JP2019152603A - Route guiding device and route guiding method - Google Patents

Abstract

To provide a route guiding device and a route guiding method for reducing a processing load relating to warning about a dead-end pathway.SOLUTION: A route guiding device (1) comprises: map data (21) composed of a plurality of nodes indicating points on a pathway and a plurality of links linking between the nodes, and including dead-end information (22) indicating whether or not the link connected to each node is a dead-end pathway; a storage unit (20) for storing registered point information (25) indicating a registered point for which notification of dead-end warning is unnecessary; a detection unit (30) for detecting the current location of a moving vehicle; a control unit (10) for setting an expected route running along the travel direction of the moving vehicle on the basis of the current location and determining whether or not it is necessary to notify dead-end warning on the basis of dead-end information within the expected route; and notification units (50, 60) for notifying dead-end warning. The control unit (10) controls the notification unit so that when a node leading to the dead-end pathway exists within a prescribed area that includes the registered point, dead-end warning is not notified.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a route guidance device and a route guidance method having a function of displaying a route of a moving body.

  In recent years, route guidance devices (so-called “car navigation”) for guiding routes of moving bodies such as automobiles have been used. The route guidance device displays the current location of the moving body on the road of the map data using GPS (Global Positioning System). As this type of route guidance device, there is known a navigation device that outputs a warning in front of a stop passage when a moving body approaches a stop passage where the end of the passage is a dead end (see, for example, Patent Document 1). ). The navigation device of Patent Document 1 is configured not to output a warning when a moving object approaches a closing path that has entered. Thereby, when a destination (for example, a home, a friend's house, a store) exists in the closing passage, it is prevented that a warning is always notified. Therefore, for example, the driver can be prevented from feeling offended by the warning.

JP 2005-37145 A

  Since the navigation device of Patent Document 1 determines whether or not to notify a warning of a stop passage individually for each stop passage, the processing load tends to increase.

  The subject of this invention is providing the route guidance apparatus and route guidance method which reduce the processing load regarding the warning of a closing path.

  The route guidance device according to the present invention notifies a stop warning before the moving body enters the stop passage. The route guidance device includes a storage unit, a detection unit, a control unit, and a notification unit. The storage unit stores map data and registration point information. The map data includes a plurality of nodes indicating points on the passage and a plurality of links connecting the nodes. The map data includes, for each node, stop information indicating whether or not the link connected to each node is a stop passage. The registration point information indicates a registration point that does not require notification of a closing warning. The said detection part detects the present location of a moving body. The control unit sets an expected route along the traveling direction of the moving object in the map data based on the current location of the moving object, and determines whether or not a notice of a stop warning is necessary based on the stop information in the predicted route. To do. The notification unit notifies a stop warning according to the control of the control unit. When there is a node connected to the stop passage in the expected route, if the node connected to the stop passage is outside the predetermined area including the registration point, the control unit notifies the stop warning by the notification unit and connects to the stop passage. If the node is within a predetermined area including the registration point, the notification unit is controlled so that the notification unit does not notify the end warning.

  In the route guidance method according to the present invention, a stop warning is notified before the moving body enters the stop passage. In the route guidance method, map data and registration point information are stored in the storage unit. The map data is composed of a plurality of nodes indicating points on the passage and a plurality of links connecting the nodes, and the stop information indicating whether or not the link connected to each node is a stop passage. Include for each node. The registration point information indicates a registration point that does not require notification of a closing warning. The route guidance method includes a step of reading out map data and registration point information from the storage unit by the control unit, a step of detecting the current location of the mobile object by the detection unit, and a map based on the current location of the mobile object by the control unit. A step of setting an expected route along the traveling direction of the moving body in the data, and whether or not a node connected to the stop path is included in the predicted route based on the stop information in the predicted route by the control unit. If there is a node connected to the stop passage in the predicted route and a node connected to the stop passage by the control unit, a step of determining whether or not the node connected to the stop passage is within a predetermined area including the registration point, and a node connected to the stop passage If the node connected to the stop passage is within the predetermined area, the stop warning is not notified.

  According to the present invention, in the route guidance device and route guidance method having a function of warning before the stop passage, the processing load related to the warning of the stop passage can be reduced by preventing the warning from being notified within a predetermined area. Can do.

Block diagram showing the configuration of the route guidance device Figure showing an example of a deadline warning Illustration for explaining map data Flow chart for explaining the overall operation of the route guidance device Diagram for explaining the expected route Flowchart for explaining predicted route display processing The figure which shows the case where the node connected to the stop passage is not in the non notification area The figure which shows the case where the node connected to the dead end passage is in the non notification area

<Embodiment>
The route guidance apparatus according to the present embodiment has a function of notifying a warning regarding the stop passage before the stop passage where the end of the passage is a dead end. The route guidance apparatus according to the present embodiment does not notify a warning even if a moving body approaches the stop passage within a predetermined range of an area including a registration point that does not require notification of a stop warning (hereinafter referred to as “non-notification area”). . This prevents a warning from being notified in the vicinity of a frequently visited place (for example, home, friend's house, store). Specifically, the route guidance device according to the present embodiment determines whether or not to notify a warning regarding a stop passage, whether or not a point (for example, an intersection) connected to the stop passage is within a non-notification area including a registration point. Based on. Thereby, it is possible to further reduce the processing load relating to the determination of whether or not to issue a warning. Hereinafter, embodiments will be described with reference to the drawings.

(Configuration of route guidance device)
FIG. 1 shows a route guidance device 1 of the present embodiment. The route guidance device 1 is various information processing devices having a function of displaying the route of the moving body 100. For example, the route guidance device 1 is a stationary navigation device, a PND (Portable Navigation Device), a smartphone, a mobile phone, a notebook PC (Personal Computer), a PDA (Personal Digital Assistants), or a wearable device. The moving body 100 is, for example, a car, a motorcycle, a bicycle, or a person.

  As shown in FIG. 1, the route guidance device 1 includes a control unit 10, a storage unit 20, a current location detection unit 30, an input unit 40, a display unit 50, and a voice output unit 60.

  The control unit 10 includes, for example, a central processing unit (CPU) or a micro processing unit (MPU) that realizes a predetermined function in cooperation with software. The control part 10 implement | achieves a predetermined function by reading the data and program stored in the memory | storage part 20, and performing various arithmetic processing. The program executed by the control unit 10 may be provided from a communication unit that performs communication in accordance with a predetermined communication standard, or may be stored in a portable recording medium.

  The control unit 10 may be configured by a hardware circuit such as a dedicated electronic circuit designed to realize a predetermined function or a reconfigurable electronic circuit. The control unit 10 may be composed of various semiconductor integrated circuits. Examples of various semiconductor integrated circuits include a microcomputer, a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), and an ASIC (Application Specific Integrated Circuit) in addition to the CPU and MPU.

  The control unit 10 includes a route setting unit 11, a route guide unit 12, and a stop notification unit 13 as functional configurations. The control unit 10 reads the map data 21 and the registered spot information 25 from the storage unit 20. The control unit 10 is an example of an acquisition unit that acquires the registration spot information 25.

  When the destination is designated by the user via the input unit 40, the control unit 10 sets the destination and guides the route from the current location of the mobile unit 100 to the destination (first mode). Works with. When the destination is not specified by the user, the control unit 10 operates in a map display mode (second mode) in which a map around the current location of the mobile object is displayed without setting the destination.

  In the route guidance mode, the route setting unit 11 sets a route (referred to as “guidance route” in the present embodiment) from the current location of the moving body 100 to the destination. In the map display mode, the route setting unit 11 sets a route that is a predetermined distance or less from the current location of the moving body 100 (referred to as an “expected route” in the present embodiment). The predicted route is a route that the mobile body 100 is expected to pass. The route setting unit 11 may display the predicted route on the display unit 50 while visually distinguishing the predicted route from a route other than the predicted route, or may not display the predicted route. For example, the route setting unit 11 sets the guidance route and the predicted route by causing the microcomputer to execute a program stored in the storage unit 20.

  The route guidance unit 12 operates in the route guidance mode. The route guide unit 12 guides the guide route from the current location of the mobile object 100 to the destination. Specifically, the route guidance unit 12 displays the guidance route on the display unit 50 in the route guidance mode, and outputs a sound for moving the moving body 100 along the guidance route from the voice output unit 60.

  The stop notification unit 13 operates in the map display mode. The stop notification unit 13 notifies the display unit 50 and the audio output unit 60 of a warning regarding the stop passage when the moving body 100 approaches the stop passage. For example, the storage unit 20 stores voice data indicating a stop warning in advance. The termination notification unit 13 outputs the voice data indicating the termination warning from the voice output unit 60 by outputting the voice data to the voice output unit 60. For example, the stop notification unit 13 may display a message on the screen of the display unit 50 indicating that the passage connected to the intersection ahead of the traveling direction is a stop passage. For example, the end notification unit 13 discriminates between the case where the microcomputer notifies the end warning and the case where the end warning is not notified by executing a program stored in the storage unit 20.

  The storage unit 20 is a storage medium that stores programs and data necessary for realizing the functions of the route guidance device 1. The storage unit 20 includes, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage unit 20 may include, for example, a flash memory, a DRAM (Dynamic Random Access Memory), an SRAM (Static Random Access Memory), a ROM (Read On Memory), or a combination thereof. The storage unit 20 may temporarily store various information. The storage unit 20 may be configured to function as a work area of the control unit 10, for example.

  In the present embodiment, map data 21 and registration point information 25 are stored in the storage unit 20. The map data 21 includes, for example, characters such as road and building images and place names. In the present embodiment, the map data 21 includes stop information 22 (details of the stop information 22 will be described later). As will be described later, the map data 21 includes a plurality of nodes N (N1, N2, N3...) Indicating points on the route and a plurality of links L (L1) connecting the nodes as information indicating the route. , L2, L3... (See FIG. 3). The registered point information 25 is information indicating a point (referred to as “registered point” in the present embodiment) that does not require notification of a closing warning. The registration point is, for example, a home, a friend's house, or a store location. The registration point information 25 indicates, for example, an address or the latitude and longitude of a geographic coordinate system.

  The current location detection unit 30 detects a position indicating the current location of the moving object 100 in the geographic coordinate system. The current location detection unit 30 is, for example, a GPS module that receives radio waves from a GPS (Global Positioning System) satellite and measures the latitude and longitude of the received point. Thereby, the present location detection part 30 can acquire the present location of the mobile body 100 in real time. The current location detection unit 30 may include an acceleration sensor that detects acceleration or a gyro sensor that detects angular velocity in addition to the GPS module. Thereby, the current location detection unit 30 may detect the current location of the moving body 100 based on the acceleration or the angular velocity.

  The current location detection unit 30 may be a communication module that receives a position signal indicating the position of the moving body 100 from a GPS receiver provided in the moving body 100, for example, via a wireless or wired communication line. The current location detection unit 30 may be a communication module that receives sensor information indicating acceleration or angular velocity from an acceleration sensor or a gyro sensor provided in the moving body 100 via a wireless or wired communication line. In this case, the current location detection unit 30 detects the current location of the moving body 100 based on the received position signal and sensor information. The communication modules include IEEE (Institute of Electrical and Electronic Engineers) 802.3, IEEE 802.11a / 11b / 11g / 11ac, USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface), IEEE 1395, Wi -Communication is performed in accordance with a predetermined communication standard such as Fi (registered trademark) or Bluetooth (registered trademark).

  The input unit 40 is an HMI (Human Machine Interface) for inputting various operations by the user. The input unit 40 may be a touch panel configured with the display unit 50, for example. The input unit 40 may be a physical key including a keyboard, buttons, switches, and combinations thereof. The input unit 40 is electrically connected to the control unit 10. The user can set a destination via the input unit 40. The user can set a registration point via the input unit 40. The registered spot information 25 is input through the input unit 40 and stored in the storage unit 20, for example. The input unit 40 is an example of an acquisition unit that acquires the registration spot information 25.

  The display unit 50 is configured by, for example, a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 50 displays a map and the current location of the moving body 100. The display unit 50 is further configured to be able to display the destination of the moving body 100, the guidance route from the current location to the destination, and a stop warning. The display unit 50 is an example of a notification unit that notifies a stop warning. The display unit 50 may be physically integrated with the route guidance device 1 as a part of the route guidance device 1. Alternatively, the display unit 50 may be physically separated from the route guidance device 1 and connected to the route guidance device 1 so as to be communicable by a communication function.

  The audio output unit 60 is, for example, a speaker that converts an electric signal into sound and outputs the sound. The audio output unit 60 is an example of a notification unit that notifies a closing warning. The voice output unit 60 may be physically integrated with the route guidance device 1 as a part of the route guidance device 1. Or the audio | voice output part 60 may be physically separated from the route guidance apparatus 1, and may be connected so that communication with the route guidance apparatus 1 is possible by a communication function.

  FIG. 2 shows an example of a stop warning. A mark 52 indicating the position of the moving body 100 is displayed on the display unit 50. When the moving body 100 approaches the closing passage 53, the display unit 50 displays a message indicating the closing warning 51 on the screen, and the voice output unit 60 outputs the closing warning 61 by voice.

  FIG. 3 schematically shows the map data 21. In the map data 21, a path through which the mobile unit 100 can pass is a plurality of nodes N (N1, N2, N3...) Indicating points on the path and a plurality of links L (L1, L2, L2) connecting the nodes. L3 ...). In this specification, as shown in FIG. 3, a node is represented as “N” and a link is represented as “L”. In this specification, when the nodes N1, N2, N3,... Are not individually distinguished, they are collectively referred to as a node N, and when the links L1, L2, L3,. Called. The map data 21 includes a set of a plurality of nodes N and a plurality of links L.

  The node N may be a node on the road network expression such as an intersection. The nodes N may be provided at predetermined intervals on the passage. The link L corresponds to a path between nodes. In FIG. 3, a link L3 and a link L4 correspond to a closing passage. In the present embodiment, the map data 21 includes stop information 22 associated with each node N. That is, the stop information 22 is embedded in each node N. The stop information 22 indicates whether or not there is a link corresponding to the stop path among the one or more links L connected to the node N. The stop information 22 includes information for specifying the link L corresponding to the stop passage. It can be seen from the stop information 22 whether or not there is a stop path first from each node N.

(Operation of route guidance device)
With reference to FIG. 4, the overall operation of the route guidance apparatus 1 will be described. FIG. 4 shows the operation of the control unit 10 of the route guidance device 1. For example, when the power of the route guidance device 1 is turned on, the route guidance device 1 starts the operation illustrated in FIG. Note that the route guidance device 1 may start the operation shown in FIG. 4 when an application program for performing navigation is activated.

  The control unit 10 acquires the map data 21 from the storage unit 20 (S1). The control unit 10 determines whether or not the destination of the moving body 100 has been input from the input unit 40 (S2). When the destination is input, the control unit 10 proceeds to a route guidance mode for performing guidance route guidance processing (S3). Specifically, the route setting unit 11 sets a guide route from the current location of the mobile object 100 to the destination. The route guide unit 12 guides the guidance route. The guidance process is route guidance such as so-called car navigation. The route guidance unit 12 provides the route guidance to the destination based on the current location using the display unit 50 and the voice output unit 60. When the destination is not input, the control unit 10 proceeds to a map display mode for performing a predicted route display process (S4). As will be described later, the control unit 10 notifies the end warning only in the map display mode, and does not notify the end warning in the route guidance mode.

  FIG. 5 schematically shows an expected route 150 set in the map display mode. The route setting unit 11 sets an expected route 150 along the traveling direction of the moving body 100 based on the current location of the moving body 100 and the map data 21. The predicted path 150 is configured to include one or more links L. Both ends of the expected path 150 may be node N.

  The route setting unit 11 sets a link L that is at a predetermined angle θ or less with respect to the traveling direction of the moving body 100 as the predicted route 150. The predetermined angle θ may be set to 0 degree or more and 30 degrees or less. The predetermined angle θ may be not less than 0 degrees and not more than 15 degrees. By setting the predicted route 150 by a relatively simple method of removing the link L having an angle larger than the predetermined angle θ with respect to the traveling direction, the processing load in generating the predicted route 150 can be reduced.

  The route setting unit 11 determines the tip of the expected route 150 within a predetermined distance d1 along the traveling direction from the current location of the moving body 100. For example, in the example of FIG. 5, the tip of the predicted path 150 is the farthest end node N7 that is equal to or less than the predetermined distance d1. The route setting unit 11 may include, in the predicted route 150, the link L where the moving body 100 overlaps by map matching. For example, in the example of FIG. 5, the rear end of the predicted path 150 is the node N2 that the mobile unit 100 has passed immediately before.

  The route setting unit 11 does not set the predicted route 150 when no link L exists in the map data 21 within the range of the predetermined angle θ or less with respect to the traveling direction of the moving body 100.

  FIG. 6 illustrates a predicted route display process (details of step S4) by the control unit 10. FIG. 7 shows a case where the node N3 connected to the closing path is not in the non-notification area 202. FIG. 8 shows a case where the node N3 connected to the closing path is in the non-notification area 202. The non-notification area 202 is set to, for example, a circular area having a radius r (for example, r = 10 m to 1 km) with the registration point 201 as the center. The non-notification area 202 is not limited to a circle, and may be an ellipse or a polygon. The stop notification unit 13 sets the non-notification area 202 based on the registration point 201.

  The route setting unit 11 acquires the current location of the moving object 100 from the current location detection unit 30 (S401). The route setting unit 11 sets the predicted route 150 by the link L having a predetermined distance d1 or less and a predetermined angle θ or less in the traveling direction of the moving body 100 (S402). Step S402 is also referred to as a predicted route setting step. The route setting unit 11 may display the predicted route 150 on the display unit 50 while visually distinguishing the predicted route 150 from a route other than the predicted route 150.

  The stop notification unit 13 determines whether there is a node N connected to the stop path on the predicted path 150 based on the stop information 22 on the predicted path 150 (S403). Step S403 is also referred to as a stop determination step. If there is a node N connected to the closing path on the expected route 150 (Yes in S403), the closing notification unit 13 determines whether or not the node N is in the non-notification area 202 for any registered point 201 (S404). ). Step S404 is also referred to as an area determination step.

  If the node N connected to the stop passage is not included in any of the non-notification areas 202 for all the registration points 201 (Yes in S404), the stop notification unit 13 notifies a stop warning (S405). Hereinafter, step S405 is also referred to as a notification step. For example, as illustrated in FIG. 7, when the node N3 that is connected to the stop path on the predicted route 150 is not included in any of the non-notification areas 202, the stop notification unit 13 is illustrated in FIG. 2. As described above, a message indicating the end warning 51 is displayed on the display unit 50, and the end warning 61 is output by voice by the voice output unit 60. This notifies the user that the links L3 and L4 extending from the node N3 are dead ends. As shown in FIG. 7, the end warnings 51 and 61 may be output, for example, before a predetermined distance d2 of the node N3 when the moving body 100 approaches the node N3 connected to the end stop path. The display unit 50 may enlarge and display a map around the node N3 before the predetermined distance d2 of the node N3. In this case, in step S405 for notifying the end warnings 51 and 61, it may be determined whether or not the distance between the current location of the moving body 100 and the node N connected to the end stop path is equal to or less than a predetermined distance d2. For example, d2 ≦ d1.

  On the other hand, if the node N connected to the stop passage is in the non-notification area 202 for any registration point 201 (No in S404), the stop notification unit 13 does not notify the stop warning (S407). For example, as illustrated in FIG. 8, if the node N3 connected to the stop passage is included in any one of all the non-notification areas 202, the stop notification unit 13 does not notify the stop warning.

  The route setting unit 11 determines whether or not the user has performed an operation to turn off the power of the route guidance device 1 (S406). When the user performs an operation to turn off the power of the route guidance device 1 (Yes in S406), the route setting unit 11 ends the predicted route display processing illustrated in FIG. If the operation of turning off the power of the route guidance device 1 has not been performed (No in S406), the route setting unit 11 returns to step S401 and continues setting the predicted route 150 based on the current location of the moving body 100. Note that the operation shown in FIG. 6 may be ended when the user performs an operation to stop an application program for navigation.

  As described above, the determination as to whether or not to notify the stop warning is made based on whether or not the node N connected to the stop path is within the non-notification area 202. In this way, the necessity of notification of the end warning is determined by a relatively simple method, so that the processing load can be reduced.

(Overview and effects)
The route guidance device 1 of the present invention has a function of notifying a stop warning before the moving body 100 enters the stop passage. The route guidance device 1 includes a storage unit 20 that stores map data 21 and registration point information 25. The map data 21 is composed of a plurality of nodes N indicating points on the passage and a plurality of links L connecting the nodes N. Further, the map data 21 includes stop information 22 for each node indicating whether or not the link L connected to each node N is a stop passage. The registered spot information 25 indicates a registered spot 201 that does not require notification of a closing warning. The route guidance apparatus 1 sets a predicted route 150 along the traveling direction of the moving body in the map data 21 based on the current position detecting unit 30 that detects the current position of the moving body 100 and the current position of the moving body 100. Based on the stop information 22 in the route 150, the control unit 10 that determines whether or not a notification of a stop warning is necessary, and a notification unit (a display unit 50, an audio output unit 60) that notifies a stop warning according to the control of the control unit 10. And comprising. When there is a node connected to the stop path in the expected path 150 and the node connected to the stop path is outside the non-notification area 202, the control unit 10 notifies the stop warning by the notification unit. The non-notification area 202 is an area in a predetermined range including the registration point 201. Even when there is a node connected to the stop path in the predicted path 150, the control unit 10 does not notify the end warning by the notification unit if the node connected to the stop path is in the non-notification area 202. Control the notification unit.

  In this way, since the stop information 22 indicating whether or not the node N is connected to the stop passage is associated with each node, the node N is connected to the node N by referring to the stop information 22 of each node N. It can be determined whether or not the link L that is present is a closing path. Whether or not to issue a warning is determined based on whether or not the node N on the expected route 150 is in the non-notification area 202. That is, the necessity of warning is determined for each node, and is not individually determined for each stop path. Therefore, for example, even when a plurality of stop passages are connected to the node N on the expected route 150, it is possible to determine whether or not a warning is necessary only by referring to the stop information 22 of the node N. Therefore, it is possible to reduce the processing load related to the determination as to whether or not to issue a warning. In addition, when there are a plurality of nodes connected to the stop passage in the non-notification area 202, the node is not notified of a stop warning, so the processing load around the registration point 201 is reduced.

  In the map data 21, the control unit 10 sets a link whose angle with the traveling direction of the moving body 100 is equal to or less than the predetermined angle θ in the predicted route 150. By setting the predicted route 150 by a relatively simple method of removing the link L having an angle larger than the predetermined angle θ with respect to the traveling direction, the processing load in generating the predicted route 150 can be reduced.

  The control unit 10 sets a destination of the moving body 100 and guides a route from the current location to the destination, and a route guidance mode (first mode) and a predetermined distance d1 or less from the current location without setting the destination. And a map display mode (second mode) for setting the predicted route 150, and the stop warning is not notified in the route guidance mode. In the route guidance mode, it is possible to prevent the user from feeling troublesome by notifying an unnecessary stop warning. Further, in the route guidance mode, the processing load in the route guidance mode can be reduced by not notifying the end warning.

  The control part 10 complete | finishes the setting of an estimated path | route, when the link L connected with an estimated path | route in the advancing direction is not in the map data 21. FIG. Thereby, the processing load in the setting of the predicted route 150 can be reduced.

  In the route guidance method of the present invention, in the predicted route setting step (step S402), the predicted route 150 along the traveling direction of the moving body 100 is set in the map data. In the stop determination step (step S403), it is determined whether or not each node N on the predicted route 150 is connected to the stop passage. In the area determination step (step S404), it is determined whether or not the node N connected to the closing path is in the non-notification area 202. In the notification step (step S405), a stop warning is notified when the node N connected to the stop path is outside the non-notification area 202. In the route guidance method according to the present invention, whether or not to notify a warning is determined depending on whether or not the node N connected to the stopping path is within the non-notification area 202. Processing load can be reduced.

<Other embodiments>
In the above embodiment, the user inputs the registration point 201 via the input unit 40, and the stop notification unit 13 sets the non-notification area 202 based on the registration point 201. The non notification area 202 may be set.

  The route guidance device of the present invention is useful as a device for displaying the route of a moving body.

DESCRIPTION OF SYMBOLS 1 Route guidance apparatus 10 Control part 11 Route setting part 12 Route guidance part 13 Terminating notification part 20 Storage part 30 Present location detection part 40 Input part 50 Display part 60 Audio | voice output part

Claims (5)

A route guidance device for notifying a stop warning before a moving body enters a stop passage,
The map data composed of a plurality of nodes indicating points on the passage and a plurality of links connecting the nodes, and the stop information indicating whether or not the link connected to each node is a stop passage. Storing the map data for each node, and a storage unit for storing registration point information indicating a registration point for which notification of a stop warning is unnecessary,
A detection unit for detecting a current location of the mobile body;
Based on the current location of the moving body, an expected route along the traveling direction of the moving body is set in the map data, and the necessity of notifying the stop warning is determined based on the stop information in the predicted route. A control unit to determine;
A notification unit for notifying the stop warning according to the control of the control unit;
With
The control unit performs notification of the stop warning by the notification unit if there is a node connected to the stop passage in the predicted route and the node connected to the stop passage is outside a predetermined area including the registration point. If the node connected to the stop passage is within a predetermined area including the registration point, the notification unit is controlled so as not to notify the stop warning by the notification unit.
Route guidance device.   2. The route guidance device according to claim 1, wherein the control unit sets, in the map data, a link whose angle formed with a traveling direction of the moving body is a predetermined angle or less as the predicted route. The controller is
A first mode for setting a destination of the mobile body and guiding a route from the current location to the destination; and a first mode for setting the predicted route within a predetermined distance from the current location without setting the destination. 2 modes,
Do not notify the end warning when in the first mode,
The route guidance device according to claim 1 or 2.   The route guidance device according to any one of claims 1 to 3, wherein the control unit ends the setting of the predicted route when the map data does not include a link connected to the predicted route in the traveling direction. . A route guidance method for notifying a stop warning before a moving body enters a stop passage,
The map data composed of a plurality of nodes indicating points on the passage and a plurality of links connecting the nodes, and the stop information indicating whether or not the link connected to each node is a stop passage. Reading out from the storage unit by the control unit, the map data including for each node, and the registration point information indicating a registration point that does not require notification of a stop warning,
Detecting a current location of the moving body by a detecting unit;
Setting a predicted route along the traveling direction of the moving body in the map data based on the current location of the moving body by the control unit;
Determining, by the control unit, whether or not a node connected to the stop path is included in the predicted path based on the stop information in the predicted path;
When there is a node connected to the closing path in the expected route, the control unit determines whether the node connected to the closing path is within a predetermined area including the registration point;
Notifying the stop warning by a notification unit if a node connected to the stop passage is outside the predetermined area;
Including
If the node connected to the stop passage is within the predetermined area, the stop warning is not notified.
Route guidance method.