of the recommended movement route candidates.

Description

  The present invention relates to a navigation device that searches for a recommended travel route by effectively using prestored route information, and a computer program for causing the navigation device to control operations.

  Conventionally, a navigation system is known as a system for supporting the arrival of a moving body such as a vehicle or a human at a destination. For example, this navigation system derives the current position of the moving object by GPS (Global Positioning System), obtains a recommended moving route by route search processing based on the current position information of the moving object and road map information, and this recommended Based on the travel route, automatic travel route guidance (hereinafter referred to as “route guidance”) is performed. For example, in a vehicle equipped with a car navigation device, road map information and current position information of the vehicle are displayed on a display device (monitor), and a recommended travel route to a destination is searched and displayed on the display device. To display the directions visually. Some car navigation devices have a function of notifying a route by hearing by outputting a guidance voice.

  In a car navigation device, a search for a recommended travel route is mainly performed using the Dijkstra method. In this case, the road information is composed of nodes, which are coordinate points indicating road intersections, road structure change positions, and the like, and links indicating routes on which movable bodies such as roads connecting the nodes can move. In general, a travel cost obtained by quantifying the length of a road, a required travel time, and the like is set, and a route that minimizes the cumulative travel cost from the departure point to the destination is derived as a recommended travel route.

  In such a car navigation device, an accident or disaster occurred in a route using a route to avoid a congested section, a route using a tourist road to move on a road with good scenery, or a predetermined area. It is required to derive a route using a detour route that is sometimes recommended for use as a recommended travel route to the destination.

  In order to meet such a demand, for example, Patent Document 1 discloses performing a recommended travel route search taking into account that the required travel time increases due to traffic congestion. Specifically, when the estimated traffic jam route to the destination is searched by reflecting the required travel time based on the road traffic information in the route search network database, and it can be determined that the searched traffic jam forecast route satisfies a predetermined condition It is disclosed that a recommended travel route is used. In addition, a route search method that considers a loophole to avoid traffic congestion has been proposed.

  However, in order to accurately calculate the required travel time due to traffic jams, there is a problem that a communication means for acquiring road traffic information is required and the cost increases. In addition, it is necessary that the road to be searched is a target road of the road traffic information providing service, and it is difficult to obtain accurate road traffic information of all roads. In addition, there is a problem that it is difficult to accurately quantify the traffic situation and the quality of the landscape as movement costs.

  Therefore, paying attention to the fact that roads used for loopholes and back roads are determined to some extent, various types of road road or back road road information that are registered in advance and used for route search have been proposed. For example, in Patent Document 2, it is determined whether or not the vehicle is in a traffic jam state based on the moving speed of the moving body, and the road registered as a loop-off in the traffic jam state is displayed so as to be distinguishable from other roads. It is disclosed. Japanese Patent Application Laid-Open No. 2003-228561 discloses setting conditions for displaying a loophole. Also, in Patent Document 4, a plurality of route candidates from the current position to the destination are extracted by a known method, and a route candidate that corresponds to the target road of the exit road or the back road is selected, and at a predetermined timing. Displaying is disclosed.

  Further, some car navigation devices derive a recommended travel route by using a previously specified road. That is, for example, Patent Document 5 discloses deriving a recommended movement route using a specific route specified in advance. Specifically, a guide route between the set starting point and destination is set using the Dijkstra method or the like, and route information of a shortcut (SC) route having a start point and an end point on the set route is stored in the external memory. In this case, it is disclosed that a route obtained by replacing the corresponding section on the set route with this SC route is used as a guide route, and guidance by route display, voice, or the like is performed according to this guide route.

  Patent Document 6 discloses that a history route included in a travel history is detected in a section to a destination, and a route search to the destination is performed using the history route included in the detected travel history. ing.

Japanese Patent No. 4246250 JP-A-5-216406 JP 2006-266701 A JP 2006-275729 A JP 2001-124578 A International Publication No. 2007/102406

  However, the above-described conventional car navigation apparatus has a problem that a specific route stored in advance as a route suitable for a specific application, such as a loophole or a sightseeing road, cannot be sufficiently used. That is, for example, in the content disclosed in Patent Document 5, a guide route (that is, a recommended travel route) between a departure point and a destination is derived, and an SC route (that is, a specific route) is provided on the derived guide route. In some cases, a part of the guide route and a part of the SC route are “replaced”, so even if the user wants to use the specific route from the beginning, the guide route that does not take into account the specific route first. There was a problem that it was necessary to perform derivation processing. In Patent Document 5 and Patent Document 6, since the route indicated by the user's travel history is used as the specific route, the specific route is selected when the user wants to move to a destination that the user has never performed. There was a problem that the recommended travel route used could not be derived. In addition, Patent Document 6 also mentions that the travel history information is stored separately for each user. However, when a plurality of users move to an area that has never been performed, a specific route is also used. There is no change in that the recommended travel route cannot be derived.

  In order to solve the above-described problems, an object of the present invention is to make it possible to more effectively use a specific route that is stored in advance as a route suitable for a specific application.

  The navigation device of the present invention is a navigation device that searches for a recommended travel route to a destination of a mobile body, and is a route that is specified in advance as a route suitable for at least one of a sightseeing road, a loop-off route, and a detour. Specific route information in which a node group including a start point node indicating the start point of a specific route and an end point node indicating the end point of the specific route, a link group connecting the node group, and a movement cost of the link group are associated with each other Specific route information storage means for storing, a plurality of nodes indicating road intersections, road structure change positions, and the like, a plurality of links indicating paths on which the mobile body can move, such as roads connecting the nodes, Road information storage means for storing road information, which is information in which the movement cost of each of the links is associated with the specific route information, and the road information storage means Search target determining means for determining a search target node group that is a node group used for searching for a recommended travel route to the destination among the plurality of nodes indicated by the route information, and a search determined by the search target determination means A recommended travel route search means for searching for a route that satisfies a predetermined condition based on the target node group as a recommended travel route candidate that is a candidate for the recommended travel route, and at least one or more searched by the recommended travel route search means A recommended travel route specifying means for specifying the recommended travel route based on a specific condition from among the recommended travel route candidates, wherein the recommended travel route searching means is a search target node group determined by the search target determining means. A start point node search means for searching for a start point node included in the node, and an end point node corresponding to the start point node searched by the start point node search means End point node determining means for determining whether or not to be included in the search target node group, an end point node determined to be included in the search target node group by the end point node determining means, and a start point node corresponding to the end point node; Specific route adopting means that adopts a specific route including a part of the recommended travel route candidate.

  With the above configuration, a specific route stored in advance as a route suitable for a specific application can be used more effectively.

  The recommended travel route searching unit adds a specific mark to the end point node determined to be included in the search target node group by the end point node determining unit among the search target node group, and corresponds to the end point node Mark adding means for adding a determination mark to a node other than a direction using a specific route corresponding to the start point node and the end point node from the start point node, and a node corresponding to the departure point of the moving object based on the road information The minimum link group that minimizes the total movement cost when moving to the node corresponding to the destination while identifying the link group that minimizes the total movement cost when moving to each of the search target node groups In the process of searching for the minimum cost route by the minimum cost route searching means for searching the cost route and the minimum cost route searching means, the determination Link excluding means for excluding the link connecting the node to which the mark is added and the node to which the specific mark is added from the search object of the minimum cost path, and the minimum cost searched by the minimum cost path searching means A link group indicating a route may be the recommended moving route candidate.

  The recommended travel route search means executes a search for a start point node by the start point node search means and a determination of an end point node by the end point node determination means before starting the search for the minimum cost route by the minimum cost route search means. A specific route included in the search target node group is specified, and the minimum cost route search means is a route that has a minimum total travel cost from a node corresponding to the departure point to a start point node of the specific route. The destination side minimum cost route and the destination side minimum cost route that is the route that minimizes the total travel cost from the node corresponding to the destination to the end point node of the specific route are searched for, A link group that configures a cost route, a specific route, and a destination-side minimum cost route may be configured as the recommended travel route candidate.

  The search target determining means includes search target update means for updating the search target node group by adding a node to be used for searching for the recommended travel route based on the coordinates of the start point node searched by the start point node searching means. And the end node determination unit may be configured to perform the determination using a search target node group updated by the search target update unit.

  When there are a plurality of specific routes adopted as a part of the recommended travel route candidate by the specific route adoption means, a specific route that accepts selection of a specific route to be adopted as a part of the recommended travel route among the plurality of specific routes When selection selection means and selection of a plurality of specific routes are received by the specific route selection reception means, based on the positional relationship between the start point node, the end point node, the departure point, and the destination of each of the plurality of specific routes And a scheduled passage order determining means for determining a scheduled passage order indicating the order in which the mobile body should pass through the plurality of specific routes, and the search target update means is a passage determined by the scheduled passage order determining means. The search target node group is updated so that a node existing between each specific route is set as the search target node group based on a planned order, and the minimum cost route search unit is updated. It may be configured to search the minimum cost route when reaching the destination in accordance with the planned passage order from the departure point on the basis of the search target nodes updated by the search target updating means.

  A traveling direction receiving unit that receives the traveling direction information of the mobile body, and the search target determining unit includes a provisional purpose based on the traveling direction information received by the traveling direction receiving unit when the destination is not set. A temporary destination setting unit that sets a location may be included, and the search target node group may be determined based on the temporary destination set by the temporary destination setting unit.

  Stop point information storage means for storing stop point information indicating the position of a predetermined stop point in association with the specific route information, current position information receiving means for receiving current position information of the mobile object, and receiving the current position information Based on the current position information received by the means, travel determination means for determining whether the mobile body is moving on the specific route, and the travel determination means determines that the mobile body is traveling on the specific route In response to this, it may be configured to include a stop point guide means for guiding a user on the stop point information associated with the specific route based on the stop point information and the current position information. Good.

  Furthermore, the computer program of the present invention is a navigation program for causing a navigation device that searches for a recommended travel route to a destination of a moving body to control the operation, and the navigation device includes a sightseeing road, a bypass, and a detour. A node group including a start point node indicating a start point of a specific route that is a route specified in advance as a route suitable for at least one and an end point node indicating an end point of the specific route; a link group connecting the node groups; Specific route information stored in specific route information storage means for storing specific route information associated with the movement cost of the link group, a plurality of nodes indicating road intersections, road structure change positions, and the like, A plurality of links indicating routes on which the moving body can move, such as roads connecting nodes, and the movement cost of each of the plurality of links correspond to each other. Search target node group which is a node group used for searching for a recommended travel route to the destination among the plurality of nodes indicated by the road information stored in the road information storage means for storing the road information which is the attached information And a recommended movement for searching for a route that satisfies a predetermined condition based on the search target node group determined in the search target determination process as a recommended movement route candidate that is a candidate of the recommended movement route A route search process, and a recommended travel route specifying process for specifying the recommended travel route based on a specific condition from at least one recommended travel route candidate searched in the recommended travel route search process. In the recommended travel route search process, a start point node search process for searching for a start point node included in the search target node group determined in the search target determination process; An end point node determination process for determining whether or not an end point node corresponding to the start point node searched in the start point node search process is included in the search target node group; This is for executing a specific route adopting process that adopts a specific route including an end point node determined to be included and a start point node corresponding to the end point node as a part of the recommended travel route candidate.

  According to the present invention, a specific route stored in advance as a route suitable for a specific application can be used more effectively.

It is a block diagram which shows the example of a structure of the route guidance system using a navigation apparatus. It is explanatory drawing for demonstrating the example of a structure of a navigation apparatus. It is explanatory drawing which shows the example of the storage state of recommended movement path information. It is explanatory drawing which shows the example of the storage state of specific path | route information. It is explanatory drawing which shows the example of the display screen which a screen display apparatus displays. It is a flowchart which shows the example of the navigation process which a navigation apparatus performs. It is a conceptual diagram for demonstrating operation | movement of the navigation apparatus in a navigation process. It is explanatory drawing for demonstrating the search process of the recommended movement path | route in other embodiment of a navigation apparatus. It is explanatory drawing for demonstrating the search process of the recommended movement path | route in other embodiment of a navigation apparatus. It is a flowchart which shows the example of the specific route | root derivation | leading-out process which a navigation apparatus performs. It is explanatory drawing which shows the example of the storage state of stop point information. It is explanatory drawing for demonstrating the outline | summary of a route guidance. It is a flowchart which shows the example of the stop point guidance process which a navigation apparatus performs.

<First Embodiment>
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  The navigation device 10 according to the present invention has a route search function and a route guidance function, and uses a specific route whose usefulness for a specific application is evaluated in advance using a known route search process or a survey or a statistical method. This is an apparatus for performing route guidance processing so that the vehicle travels on the recommended recommended travel route.

  FIG. 1 is a block diagram illustrating an example of a configuration of a route guidance system 100 using the navigation device 10. As shown in FIG. 1, the route guidance system 100 of this example includes a navigation device 10, a vehicle positioning device 20, an output device 30, and an input device 40.

  The own vehicle position measurement device 20 is a device that measures the current position of the vehicle, receives a GPS signal sent from a GPS satellite, and moves from an initial position or a GPS sensor that measures the position based on the GPS signal. It consists of a speed sensor that measures the amount (distance), a gyro sensor that measures the traveling (moving) direction, and the like.

  A GPS sensor is a so-called GPS receiver, receives a GPS signal radiated from a GPS satellite, measures a distance (pseudo distance) between the GPS satellite and the GPS receiver itself, and receives a plurality of satellites. Are simultaneously received to calculate the current position (GPS positioning solution) of the GPS receiver itself.

  The own vehicle position measurement device 20 is mounted on a moving body (hereinafter described as an example of “vehicle”), and in addition to a GPS receiver (antenna) that receives a GPS signal, the received GPS signal is decoded. And a signal processing unit that outputs the data to the navigation device 10.

  The output device 30 is a device that outputs route guidance information from the navigation device 10, and for example, an image display device (display device, monitor) 31 that displays image information, and a sound output device (speaker device) that outputs sound information as sound. ) 32. The image display device 31 displays the road map information and the current position information of the vehicle on the display screen, and also displays the recommended travel route to the destination on the display screen, thereby visually informing the route. . In addition, the voice output device 32 outputs the guidance voice information as a voice, thereby informing the route of the moving route by hearing.

  The input device 40 is an input device that gives various instructions to the navigation device 10. In this example, the input device 40 is configured by, for example, operation buttons displayed on the display screen of the output device 30.

  FIG. 2 is an explanatory diagram for explaining an example of the configuration of the navigation device 10. As shown in FIG. 2, the navigation device 10 includes a recommended travel route information storage unit F1, a specific route information storage unit F2, a road map information storage unit F3, a route search unit 11, and a vehicle position information reception unit 12. And the search object determination part 13, the direction information reception part 14, the route guidance part 15, and the control part C. In addition, each part which comprises the navigation apparatus 10 is connected to the bus | bath B which transmits a control signal, data, etc.

  The navigation apparatus 10 is configured by an information processing apparatus such as a mobile type personal computer, a PND (Portable Navigation Device), or a dedicated device. Although not shown, the navigation device 10 includes a CPU (Central Processing Unit), a program storage unit, an OS (Operating System), and the like. The CPU has a function of controlling and controlling each component of the navigation device 10 according to a computer program stored in the program storage unit and executing a program process. The program storage unit includes a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and is a storage medium that stores various computer programs used by the navigation device 10.

  The route search unit 11 performs route search processing for deriving a recommended travel route from a departure position (for example, current position) to a destination. In the route search process, for example, the input of destination information from the user is received, the location information of the destination is specified based on the received destination information, and the location information of the destination and the vehicle position measurement device 20 are specified. Based on the current position information measured in this way, the recommended travel route from the current position to the destination is derived by referring to the road information. The route search unit 11 in this example determines a search range based on a method for determining a search range for a recommended travel route stored in advance, and selects a route that satisfies a predetermined condition within the determined search range as a recommended travel route. The search is made as a candidate “recommended travel route candidate” (in this example, “search for a recommended travel route” includes the meaning of “search for recommended travel route candidate” and “recommended” “Searching for a moving route candidate” includes the meaning of “searching for a recommended moving route”). In other words, depending on a predetermined condition set in advance, the route search unit 11 can search for a plurality of routes as recommended moving route candidates. Here, as the “predetermined conditions”, for example, “three routes with low travel costs” or “routes satisfying conditions specified by the user (such as“ no right turn required ”or“ not use expressway ”)” Various conditions are conceivable.

  In addition, the route search unit 11 performs a process of generating a travel route surrounding map including a road map including the searched recommended travel route. In addition, since the well-known technique using the Dijkstra method etc. is used about a route search process, detailed description here is abbreviate | omitted.

  However, a configuration provided for the route search unit 11 to perform a search for a recommended travel route using a specific route, that is, a start point node search unit 11A, an end point node determination unit 11B, a specific route adoption unit 11C, The mark adding unit 11D, the minimum cost route searching unit 11E, the link excluding unit 11F, and the recommended movement route specifying unit 11G will be described later again, including descriptions of known techniques.

  The own vehicle position information receiving unit 12 performs a process of receiving the current position information of the vehicle. Here, the current position is indicated by latitude and longitude, for example. This current position information is measured and transmitted by the own vehicle position measuring device 20.

  The recommended travel route information storage unit F <b> 1 is a storage medium that stores recommended travel route information indicating the recommended travel route obtained by the route search unit 11. The route search unit 11 may derive a plurality of recommended travel routes that satisfy a predetermined condition, and use the one recommended travel route selected by the user to perform route guidance by the route guidance unit 15 described later. . Moreover, it is good also as a structure which preserve | saves a some recommended movement path | route in the recommended movement path | route information storage part F1, in order to utilize for a reroute etc.

  FIG. 3 is an explanatory diagram illustrating an example of a storage state of recommended travel route information stored in the recommended travel route information storage unit F1. As shown in FIG. 3, the recommended travel route information includes route configuration node information indicating nodes constituting the recommended travel route, and route configuration link information indicating information related to a link corresponding to the node.

  The route configuration node information is information for identifying the nodes that constitute the recommended travel route. In this example, the node ID, the position information, the node attribute, the specific route node information, and the specific route ID are included. It is information to include. In this example, latitude and longitude are used as node position information.

  Here, as the “node attribute”, an intersection type (“a” in FIG. 3), a guidance information type (“b” in FIG. 3), and a branch point classification (“c” in FIG. 3) are set. Thereby, route guidance is performed.

  Also, the “specific route node information” is a node that constitutes a “specific route” in which each node constituting the road information is evaluated for usefulness for a specific application by using a survey or a statistical method in advance. This is information indicating whether or not. That is, it is possible to determine whether or not the nodes constituting the recommended movement route include the nodes constituting the specific route based on the specific route node information. Furthermore, the specific route node information in this example also indicates that when each node is the start point or end point of the specific route (hereinafter referred to as “start point node” and “end point node”, respectively). In addition, it is assumed that a plurality of start points and end points may be included in one specific route.

  In addition, when the link connected to each node constitutes a trunk route to be described later, the information may be stored.

  Further, the route configuration link information is information indicating a cost (movement cost) when a link and a moving body that constitute a recommended movement route move the link. In this example, the route configuration link information includes a link ID (ID that can uniquely identify a road), position information of each link (specified by coordinates and vectors), a movement cost set for each link, and including. Accordingly, road information (link ID) while traveling can be obtained from position information on the recommended travel route.

  Note that the route configuration node information may be changed according to time conditions, the moving direction of the vehicle, and the like. Specific route information and route search using the specific route information will be described in detail later.

  The specific route information storage unit F2 is a storage medium that stores specific route information indicating a specific route whose usefulness for a specific application has been evaluated in advance using a survey, a statistical technique, or the like. In this example, the “specific route information” includes a start point node indicating a start point of a specific route that is a route specified in advance as a route suitable for at least one of a sightseeing road, an exit route, and a detour, and an end point of the specific route. A case will be described where information in which a node group including an end point node to be shown, a link group connecting the node group, and a movement cost of the link group are associated with each other is used.

  FIG. 4 is an explanatory diagram illustrating an example of a storage state of the specific route information stored in the specific route information storage unit F2. As shown in FIG. 4, the specific route information includes a specific route ID, a route type, a route name, an area ID, a route start point, a route end point, presence / absence of an auxiliary section, and a movement cost for each specific route. It is information including.

  Here, the “path type” indicates what use each specific path is effective for. In this example, “pathway”, “tour road”, “detour”, etc. are set as the route type.

  In addition, “route start point” and “route end point” specify the node that is the start point and end point of the specific route. If there are branch points on the specific route, multiple start points and end points are set. There is also. Although not shown, the specific route information may differ depending on the time and the traveling direction of the vehicle. For example, this may be an escape route in which the available traffic time is defined, or a one-way exit route.

  The specific route can be provided with a main section and an auxiliary section. Here, the “main trunk section” in this example is a section made up of a main path that has been evaluated in advance by a creator of specific path information as a path that exhibits a function as a specific path. That is, for example, when the type of the specific route is “sightseeing road”, a route connecting a road or a sightseeing spot with a good view becomes the main section. On the other hand, the “auxiliary section” in this example means a section composed of an auxiliary route recommended as a route to a specific route or a route away from the specific route. That is, for example, a route connecting an entrance of a tourist road from an intersection of an expressway IC or a national road is an auxiliary section. By managing the specific route in this way, the specific route can be managed in more detail. Also, for example, when a user tries to pass a specific route, attention may be given to the characteristics of the specific route (for example, “the road is narrow” if it is “pathway”) at an appropriate timing. . In this case, for example, the current position of the vehicle is compared with the specific route information, and when the current position approaches the specific route within a predetermined distance, the control unit C causes the output device 30 to output a predetermined voice guidance. The configuration for executing the processing for this purpose may be adopted.

  In addition, it is good also considering the path | route which detours the predetermined area in a main area as an auxiliary area. Further, since there are a plurality of routes on the way of avoiding traffic jams, the way that seems to be most effective based on a prior survey may be used as the main section, and another way along the way may be used as the auxiliary section. Moreover, it is good also considering the road and intersection to avoid detour from the main section as an auxiliary section. Thereby, derivation | leading-out of the recommended movement path | route using a part of specific path | route can be provided with respect to a user.

  The road map information storage unit F3 is a storage medium that stores map information divided into rectangular ranges (hereinafter referred to as “mesh”) divided by a certain latitude width and latitude width. In addition to being stored in the road map information storage unit F3, the map information can be stored in an auxiliary storage device as a removable medium called an SD memory card, a CD-ROM, a DVD-ROM, or the like. Further, the map information may be downloaded via a communication network such as the Internet. In addition, the road map information storage unit F3 indicates roads that can be traveled by roads such as vehicles such as vehicles such as roads that connect roads with nodes (indicating intersections and road structure change positions) and links (roads that connect nodes). This is a storage medium that stores and manages path configuration node information and path configuration link information (see FIG. 3) for each node and link. That is, the route search unit 11 acquires information necessary for the route search process from the road map information storage unit F3. The road information may be different depending on the time and the traveling direction of the vehicle.

  Here, in the road information in this example, the length of each link and the passage time are stored as the movement cost. In addition, the road information has a plurality of hierarchies. In this example, the road information is for neighborhood (stores all roads), for short distance (stores roads other than narrow streets), for medium distance (prefecture roads or more). Storage) and long-distance use (stores highways and national roads). In this case, for example, hierarchical information may be set for the nodes and links constituting the road information. Thereby, the road information which is the object of the route search can be properly used depending on the route search condition. That is, for example, when the current position and the destination are long distances, the amount of road information existing between them is enormous, so by performing route search processing using road information set for long distance use The processing load on the route search unit 11 can be reduced. Hereinafter, map information and road information are collectively referred to as “road map information” as appropriate.

  The search target determination unit 13 determines a search target node group that is a node group used for searching for a recommended travel route to the destination among the plurality of nodes indicated by the road information. As a method for determining the search target node group, for example, road information existing between each latitude and longitude indicating the current position and the destination of the vehicle, a road in an elliptical area focusing on the current position and the destination Various determination methods such as information or road information within a predetermined range from the current position and the destination can be considered.

  The azimuth information receiving unit 14 has a function of executing processing for receiving azimuth information that specifies the traveling direction of the vehicle.

  Based on the recommended travel route information indicating the recommended travel route searched by the route search unit 11, the route guide unit 15 displays the recommended travel route directions, precautions, and the like to the user by displaying an image, outputting sound, or the like. It has a function of performing route guidance processing for guidance. In addition, since a well-known technique is used about a route guidance process, detailed description here is abbreviate | omitted.

  The control unit C includes a CPU, a ROM, a RAM, and the like, controls and controls each component of the navigation device 10 and executes its processing.

  Next, the configuration of the route search unit 11 in this example will be described again.

  The start point node search unit 11A has a function of performing a process of searching for a start point node included in the search target node group determined by the search target determination 13.

  Note that the start point node search unit 11A in this example has a function of searching for a start point node in consideration of the traveling direction of the vehicle, the current time, and the estimated arrival time on the specific route. That is, for example, the “start point” of the route in the specific route information is “end point” if the traveling direction of the vehicle is reversed, and if the specific route is a one-way road or a time-designated road, the traveling direction or This is because it may not be appropriate to consider using for route guidance depending on the time.

  Whether the end point node determination unit 11B includes the end point node corresponding to the start point node searched by the start point node search unit 11A (that is, the end point node constituting the same specific route as the start point node) in the search target node group. It has a function of performing processing for determining whether or not.

  Note that the end point node determination unit 11B in this example refers to the specific path information storage unit F2 when the start point node search unit 11A determines that there is an end point node corresponding to the start point node included in the search target node group. Then, a process of extracting predetermined information from the corresponding specific route information is performed.

  The specific route adopting unit 11C adopts a specific route including the end point node determined to be included in the search target node group by the end point node determining unit 11B and the start point node corresponding to the end point node as a part of the recommended travel route candidate. It has a function to perform processing. Here, “adopt” means that the minimum cost route to the start point node being searched and the route from the start point node to the end point node (that is, a specific route) are determined as a part of the recommended moving route candidates, It is meant to be adopted as a search target node (that is, a node for which the minimum value of the total of travel costs from the departure node indicating the departure point is to be calculated; hereinafter referred to as “minimum cost calculation target node”). For example, it is realized by adding information indicating “adopted as part of a recommended travel route candidate” to the specific route information. When there are a plurality of specific routes (that is, a start point node and an end point node) included in the search target node group, “adopt” means that at least one recommended travel route candidate to be searched includes the specified specific route. It means that. That is, for example, the search target node group includes a plurality of specific routes (specific route 1 and specific route 2, not shown), and the specific route 1 and the specific route 2 are adopted as part of the recommended travel route candidates. In this case, the navigation device 10 searches for three recommended routes, “route including the specific route 1”, “route including the specific route 2”, and “route including the specific route 1 and the specific route 2”. It shall be possible.

  The mark adding unit 11D adds various marks (for example, specific marks and determination marks; see FIG. 7) to specific nodes (for example, end point nodes) in the node group to be searched (for example, node information). It has a function of performing a mark addition process (including a mark removal process) by providing a flag for an item and setting a flag when adding a mark. The operation of the navigation device 10 when adding a mark to a node will be described in detail later (see FIG. 6).

  Based on the road information, the minimum cost route search unit 11E specifies a link group that minimizes the sum of the movement costs when moving from the node corresponding to the departure point of the moving object to each of the search target node groups. It has a function of performing a process of searching for a minimum cost route that is a link group that minimizes the sum of movement costs when moving to a node corresponding to the ground. Note that the route search unit 11 in this example sets a link group indicating the minimum cost route searched by the minimum cost route search unit 11E as a recommended travel route candidate.

  The link excluding unit 11F excludes a link connecting the node with the determination mark and the node with the specific mark from the search target of the minimum cost route in the process of searching for the minimum cost route by the minimum cost route searching unit 11E. It has a function to execute processing.

  The recommended travel route specifying unit 11G has a function of performing processing for specifying a recommended travel route based on a specific condition from the recommended travel route candidates searched by the route search unit 11. The “specific conditions” here may be various conditions such as “include a specific route”, “a route that minimizes the travel cost”, and “a route according to the user's preference”. In addition, it is good also as a structure which displays a recommendation moving path | route candidate on a display screen, and receives a user's selection. Further, a configuration may be adopted in which all or some of the searched recommended travel route candidates are used as recommended travel routes. In this case, it is preferable that a plurality of recommended travel routes are displayed on the display screen so as to be identifiable. It is assumed that “predetermined conditions” regarding the recommended travel route candidate and “specific conditions” regarding the recommended travel route are stored in the storage area of the navigation device 10. These conditions may be configured to be set (including creation and selection) by the user.

  Note that the search for the recommended travel route using the specific route by the route search unit 11 will be described in detail later (see FIG. 6).

  Next, an example of the display mode of the display screen of the image display device 31 in the route guidance system 100 will be described.

  FIG. 5 is an explanatory diagram illustrating an example of a display screen displayed by the screen display device 31. As shown in FIG. 5, a route guidance screen based on road map information and vehicle current position information is displayed on the display screen of the display which is the image display device 31. When the navigation device 10 searches for a recommended travel route, the navigation device 10 displays the recommended travel route to the destination on the route guidance screen.

  In this example, as shown in FIG. 5, for example, on the display screen of the image display device 31, search execution buttons 41, 42, and 43 for receiving a request for searching for a specific route by the user are provided. I will do it.

  Next, the operation of the navigation device 10 of the present invention will be described with reference to the drawings.

FIG. 6 is a flowchart illustrating an example of navigation processing executed by the navigation device 10 in the route guidance system 100. In the navigation process, a process for searching for a recommended movement route from the departure point (in this example, the current position of the vehicle) to the destination on the specific route is executed. Depending on the distance to the destination, the recommended travel route is searched for each node attribute (that is, if the distance to the destination is determined to be “far” based on the road information) The search unit 11 searches for a recommended travel route using the nodes and links for each road information divided into a plurality of hierarchies). However, in this example, in order to facilitate understanding, one node attribute (ie, 1 A case where a node belonging to one hierarchy) is a search target will be described. Moreover, it is good also as a structure which receives the input of a departure place from a user.

  Hereinafter, the case where the user presses the search execution button 41 and searches for a recommended travel route using “pathway” as a specific route will be described as an example. Note that a detailed description of processing not particularly related to the present invention may be omitted. Note that description of other processes described below may be omitted for processes not particularly related to the present invention.

  In the navigation process, first, the control unit C receives an operation input by the user A who is a user of the route guidance system 100, for example, via the input device 40, and sets a destination (step S101).

  When the destination is set, the control unit C causes the search target determination unit 13 to determine a search target node group (step S102). In this example, the controller C determines a range determined based on the coordinates of the current position of the vehicle that is the departure point and the destination (for example, an elliptical range that focuses on the departure point and the destination). ) Is determined as a search target node group.

  FIG. 7 is a conceptual diagram for explaining the operation of the navigation device 10 in the navigation process. Hereinafter, description will be made with reference to FIG. 7 as appropriate.

  In this example, as shown in FIG. 7A, the control unit C uses the search target determination unit 13 to determine the departure point node S that is a node corresponding to the departure point (current position of the vehicle in this example). It is assumed that a plurality of node groups (and link groups corresponding to each node) existing between the destination node G, which is a node corresponding to the destination, are determined as search targets. In FIG. 7, nodes that are search targets are indicated by “◯”.

  When the search target node group is determined, the control unit C searches for a start point node included in the determined search target node group (step S103). In this example, it is assumed that two start point nodes SN1 and SN2 are searched as shown in FIG.

  When the search processing for the start point node is completed (that is, regardless of the presence or absence of the start point node), the control unit C causes the route search unit 11 to minimize the total travel cost from the start point node S to the destination node G. The search for the minimum cost route is started (step S104).

  When the search for the minimum cost path is started, the control unit C determines whether or not the calculation target node of the minimum cost is the start point node (step S105). If it is determined that the minimum cost calculation target node is not the start node (N in step S105), the control unit C continues the search for the minimum cost route by the route search unit 11 (step S106), and will be described later in step S112. Move on to processing.

  On the other hand, when determining that the calculation target node of the minimum cost is the start point node (Y in step S105), the control unit C includes the end point node corresponding to the start point node in the search target node group by the end point node determination unit 11B. It is determined whether or not (step S107). If it is determined that the end node corresponding to the start point node is not included in the search target node group (N in step S107), the control unit C proceeds to the process in step S106. At this time, the control unit C may add a “mark indicating that the determination on the end node has been completed” to the start point node by the mark adding unit 11D.

  On the other hand, if it is determined that the end point node corresponding to the start point node is included in the search target node group (Y in step S107), the control unit C adds a specific mark to the end point node by the mark addition unit 11D. A determination mark is added to a node (or a node adjacent to the start point node) other than the direction in which the specific route is used from the start point node corresponding to the node (step S108).

  When the specific mark and the determination mark are added, the control unit C causes the link exclusion unit 11F to exclude the link connecting the node to which the determination mark is added and the node to which the specific mark is added from the search target of the minimum cost route. (Step S109).

  FIG. 7B is a conceptual diagram for explaining the flow up to this point (steps S105 to S109). As shown in FIG. 7B, when the control unit C uses the route search unit 11 to set the start point node SN1 as a minimum cost calculation target node (step S105), the end point node FN1 corresponding to the start point node SN1 is searched. The node is determined to be included in the target node group (Y in step S106), and a specific mark is added to the end point node FN1 (in FIG. 7, "◯" indicating the node is represented by "●"). ), Determination marks are added to the nodes N1 and N2 other than the direction in which the specific route is used from the start point node (in FIG. 7, “◯” indicating the node is represented by “□”). Step S108). Next, the control unit C excludes the link L1 connecting the node N1 to which the determination mark is added and the end node FN1 to which the specific mark is added from the search target of the minimum cost route by the route search unit 11 (in FIG. 7). Is expressed by superimposing “x” on the link) (step S109).

  When the link connecting the link to which the determination mark is added and the end node to which the specific mark is added is excluded from the search target of the minimum cost route, the control unit C clears the specific mark and the determination mark by the mark addition unit 11D. (In other words, the added mark is removed. If the flag is set, the flag is lowered.) (Step S110).

  When the mark is cleared, the control unit C adopts the specific route including the start point node and the end point node as a part of the recommended moving route candidate by the specific route adopting unit 11C, and uses the end point node as the next minimum cost calculation target node. (Step S111).

  FIG. 7C is a conceptual diagram for explaining the flow so far (steps S110 to S111). As shown in FIG. 7C, the control unit C clears the specific mark and the determination mark by the route search unit 11 (in FIG. 7C, the nodes N1 and N2 and the end node FN1 are set to “◯”. (Step S110), the specific route PL1 including the start point node SN1 and the end point node FN1 is adopted as a part of the recommended travel route candidate (FIG. 7C shows FIG. 7). (B), the specific route PL1 indicated by the “broken line” is changed to “thick solid line”), and the end point node FN1 is set as the next minimum cost calculation target node (step S111).

  When the specific route is adopted as a part of the recommended travel route candidate, the control unit C determines whether or not the search for the minimum cost route to the destination is completed (step S112). If it is determined that the search for the minimum cost route to the destination is not completed (N in Step S112), the control unit C proceeds to the process in Step S105.

  When the search for the minimum cost route is advanced, the control unit C, for example as shown in FIG. 7C, for the start point node SN2, the end point node FN2, the specific route PL2, the node N3, and the link L2 Thus, the processing from step S107 to step S111 is performed.

  When the search for the minimum cost route is continued and it is determined that the search for the minimum cost route to the destination (destination node G in FIG. 7) is completed (N in step S112), the control unit C obtains the search process. Information (for example, a link group that minimizes the sum of movement costs when moving to each search target node. If facility information or the like is associated with a node, it may be configured to include them). Based on this, a route that satisfies a predetermined condition set in advance in the storage area of the navigation device 10 is determined as a recommended travel route candidate (step S113). In this example, as shown in FIG. 7 (D), for example, the control unit C starts from the departure node S, and travels on recommended routes R1, R2, and R3 at least once on the specific routes PL1 and PL2. Determine a route candidate.

  When the recommended travel route candidate is determined, the control unit C uses the recommended travel route specifying unit 11G to identify a recommended travel route that satisfies a specific condition set in advance in the storage area of the navigation device 10 from the recommended travel route candidates. (Step S114), the process here ends. In this example, the recommended travel route specifying unit 11G indicates the minimum cost route searched by the minimum cost route search unit 11D (the recommended travel route candidate including the specific route that has the minimum travel cost). It is assumed that the travel route candidate is a recommended travel route.

  As described above, in the above-described embodiment, the navigation device 10 that searches for a recommended travel route to a destination of a moving body (for example, a vehicle) is at least one of a sightseeing road, a loop-out path, and a detour. A node group including a start point node indicating a start point of a specific route and an end point node indicating an end point of the specific route, a link group that connects the node groups, and movement of the link group A movable body such as a specific route information storage unit F2 that stores specific route information associated with a cost, a plurality of nodes indicating road intersections, road structure change positions, and the like, and roads connecting the nodes can move. A road map information storage unit F3 that stores road information that is information in which a plurality of links indicating routes, movement costs of each of the links, and specific route information are associated with each other. Of the plurality of nodes indicated by the road information stored in the road map information storage unit F3, a search target node group that is a node group used for searching for a recommended travel route to the destination is determined, and the determined search target node group Based on the above, a route satisfying a predetermined condition is searched as a recommended travel route candidate that is a recommended travel route candidate, and a recommended travel route is identified based on a specific condition from the searched at least one recommended travel route candidate In the search for the recommended travel route (the recommended travel route candidate when the recommended travel route is identified from the searched recommended travel route candidates after searching for the recommended travel route candidate), Is searched for, for example, the start node SN1 in FIG. 7 and the end node corresponding to the searched start node (for example, the end node F in FIG. 7). 1) is included in the search target node group, and the end point node determined to be included in the search target node group and the start point node corresponding to the end point node (for example, the start point node SN1 and the end point node FN1 in FIG. 7) ) Including a specific route (for example, the specific route PL1 in FIG. 7) is adopted as a part of the recommended travel route candidate, so that a specific route stored in advance as a route suitable for a specific application is more effectively used. Can be used.

  In other words, in the process of searching for a recommended travel route from the departure point to the destination of the mobile object, the specific route is adopted as a part of the recommended travel route candidate, and therefore the specific route is not included, for example, when the user wants to use the specific route. When the search for the recommended travel route is unnecessary, the recommended travel route including the specific route can be directly searched.

  In the embodiment described above, the navigation device 10 adds a specific mark to the end point node (for example, the end point node FN1 in FIG. 7) determined to be included in the search target node group among the search target node group. Then, a node other than the direction in which the specific path (for example, the specific path PL1 in FIG. 7) corresponding to the start point node and the end point node is used (for example, the specific path PL1 in FIG. 7) from the start point node (for example, the start node SN1 in FIG. 7). , Nodes N1 and N2) in FIG. 7 are added, and based on the road information, the node (for example, in FIG. 7) corresponding to the departure point (for example, the current position of the vehicle) of the moving body (for example, the vehicle) Specifying a link group that minimizes the sum of travel costs when moving from the departure node S) to each node group to be searched A minimum cost route that is a link group that minimizes the sum of movement costs when moving to a corresponding node (for example, destination node G in FIG. 7) is searched, and a determination mark is added in the search process of the minimum cost route. The link (for example, link L1 in FIG. 7) connecting the identified node and the node to which the specific mark is added is excluded from the search target of the minimum cost route, and the link group indicating the searched minimum cost route is set as the recommended travel route candidate. Therefore, in the process of searching for a recommended travel route, calculation of a link (for example, a link that does not connect to the specific route) that cannot be adopted when a specific route is part of the recommended travel route candidate (route calculation) Can be omitted. That is, it is possible to reduce the processing load when searching for the recommended travel route by the amount of deleting the link.

  In the above-described embodiment, the navigation device 10 adds the mark by determining whether or not the search target includes the end node corresponding to the start point node in the search process of the minimum cost route. Although the case has been described (see FIG. 6), the timing of adding a mark is not limited to this. For example, before starting the search for the minimum cost route, that is, when the start node is searched, the determination regarding the end node is performed. It is good also as a structure which performs and adds a mark (for example, specific mark).

<Second Embodiment>
Although not particularly mentioned in the above-described embodiment, the navigation device 10 searches for a start point node before starting a search for a minimum cost route, and an end point node corresponding to the searched start point node becomes a search target node group. This is a route that minimizes the sum of travel costs from the node corresponding to the starting point to the starting point node of the specific route by identifying the specific route included in the search target node group by determining whether or not it is included The starting side minimum cost route is searched for and the destination side minimum cost route, which is the route that minimizes the sum of travel costs from the node corresponding to the destination to the end node of the specific route. The link group constituting the specific route and the destination-side minimum cost route may be used as a recommended travel route candidate.

  Hereinafter, a method for searching for a recommended travel route in such a configuration will be described with reference to the drawings.

  In other embodiments described below, the description will focus on parts that are different from the first embodiment described above. Therefore, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted. Unless otherwise specified, the same components are assumed to be the same.

  The “component” here includes the processing operation of the navigation device 10 in this example, and the description of the same processing as in the example of the first embodiment may be omitted. Hereinafter, the same applies to other embodiments.

  FIG. 8 is an explanatory diagram for explaining a recommended travel route search process in another embodiment of the navigation device 10. As shown in FIG. 8, for example, when a node included in an elliptical search target range C1 having a focus on a departure node S and a destination node G is set as a search target node group, the control unit C has a start node The search unit 11A searches the start point nodes SN11 and SN12 included in the search target node group.

  When searching for the start point node, the control unit C determines whether or not the end point nodes FN11 and FN12 corresponding to the start point node SN11 and the start point node SN12 are included in the search target node group.

  When it is determined that the corresponding end node FN11 is included in the search target node group, the control unit C uses the navigation device 10 as a recommended moving route candidate condition that the specific route PL11 corresponding to the start point node SN11 is included. Is stored in the storage area.

  When storing that the specific route PL11 is included as a condition of the recommended travel route candidate, the control unit C includes a departure side side minimum cost route that is a route that minimizes the total travel cost from the departure point node S to the start point node SN11. When the search for the destination-side minimum cost route that is the route that minimizes the sum of the travel costs from the destination node G to the destination node FN11 is started and it is determined that the search is completed, the departure-side minimum cost route ( For example, a link group that configures the link L10), the specific route PL11, and the destination-side minimum cost route (for example, the links L11 and L12) is specified as a recommended travel route candidate. In the search for the destination-side minimum cost route, the destination node may be a start node of the route search, or the end point node may be a start node of the route search.

  As described above, by configuring the specific route to be adopted as the recommended travel route candidate (or recommended travel route) before starting the search for the minimum cost route, the recommended travel route using the specific route is determined. In the search, the search process for two or more minimum cost paths can proceed in parallel. That is, the time required for searching for the recommended travel route can be shortened compared to the case where the route search is performed from one side.

<Third Embodiment>
Although not particularly mentioned in the above-described embodiment, the navigation device 10 adds a node to be used for searching for a recommended movement route based on the position (for example, coordinates) of the searched start node. A configuration may be adopted in which the node group is updated and it is determined whether or not the end node is included in the search target node group using the updated search target node group.

  Hereinafter, a method for searching for a recommended travel route in such a configuration will be described with reference to the drawings.

  In other embodiments described below, the description will focus on parts that are different from the first and second embodiments described above. Accordingly, the same components as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof is omitted. Unless otherwise specified, the same components are assumed to be the same.

  FIG. 9 is an explanatory diagram for explaining a recommended travel route search process in another embodiment of the navigation device 10. As shown in FIG. 9, when a node included in a search target range C1 having a predetermined shape with reference to a departure node S and a destination node G is a search target node group, the control unit C searches for a start node. The starting point nodes SN11 and SN12 included in the search target node group are searched by the unit 11A. In this example, an explanation will be given of a case where an elliptical shape having a focus on the departure node S and the destination node G is set as the search target range C1.

  When searching for the start point node, the control unit C determines whether or not the end point nodes FN11 and FN12 corresponding to the start point nodes SN11 and SN12 are included in the search target node group by the end point node determination unit 11B.

  Here, in this example, the control unit C updates the search target node group by adding a node to be used for searching the recommended travel route based on the coordinates of the start point nodes SN11 and SN12, and the updated search target node group Is used to determine whether the end node is included in the search target node group. Hereinafter, a case where the search target node group is updated based on the coordinates of the start point node SN12 will be described. As for the start point node SN11, the corresponding end node 11 is included in the search target node group, and therefore description of adding the search target node is omitted. However, the control unit C may be configured to update the search target node group only when the corresponding end point node is not included in the search target node group (that is, the control unit C uses the end point node to search the search target node group). It may be configured to perform node group update determination.)

  In this example, the control unit C selects nodes that are located in the additional range C2 having a shape based on the start point node SN12 and the destination node G and are not located in the existing search target range C1. Add to the search target node group. In this example, a case where an elliptical range with the start point node SN12 and the destination node G as a focus is used as the additional range C2 based on the start point node SN12 and the destination node G will be described.

  When the node N12, the node N13, and the end point node FN12 located in the addition range C2 are added to the search target node group, the control unit C includes the end point node FN11 and the end point node FN12 in the search target node group. It is determined that

  Then, it is recommended to include at least one of the specific route PL11 and the specific route PL12 corresponding to the start point node SN11 and the start point node SN12 that are determined to include the corresponding end point nodes FN11 and FN12 in the search target node group. It is stored in the storage area of the navigation device 10 as a condition for the movement route (or recommended movement route candidate).

  As described above, the availability of a specific route can be obtained by updating the search range when a part of the specific route is included in the search target range determined based on the departure point and the destination. Can be increased.

  In the above-described third embodiment, the case where the search target update time is before the search for the minimum cost path (for example, when searching for the start node included in the search target node group) has been described. The timing is not limited to this. For example, it may be when the minimum cost calculation target node is determined to be the start point node in the search process of the minimum cost route.

  Although not particularly mentioned in the above-described embodiment, when there are a plurality of specific routes that the navigation apparatus 10 employs as a part of the recommended travel route candidates, one of the recommended travel routes is selected from the plurality of specific routes. When a selection of a specific route to be adopted as a part is received and selection of a plurality of specific routes is received, a mobile object (based on the positional relationship between the start point node, the end point node, the departure point, and the destination of each of the plurality of specific routes For example, a node that exists between each specific route is determined according to the determined order of passage, in which the vehicle is determined to indicate the order in which the vehicle should pass through a plurality of specific routes (for example, the order of the start node close to the departure node). The search target node group is updated so as to be the search target node group, and based on the updated search target node group, the destination is reached from the departure point based on the planned order of passage. It may be configured to search the minimum cost path in the case of.

  By adopting such a configuration, a route that efficiently moves a plurality of specific routes can be set as a recommended moving route. It can also be used when there are nodes that are included in the search target node group and are not related to the specific route that is adopted as part of the recommended travel route (for example, the distance to the specific route is greater than or equal to the predetermined distance). By updating the search target node group so that only the characteristic nodes are included in the search target node group, the efficiency of the route search can be improved.

  Although not specifically mentioned in the above-described embodiment, depending on the configuration of the recommended travel route and the specific route, there is a node that can be both the start node and the end node among the nodes constituting the specific route. It may become. In such a case, a recommended travel route including a branch point may be derived, or a specific route may be specified by receiving selection of a start point and an end point of the specific route by the user.

<Fourth embodiment>
In the example of the fourth embodiment, it is also possible to derive a recommended movement route using a specific route even when the destination is not set by the user. That is, it differs from the first to third embodiments described above in that it does not require the user to input a destination.

  In other embodiments described below, the description will focus on parts different from the first to third embodiments described above. Therefore, the same components as those in the first to third embodiments are denoted by the same reference numerals, and the description thereof will be omitted.

  In the present embodiment, the navigation device 10 further includes a temporary destination setting unit 16 (not shown).

  The temporary destination setting unit 16 sets a temporary destination (temporary destination) based on the traveling direction information received by the traveling direction receiving unit 16 when the destination is not set. In this example, the temporary destination setting unit 16 determines the road on which the vehicle is currently traveling or the road from the current position information received by the host vehicle position information receiving unit 12 and the direction information received by the direction information receiving unit 14. The route information indicating the road existing in the direction to be traveled is collected for a predetermined distance, and the position that arrives when traveling for a predetermined time is stored as a temporary destination.

  Hereinafter, an example of the operation of the navigation apparatus 10 in the example of the present embodiment will be described.

  FIG. 10 is a flowchart illustrating an example of the specific route derivation process executed by the navigation device 10. The specific route deriving process in this example will be described by taking as an example a case where the user presses the search execution button 43 and searches for a “detour” as the specific route.

  When the specific route deriving process is started in response to the detour search request by the user, the control unit C determines whether or not the destination is set in the storage area of the navigation device 10 by the temporary destination setting unit 16 ( Step S201). If it is determined that the destination is not set (N in Step S201), the control unit C receives the current position information by the own vehicle position information receiving unit 12 (Step S202).

  When the current position information is received, the control unit C receives the traveling direction information of the vehicle through the direction information receiving unit 14 (step S203).

  When the traveling direction information is received, the control unit C sets a temporary destination by the temporary destination setting unit 16 (step S204). Note that, for example, when there is a T-shaped road or a dead end within a predetermined distance, the specific route deriving process may be terminated by informing the user of the fact that the vehicle cannot proceed along the road. Moreover, it is good also as a structure which displays the screen for receiving the input of the temporary destination by a user at this time.

  When the temporary destination is set, the control unit C causes the route search unit 11 to search for a recommended movement route from the current position to the temporary destination (step S205).

  When the recommended travel route to the temporary destination is searched, the control unit C determines whether or not there is a specific route on the searched recommended travel route (step S206). In this example, the control unit C first determines, by the search target determination unit 13, a node located on the searched recommended travel route (or within a predetermined range based on the recommended travel route) as a search target node group. To do. When the search target node group is determined, the control unit C searches the start point node included in the determined search target node group by the start point node search unit 11A. When the start point node is searched, the control unit C determines whether or not there is an end point node corresponding to the searched start point node by the end point node determination unit 11B. Here, if it is determined that there is an end point node corresponding to the start point node in the search target node group, the control unit C determines that there is a specific route on the searched recommended travel route. In this example, since the detour search is performed, the start node search unit 11A refers to the route type in the specific route information and searches for the start node corresponding to the specific route for which the “detour” is set. It shall be.

  When it is determined that there is a specific route on the searched recommended travel route (Y in step S206), the control unit C refers to the specific route information stored in the specific route information storage unit F2 by the specific route adoption unit 11C. Specific route information is acquired (step S207), and the specific route deriving process is terminated. When a node located within a predetermined range based on the recommended travel route is set as a search target node group and a specific route where the start node is located other than on the recommended travel route is derived, the control unit C causes the route search unit 11 to Thus, the recommended travel route from the recommended travel route to the specific route may also be searched.

  On the other hand, when it is determined that there is no specific route on the searched recommended travel route (N in Step S206), the control unit C notifies the user that there is no specific route (Step S208), and performs the specific route derivation process. finish.

  In this example, since the specific route is derived using the temporary destination, the derived specific route may not be in line with the user's intention. Therefore, the temporary destination is displayed on the display screen or information on the derived detour, for example, “There is a detour set by the police when the road is closed. It is good also as a structure which alert | reports messages, such as "it can appear to □□."

  As described above, in the present embodiment, when the traveling direction information of a moving body (for example, a vehicle) is received and the destination is not set, a temporary destination based on the received traveling direction information is set, Since the search target node group is determined based on the set temporary destination (for example, a node group constituting a recommended travel route from the current position of the vehicle to the temporary destination), for example, the user can use the navigation device 10. When driving on a route that is recognized as requiring no route guidance, it becomes impossible to pass the normal route due to unforeseen circumstances such as traffic or fire, and when a search for a detour is requested, the user can quickly It becomes possible to search for a specific route according to the intention.

<Fifth embodiment>
In the example of the fifth embodiment, route guidance based on recommended travel route information including a specific route can be switched to route guidance based on predetermined information registered in advance. In other words, the embodiment described above switches from route guidance based on recommended travel route information to route guidance based on stop point information corresponding to a specific route according to vehicle position information (or information based on stop point information). Is different). By adopting such a configuration, even when the route guidance of the recommended movement route using the specific route including the branch point in the traveling direction is performed, the route guidance suitable for the user can be easily performed. Note that the “route guidance” here is not only intended to guide the user, but also, for example, using a voice output device, “speech to the left when you turn left at the next intersection. Or providing information that simply displays a route leading to a famous building near the current location so that it can be distinguished from the recommended travel route.

  In other embodiments described below, the description will focus on parts that are different from the first to fourth embodiments described above. Therefore, the same components as those in the first to fourth embodiments are denoted by the same reference numerals, and the description thereof will be omitted.

  In the present embodiment, the navigation device 10 further includes a stop point information storage unit F4 and a stop point approach determination unit 17 (not shown).

  The stop point information storage unit F4 stores stop point information indicating stop points such as tourist facilities, surrounding parking lots, restaurants, and souvenir shops on the specific route in association with the specific route information.

  FIG. 11 is an explanatory diagram illustrating an example of a storage state of the stop point information stored in the stop point information storage unit F4. As shown in FIG. 11, the stop point information includes a specific route ID, a guidance start node ID, a guidance content change node ID, guide facility information indicating a facility existing at the stop point, and location information of the stop point (for example, , Position coordinates, nearest specific path configuration node information, etc.). Here, the “guidance start node ID” is an ID for identifying the node set as the guidance start point, and the “guidance start point” is when the current position information approaches within a predetermined distance, This is a point where the route guidance unit 15 starts route guidance based on corresponding guidance facility information. In this example, the case where the node N31 (parking lot guidance start point N31; see FIG. 12) is used as the guidance start point will be described as an example. “Guidance content change node ID” is an ID for identifying a node set as a guide content change point. “Guidance content change point” is a route guidance unit 15 that changes the content of route guidance. It is a point to do. In this example, the case where nodes N32, N33, and N37 (parking lot guidance points N32, N33, and N37, see FIG. 12) are used as the guidance content change points will be described as an example. In addition, instead of or in combination with the guidance content change point, when the vehicle approaches within a predetermined distance, the route guidance unit 15 performs route guidance on the basis of the corresponding guidance facility information. It is good also as a structure using.

  The stop point approach determination unit 17 has a function of determining whether or not the vehicle has approached a predetermined distance with respect to any of the stop point, the guidance start point, and the guidance content change point. By providing the guidance start point, it is possible to start route guidance based on the stop point information at an appropriate timing. Further, by providing the guidance content change point, it is possible to perform route guidance according to the movement situation of the user.

  In addition, the route guidance unit 15 in this example has a route guidance function for guiding a stop point to the user based on the stop point information.

  Next, route guidance executed by the navigation device 10 in this example will be described with reference to the drawings.

  FIG. 12 is an explanatory diagram for explaining an outline of route guidance in this example. In FIG. 12, among the nodes constituting the specific route R101, the start point node of the specific route is indicated by S, the connection point nodes with other specific routes are indicated by CN, and the other points are indicated by N31 to N37. In this example, among the links constituting the specific route, the link indicating the main route is indicated by a solid line as the link used as the search target for the recommended travel route, and the link indicating the auxiliary route is the search target for the recommended travel route. As a link that is not used as a link (excluding a search for changing a recommended moving route that is performed while the vehicle is traveling on a specific route, which will be described later, see FIG. 13), a broken line indicates. Furthermore, a route in which one or more stop points (for example, parking lots B, C, and D) are associated with each other in the auxiliary route is referred to as a “stop route”. Further, guidance information of the node is indicated by a balloon, and a corresponding stop point (parking lots A to D) is indicated on the link based on the position information.

  Under such circumstances, the navigation device 10 in this example receives the current position information of the vehicle at predetermined time intervals. Then, when the vehicle passes through the node N31 during route guidance of the recommended travel route, route guidance is started using the stop point information. The navigation device 10 first guides the parking lots A to D when the vehicle approaches the node N32 within a predetermined distance. In addition, as parking lot guidance in this case, it is good also as a structure which performs the route guidance based on the stop point information in preference to the route guidance based on the recommended travel route information, for example. Further, as parking lot guidance, the number of parking spaces in each parking lot and the distance to the tourist facility may be displayed as a list, or the route to each parking lot may be highlighted and displayed.

  When the vehicle approaches the parking lot D and approaches the node N33 within a predetermined distance, the navigation device 10 guides the parking lots A to C excluding the parking lot D. When the vehicle approaches the parking lot A and approaches the node N37 within a predetermined distance, the parking lots B and C are guided.

  Hereinafter, an example of the operation of the navigation device 10 in the present embodiment will be described.

  FIG. 13 is a flowchart illustrating an example of a stop-point guide process executed by the navigation device 10. In the stop point guidance process in this example, when the position of the vehicle traveling on the specific route reaches a predetermined position, a process for guiding the user to the predetermined stop point is performed. In this example, the case where it is set as “predetermined position” that the vehicle is located on a specific route will be described.

  During execution of route guidance based on the recommended travel route using the specific route, the control unit C determines whether or not the vehicle is traveling on the specific route based on the current position information received by the vehicle position information receiving unit 12. To do. When it is determined that the vehicle is traveling on a specific route (in this example, the specific route on which “tourist road” is set), the control unit C starts the stop point guidance process.

  In the stop point guide process, first, the control unit C determines whether or not the vehicle has approached the guide start point in the stop point information within a predetermined distance by the stop point approach determining unit 17 (step S301). .

  When it is determined that the vehicle has approached the guidance start start point within a predetermined distance (Y in step S301), the control unit C causes the route guidance unit 15 to start route guidance based on the stop point information (step S302). .

  When the route guidance is started, the control unit C determines whether or not the vehicle deviates from the recommended movement route based on the current position information (step S303). If it is determined that the vehicle is traveling on the recommended travel route (N in step S303), the control unit C causes the stop point approach determination unit 17 to guide the vehicle in the stop point information based on the current position information. It is determined whether or not the change point has been approached within a predetermined distance (step S304).

  If it is determined that the guidance content change point has been approached within a predetermined distance (Y in step S304), the control unit C causes the route guidance unit 15 to provide route guidance based on the guidance facility information in the stop point information. The contents are changed (step S305), and the process proceeds to step S303. That is, for example, the route guidance unit 15 guides the parking lots A, B, C, and D until the vehicle passes through the node N32 and approaches the node N34 within a predetermined distance, and the node N34 is predetermined. After approaching within the distance, the parking lots A, B, and C are guided (see FIG. 12). For parking lots B, C, and B, which are stop points located on the stop route, stop route guidance (for example, display of the stop route) is performed.

  On the other hand, when it is determined in step S303 that the vehicle deviates from the recommended travel route (Y in step S303), the control unit C determines that the vehicle is on the specific route based on the current position information and the specific route information. It is determined whether the vehicle is traveling above (step S306). Here, when it is determined that the vehicle is traveling on the specific route (Y in Step S306), the control unit C determines that the vehicle is traveling on the stop route corresponding to the specific route constituting the recommended travel route. The route search unit 11 searches for a recommended travel route including a stop-by route while the vehicle is traveling, changes the recommended travel route so far (step S307), continues the route guidance, and proceeds to the processing of step S304. .

  On the other hand, when it is determined that the vehicle is not traveling on the specific route (N in Step S306), the control unit C ends the stop point guidance (Step S309) and resumes route guidance. At this time, the control unit C may be configured such that the route search unit 11 performs a normal route search process that uses the current position information as a departure point and does not use specific route information, and ends the stop information guide process. In addition, the control unit C may be configured to execute the route search process by using the route search unit 11 with the current position of the vehicle as the departure point and the guidance start position in the stop point information as the destination.

  If it is determined in step S304 in the stop point guidance process that the vehicle is not approaching the guidance content change point (N in step S304), the control unit C uses the stop point approach determination unit 17 to change the current position information. Based on this, the arrival determination is performed by determining whether or not the vehicle has approached the stop point within the specific route within a predetermined distance (step S308).

  Here, until the vehicle approaches within a predetermined distance to the stop point in the specific route (N in Step S308), the control unit C continues the stop point guide process (ie, the process in Step S303). Transition).

  On the other hand, if it is determined that the vehicle has arrived at the stop point because the current position of the vehicle has approached the stop point corresponding to the specific route within a predetermined distance (Y in step S308), the control unit C The point guidance process is terminated (step S309).

  As described above, in the fifth embodiment, a stop point that stores stop point information indicating the position of a predetermined stop point (for example, parking lots A, B, C, and D) in association with the specific route information. An information storage unit F4 is provided, receives current position information of a moving body (for example, a vehicle), determines whether the moving body is moving on a specific route based on the received current position information, and the moving body is on a specific route ( For example, when it is determined that the vehicle is traveling on the specific route R101, information on the stop point associated with the specific route (for example, the parking lot A that is a stop point on the specific route, Based on the stop point information and the current position information (for example, based on the guidance start node, the guidance content change node, and the current position), the parking lots B, C, and D, which are stop points on the route. Since it is configured to guide the user, there is no need to set a stop point (tourist facility, souvenir shop, etc.) as a transit point or to search and set a stop point in the vicinity search, etc. Even when there are multiple possible places or where the stop points are crowded (for example, when a parking lot is used as a drop-off point and a plurality of parking lots are associated with one specific route) Thus, it is possible to provide appropriate route guidance to the user. This can be said to be useful in comparison with the current situation where services that provide parking lot congestion are provided only at some tourist facilities.

  In the above-described fifth embodiment, when a moving body (for example, a vehicle) is traveling on a specific route, the stop point is based on the stop point information corresponding to the specific route being traveled and the current position information. However, the method of guiding the stop point is not limited to this. For example, when a vehicle approaches a specific route, a stop point, or a stop route within a predetermined distance, etc. Alternatively, it may be configured to start the guidance of the stop point.

  In the fifth embodiment described above, the case where the navigation apparatus 10 performs route guidance using the stop point information stored in the stop point information storage unit F4 has been described. For example, based on the stop point information The recommended travel route information may be changed, and the vehicle may be guided to the position indicated by the stop point information.

  Alternatively, the navigation device 10 may compare the distance between the current position of the vehicle and each stop point and narrow down the stop points to be guided. Furthermore, for example, when guiding a parking lot as a stop-off point, if the parking lot where the user arrives is full, information for guiding an alternative parking lot may be added to the stop-point information. Good. Moreover, it is good also as a structure which searches the route recommended for the navigation apparatus 10 to move on the original recommended movement route from each stop point.

  In the above-described embodiment, the specific route is divided into the main route and the drop-in route. However, even if the specific route is branched, a configuration without the drop-in route may be used. In this case, for example, the navigation device 10 may display the branching specific route as a recommended moving route in a state in which the direction toward the destination is indicated.

  INDUSTRIAL APPLICABILITY The present invention is industrially useful in an industry that handles devices that provide vehicle route guidance, and is also useful in the electrical appliance market such as a car navigation device that can display an electronic map.

C Control unit F1 Recommended travel route information storage unit F2 Specific route information storage unit
F3 road map information storage unit F4 stop point information storage unit 10 navigation device 11 route search unit 11A start point node search unit 11B end point node determination unit 11C specific route adoption unit 11D mark addition unit 11E minimum cost route search unit 11F link exclusion unit 11G Recommended travel route specifying unit 12 Own vehicle position information receiving unit 13 Search target road information determining unit 14 Direction information receiving unit 15 Route guidance unit 16 Temporary destination setting unit 17 Stop point approach determining unit 20 Own vehicle position positioning device 30 Output device 31 Image display device 32 Audio output device 40 Input device

Claims (8)

A navigation device for searching for a recommended travel route to a destination of a moving object,
A node group including a start point node indicating a start point of a specific route that is a route specified in advance as a route suitable for at least one of a sightseeing road, a loop-off route, and a detour, and an end point node indicating an end point of the specific route; Specific route information storage means for storing specific route information in which a link group connecting the node group and a movement cost of the link group are associated;
A plurality of nodes indicating road intersections, road structure change positions, and the like; a plurality of links indicating paths on which the mobile body can move, such as roads connecting the nodes; and a moving cost of each of the links; Road information storage means for storing road information which is information associated with specific route information;
Search target determining means for determining a search target node group that is a node group used for searching for a recommended travel route to the destination among the plurality of nodes indicated by the road information stored in the road information storage means;
Recommended travel route search means for searching a route that satisfies a predetermined condition based on the search target node group determined by the search target determination means as a recommended travel route candidate that is a candidate of the recommended travel route;
Recommended travel route specifying means for specifying the recommended travel route based on a specific condition from at least one or more recommended travel route candidates searched by the recommended travel route search means;
The recommended travel route searching means is:
Start point node search means for searching for a start point node included in the search target node group determined by the search target determination means;
End point node determining means for determining whether or not an end node corresponding to the start point node searched by the start point node searching means is included in the search target node group;
Specific route adopting means that adopts, as a part of the recommended travel route candidate, a specific route including an end point node determined to be included in the search target node group by the end point node determining unit and a start point node corresponding to the end point node A navigation device characterized by comprising: The recommended travel route search means includes:
Among the search target node group, a specific mark is added to the end point node determined to be included in the search target node group by the end point node determination unit, and the start point node and the end point are determined from the start point node corresponding to the end point node. Mark adding means for adding a determination mark to a node other than the direction in which the specific route corresponding to the node is used;
Based on the road information, to the node corresponding to the destination while identifying the link group that minimizes the sum of the movement costs when moving from the node corresponding to the departure point of the moving body to each of the search target node groups A minimum cost route searching means for searching for a minimum cost route that is a link group that minimizes the sum of movement costs when moving;
A link excluding unit for excluding a link connecting the node to which the determination mark is added and the node to which the specific mark is added from the search object of the minimum cost route in the process of searching for the minimum cost route by the minimum cost route searching unit; Have
The navigation device according to claim 1, wherein a link group indicating a minimum cost route searched by the minimum cost route search means is set as the recommended travel route candidate. The recommended travel route search means includes:
Before starting the search of the minimum cost path by the minimum cost path search means, the search of the start point node by the start point node search means and the determination of the end point node by the end point node determination means are executed and included in the search target node group Identify specific routes,
The minimum cost route search means includes a departure side minimum cost route that is a route that minimizes the sum of travel costs from a node corresponding to the departure point to a starting point node of the specific route, and a node corresponding to the destination To the destination side minimum cost route that is the route that minimizes the sum of travel costs from to the end node of the specific route,
The navigation device according to claim 2, wherein a link group that constitutes the departure-side minimum cost route, the specific route, and the destination-side minimum cost route is the recommended travel route candidate. The search target determining means includes search target update means for updating the search target node group by adding a node to be used for searching for the recommended travel route based on the coordinates of the start point node searched by the start point node searching means. Have
The navigation apparatus according to any one of claims 1 to 3, wherein the end node determination unit performs the determination using a search target node group updated by the search target update unit. When there are a plurality of specific routes adopted as a part of the recommended travel route candidate by the specific route adoption means, a specific route that accepts selection of a specific route to be adopted as a part of the recommended travel route among the plurality of specific routes A selection receiving means;
When the selection of a plurality of specific routes is received by the specific route selection receiving means, the mobile body is based on the positional relationship between the start point node, the end point node, the departure point, and the destination of each of the plurality of specific routes. Including a scheduled passage order determination means for determining a scheduled passage order indicating the order of passage through the plurality of specific routes,
The search target update means updates the search target node group so that a node existing between each specific route is the search target node group based on the planned pass order determined by the planned pass order determination means,
5. The minimum cost route search unit searches for a minimum cost route when the destination arrives at the destination according to the planned passing order from the departure point based on the search target node group updated by the search target update unit. The navigation device described. A traveling direction receiving means for receiving the traveling direction information of the mobile body;
The search target determining unit includes a temporary destination setting unit that sets a temporary destination based on the traveling direction information received by the traveling direction receiving unit when the destination is not set. The navigation device according to any one of claims 1 to 5, wherein the search target node group is determined based on a temporary destination set by a place setting unit. Stop point information storage means for storing stop point information indicating the position of a predetermined stop point in association with the specific route information;
Current position information receiving means for receiving current position information of the mobile body;
Traveling determination means for determining whether the moving body is moving on the specific route based on the current position information received by the current position information receiving means;
In response to determining that the mobile body is traveling on the specific route by the travel determination means, information on the stop point associated with the specific route is the stop point information and the current position information. The navigation apparatus according to any one of claims 1 to 6, further comprising a stop point guide means for guiding the user based on the information. A navigation program for controlling operation of a navigation device that searches for a recommended movement route to a destination of a moving object,
In the navigation device,
A node group including a start point node indicating a start point of a specific route that is a route specified in advance as a route suitable for at least one of a sightseeing road, a loop-off route, and a detour, and an end point node indicating an end point of the specific route; Specific route information stored in specific route information storage means for storing specific route information in which link groups that connect nodes and movement costs of the link groups are associated with each other, road intersections and road structure change positions Road information, which is information in which a plurality of nodes indicating such as, a plurality of links indicating paths on which the moving body can move, such as roads connecting the nodes, and movement costs of the links are associated with each other. A search target node group, which is a node group used for searching for a recommended travel route to the destination, is determined from among the plurality of nodes indicated by the road information stored in the road information storage means for storing. And the search target determination process that,
A recommended travel route search process for searching for a route that satisfies a predetermined condition based on the search target node group determined in the search target determination process as a recommended travel route candidate that is a candidate of the recommended travel route;
Executing a recommended moving route specifying process for specifying the recommended moving route based on a specific condition from at least one or more recommended moving route candidates searched in the recommended moving route search process;
In the recommended travel route search process,
A start point node search process for searching for a start point node included in the search target node group determined in the search target determination process;
An end point node determination process for determining whether an end point node corresponding to the start point node searched in the start point node search process is included in the search target node group;
Adopting a specific route as a part of the recommended travel route candidate, a specific route including the end point node determined to be included in the search target node group in the end point node determination process and the start point node corresponding to the end point node Navigation program to execute processing.

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