JP2023113791A - Route searching device, control method, program, and memory medium - Google Patents

Abstract

To provide a route searching device that can calculate the travel cost accurately reflecting tolls on toll roads and appropriately determine a recommended route.SOLUTION: A system controller 20 simulatively deems as being closed to traffic at least one of expressway facilities on tentatively searched-for approximate solution routes and searches for another route than the approximate solution routes on the basis of toll-ignored cost not counting the tolls. Then the system controller 20 calculates the toll-reflecting costs of the approximate solution routes and other routes than the searched-for approximate solution routes and outputs as the recommended route the least expensive route in terms of the toll-reflecting cost.SELECTED DRAWING: Figure 4

Description

The present invention relates to technology for searching for routes.

Conventionally, when searching for a route to a destination, a technology is known in which a cost proportional to the distance unit price of an expressway is given to each link, and a route search is performed by considering the toll road fee and the required time using the Dijkstra method. . For example, Patent Literature 1 discloses a navigation device that outputs a recommended route that considers the balance between toll and time by searching for a route with a combined cost including toll and required time.

Japanese Unexamined Patent Application Publication No. 2011-7706

In the case of a pay-as-you-go toll gate, by adding the cost related to the toll according to the distance to the link cost, the route search can be performed by the Dijkstra method while reflecting the actual toll value in the search. However, since April 2016, a flat toll system that does not depend on distance has been applied, mainly in the Tokyo metropolitan area. becomes difficult. Therefore, in a uniform fee system that does not depend on the distance, there is a problem that it is difficult to perform a search that accurately reflects the actual fee using the conventional Dijkstra method.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and is a route search apparatus capable of suitably determining a recommended route by calculating costs that accurately reflect tolls on toll roads. The main purpose is to provide

The claimed invention is a route search device comprising: search means for searching for a route; and control means for causing the search means to search for a route including a toll road based on a cost other than the toll for the route. , by comparing the calculation means for calculating the tolls of the plurality of routes searched by the searching means, and the composite cost, which is the cost for each route calculated based on the costs other than the tolls and the tolls, determining means for determining a recommended route, wherein the calculating means calculates a toll according to a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance.

Further, the invention described in the claims is a control method executed by a route search device, comprising: a search step of searching for a route; , a calculation step of calculating the tolls of the plurality of routes searched by the searching step, and a cost other than the toll and the cost for each route calculated based on the toll. a determination step of determining a recommended route by comparing costs, wherein the calculation step calculates a toll according to a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance. Calculate

Further, the claimed invention is a program executed by a computer, comprising a search means for searching for a route, and the search means for searching a route including a toll road based on a cost other than the toll for the route. Calculation means for calculating tolls for each of the plurality of routes searched by the searching means; Comparing a composite cost, which is a cost other than the toll and a cost for each route calculated based on the toll, By doing so, the computer functions as a determining means for determining a recommended route, and the calculating means calculates a toll according to a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance. do.

1 is a schematic configuration of a navigation device common to each embodiment; An example of the data structure of a charge table is shown. FIG. 10 is a diagram showing an approximate solution route and high-speed facilities on the approximate solution route; 6 is a flow chart showing the procedure of route search processing according to the first embodiment; FIG. 10 is a diagram showing an approximate solution route and high-speed facilities on the approximate solution route; Shows routes for which toll-inclusive costs are compared when determining recommended routes. FIG. 11 is a flow chart showing the procedure of route search processing according to the second embodiment; FIG. An example of dividing an approximate solution route into multiple steps is shown. Shows the combination of high-speed facilities with pseudo-closed roads that will be the best route for each section. 4 shows a first display example of a route selection screen; The route selection screen is shown when the user selects a table of 900 yen/h using a touch panel or the like. It is a second display example of the route selection screen. It is the 3rd example of a display of a route selection screen. 3 shows a route to be searched in modification 1. FIG. 3 shows the configuration of a route search system according to Modification 2. FIG.

According to a preferred embodiment of the present invention, the route search device includes search means for searching for a route, and control means for causing the search means to search for a route including a toll road based on costs other than the toll for the route. and a calculation means for calculating the tolls of the plurality of routes searched by the searching means, and a composite cost that is a cost for each route calculated based on the costs other than the tolls and the tolls. and a determination means for determining a recommended route, wherein the calculation means calculates a toll according to a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance.

The route search device includes search means, control means, calculation means, and determination means. The control means causes the search means to search for a route including a toll road based on costs other than the toll for the route. The calculating means calculates tolls for each of the plurality of routes searched by the searching means. At this time, the calculation means calculates the toll according to the combination of toll road facilities including the toll road entrance facility and exit facility regardless of the travel distance. The determination means determines a recommended route by comparing a cost other than the toll and a composite cost that is a cost for each route calculated based on the toll. Here, the "cost other than the toll" used by the determining means to calculate the composite cost is the same index as the "cost other than the toll" used when the control means causes the search means to search for a route including a toll road. It may be a calculated cost or a cost calculated with a different index. The “recommended route” is a route recommended to the user, and may be one route with the lowest cost, or may be a plurality of routes with the lowest cost within a predetermined number. According to this aspect, the route search device calculates a composite cost that accurately reflects the toll actually required for each route, even when the toll road includes a toll road where the toll is determined regardless of the distance traveled, and makes a recommendation. A route can be suitably determined.

In one aspect of the route search device, the control means extracts facilities on the route included in the route searched by the search means, and makes at least one of the facilities on the route difficult to pass, The searching means is caused to search for a plurality of routes having different combinations of facilities on the routes to be passed. According to this aspect, the route search device can suitably search for other routes that can be recommended routes in addition to the route first searched by the search means.

In another aspect of the route search device, the control means extracts, as the facilities on the route, toll road facilities that affect the toll depending on the presence or absence of traffic. As a result, since the route search device can search for routes with various tolls, it is possible to suitably search for a route that can be a recommended route when compared with a composite cost that takes into account tolls. can.

In another aspect of the above-mentioned route search device, the route including the toll road is divided according to a first condition, and the control means divides the divided section divided by the dividing means into a route to be passed through. By causing the searching means to search for a plurality of routes with different combinations of upper facilities, facilities on the route that should be difficult-to-pass facilities are determined for each of the divided sections. According to this aspect, the route search device can suitably reduce the processing load for specifying the on-route facilities to be difficult-to-pass facilities.

In another aspect of the route search device, the control means causes the search means to search for a route that does not pass through all of the difficult-to-pass facilities determined for each divided section as a candidate for the recommended route. According to this aspect, the route search device can suitably search for a route with a high possibility of minimizing the combined cost.

In another aspect of the route search device, the dividing means divides the route including the toll road based on at least one of distance, cost, and the number of facilities on the route as the first condition. According to this aspect, the route search device can define divided sections.

In another aspect of the route search device, the dividing means further divides the divided section when the number of facilities on the route in the divided section obtained by dividing the route including the toll road is equal to or greater than a predetermined number. According to this aspect, the route search device can preferably improve the processing efficiency by reducing the number of on-route facilities in one divided section to less than the predetermined number.

In another aspect of the above route search device, the dividing means divides the route including the toll road into a plurality of ways at different dividing positions, and the control means controls each of the plurality of ways to pass through each divided section. By determining the facilities on the route to be difficult facilities, the searching means searches for the recommended route candidates, and the determining means compares the combined costs of the recommended route candidates for each of the plurality of ways. , the recommended route is determined. According to this aspect, the route search device can suitably suppress the influence of the divided position of the divided section on the search result of the recommended route.

In another aspect of the route search device, the dividing means divides the route including the toll road into a plurality of different division positions by using different values of the same index. In another aspect of the route search device, the dividing means divides the route including the toll road into a plurality of different division positions by using different indexes. According to these aspects, the route search device can suitably divide the route into a plurality of different division positions.

In another preferred embodiment of the present invention, there is provided a control method executed by a route search device, comprising: a search step of searching for a route; A control step of searching based on the cost of , a calculating step of calculating tolls for the plurality of routes searched by the searching step, and a cost other than the toll and the cost for each route calculated based on the toll a determination step of determining a recommended route by comparing a certain composite cost, wherein the calculation step is based on a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance. Calculate the toll. By executing this control method, the route search device calculates a composite cost for each route that accurately reflects the actual toll, even if the toll road includes a toll road where the toll is determined regardless of the distance traveled. , and the recommended route can be suitably determined.

In another preferred embodiment of the present invention, there is provided a computer-executable program comprising: search means for searching for a route; Calculation means for calculating tolls for each of the plurality of routes searched by the search means; Composite costs, which are costs other than tolls and costs for each route calculated based on the tolls By comparing the above, the computer functions as a determining means for determining a recommended route, and the calculating means calculates a toll according to a combination of toll road facilities including entrance facilities and exit facilities of the toll road regardless of the travel distance. Calculate By executing this program, the computer calculates a composite cost for each route that accurately reflects the actual toll, even if it includes a toll road where the toll is fixed regardless of the distance traveled. , the recommended route can be suitably determined. Preferably, this program is stored in a storage medium.

Preferred embodiments of the present invention will be described below with reference to the drawings.

[Configuration example]
FIG. 1 shows a schematic configuration of a navigation device 1 to which a route searching device according to the present invention is applied. The navigation device 1 accurately calculates the cost corresponding to the actual toll for each route, determines a recommended route to be presented to the user, and displays a route selection screen. As shown in FIG. 1, the navigation device 1 comprises an autonomous positioning device 10, a GPS receiver 18, a system controller 20, a data storage unit 31, a communication device 38, a display unit 40, an audio output unit 50 and an input device 60.

The self-supporting positioning device 10 has an acceleration sensor 11 , an angular velocity sensor 12 and a distance sensor 13 . The acceleration sensor 11 is composed of, for example, a piezoelectric element, detects acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyro, detects the angular velocity of the vehicle when the vehicle changes direction, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse, which is a pulse signal generated as the wheels of the vehicle rotate.

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

The system controller 20 includes an interface 21, a CPU 22, a ROM 23 and a RAM 24, and controls the navigation device 1 as a whole. As will be described later, the system controller 20 includes the "search means", "control means", "calculation means", "determination means", "dividing means", "composite cost calculation means", "presentation means" and It is an example of a computer that executes a program in the present invention.

The interface 21 performs interface operations with the acceleration sensor 11 , the angular velocity sensor 12 , the distance sensor 13 and the GPS receiver 18 . From these, the vehicle speed pulse, acceleration data, relative direction data, angular velocity data, GPS positioning data, absolute direction data, etc. are input to the system controller 20 . The CPU 22 controls the system controller 20 as a whole. The ROM 23 has a non-illustrated non-volatile memory or the like storing a control program or the like for controlling the system controller 20 . The RAM 24 readablely stores various data such as route data preset by the user via the input device 60 and provides a working area for the CPU 22 .

The system controller 20 , data storage unit 31 , display unit 40 , audio output unit 50 and input device 60 are interconnected via bus line 30 .

The data storage unit 31 is configured by, for example, a storage medium such as an HDD, and stores various data used for navigation processing such as map data 32 . The map data 32 includes road data represented by links corresponding to roads and nodes corresponding to connecting portions (intersections) of roads.

The data storage unit 31 also stores a fee table 33 . The toll table 33 is a table for specifying tolls charged when traveling on an expressway (toll road) from interchanges used as entrances and exits. FIG. 2 is an example of the data structure of the charge table 33. As shown in FIG. The fee table 33 shown in FIG. 2 includes an entry point, an exit point, a waypoint (waypoint 1, . . . ), a discount time zone (discount time zone 1, . , associated with a charge. Here, the transit point refers to a facility such as a ticket inspection station that affects the toll depending on whether or not the ticket is passed. Hereinafter, the entry points, exit points, and waypoints registered in the charge table 33 are also simply referred to as "high-speed facilities". A highway facility is an example of a "toll road facility" in the present invention.

Thus, in the toll table 33, tolls are associated with each combination of factors that determine tolls when using expressways. Therefore, by referring to the toll table 33, the system controller 20 can accurately identify the expressway toll when the searched route includes the expressway.

The configuration of the navigation device 1 will be described with reference to FIG. 1 again. The communication device 38 receives traffic congestion information distributed from a VICS (registered trademark, Vehicle Information Communication System) center, traffic congestion information distributed from a server device (not shown) that distributes traffic congestion information, and the like. Under the control of the system controller 20, the communication device 38 may receive information to be stored in the data storage unit 31 as the map data 32 from a server device (not shown).

The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20 . Specifically, the system controller 20 reads the map data 32 from the data storage unit 31 . The display unit 40 displays an image based on the map data 32 read from the data storage unit 31 by the system controller 20 on a display screen such as a display. The display unit 40 includes a graphic controller 41 for controlling the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and a memory such as a VRAM (Video RAM) to display immediately displayable image information. A buffer memory 42 for temporary storage, a display controller 43 for controlling a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from a graphic controller 41, and a display 44. . The display 44 is, for example, a liquid crystal display device or the like having a diagonal size of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

The audio output unit 50, under the control of the system controller 20, is a D/A converter 51 that performs D/A conversion of audio digital data sent from the RAM 24 or the like via the bus line 30, and an output from the D/A converter 51. and a speaker 53 for converting the amplified audio analog signal into audio and outputting it to the inside of the vehicle.

The input device 60 is composed of keys, switches, buttons, a remote control, a voice input device, etc. for inputting various commands and data. The input device 60 is arranged around the front panel and the display 44 of the main body of the in-vehicle electronic system installed in the vehicle. Moreover, when the display 44 is of a touch panel type, the touch panel provided on the display screen of the display 44 also functions as the input device 60 .

[First embodiment]
In the first embodiment, roughly speaking, the system controller 20 considers at least one expressway facility on the provisionally searched route (also referred to as an “approximate solution route”) to be closed to traffic, and reduces the toll. A route other than the approximate solution route is searched based on the unconsidered cost (also referred to as "charge unconsidered cost"). Then, the system controller 20 calculates the cost (also referred to as “toll-considered cost”) considering the tolls of the approximate solution route and the route other than the searched approximate solution, and selects the route with the lowest cost as the recommended route. output as The fee-considered cost is an example of a "composite cost" in the present invention.

FIG. 3A is a diagram showing the approximate solution route and high-speed facilities on the approximate solution route. FIG. 3A shows an approximate solution route that overlaps with a general road with a dashed line, and an approximate solution route that overlaps with an expressway with a solid line. Here, the approximate solution route is a route searched by an existing route search algorithm that can be executed by the Dijkstra method, and for example, by setting the required time and / and distance as a cost (link cost) for each link It may be a searched route. In another example, the approximate solution route may be a route found by assuming that highway mileage is proportional to tolls and setting link costs that reflect hypothetical tolls for each link.

In the example of FIG. 3A, the approximate solution route passes through four expressway facilities 6A-6D including entrance and exit ICs. In this case, the system controller 20 regards at least one of the expressway facilities 6A to 6D as a pseudo closed road, and searches for a route other than the approximate solution route based on toll-unconsidered costs that do not consider tolls. In this case, for example, the system controller 20 uses the required time and/or the distance as an index of the cost, and calculates the integrated value of the link cost of the entire route as the toll-unconsidered cost. A high-speed facility that is virtually closed to traffic is an example of the "impassable facility" in the present invention.

FIG. 3B shows a route that minimizes the toll-unconsidered cost when the expressway facility 6B is pseudo-closed. In the example of FIG. 3B, the system controller 20 searches for a route that does not pass through the expressway facility 6B. In this case, the system controller 20 sets the link cost for each link, for example, based on the required time and/or distance, and searches for the route with the minimum integrated link cost using Dijkstra's method or the like. Then, the system controller 20 determines that the integrated value of the above-mentioned link costs (that is, the toll-unconsidered cost) is the minimum for all patterns (24-1 patterns) in which at least one of the expressway facilities 6A to 6D is pseudo-closed. Explore different routes.

In addition, the system controller 20, for each pattern in which at least one of the expressway facilities 6A to 6D is artificially closed to traffic, determines the route that minimizes the toll-unconsidered cost based on the expressway facilities to be passed through and the time period during which the route is passed. The toll is calculated by referring to the toll table 33 . Then, the system controller 20 multiplies the calculated charge by a predetermined conversion rate to convert it into a cost in the same unit as the charge-unconsidered cost, and adds the converted cost to the charge-unconsidered cost to obtain a charge-considered cost. Calculate Similarly, the system controller 20 also calculates the toll for the approximate solution route and calculates the toll-considered cost. Then, the system controller 20 regards the route with the lowest toll consideration cost among the routes for which tolls have been calculated as the recommended route.

FIG. 3C shows the route with the lowest toll-considered cost. In this case, the system controller 20 determines that the toll-considered cost of the route with the lowest toll-unconsidered cost when the expressway facilities 6B and 6C are pseudo-closed is such that the approximate solution route and other expressway facilities are pseudo-closed. It is determined that the route is smaller than the route of the pattern to be used, and it is set as the recommended route.
FIG. 4 is a flow chart showing the procedure of route search processing according to the first embodiment. In the flowchart of FIG. 4, as an example, a provisional (provisional) recommended route is a "first candidate route", a route to be compared with the first candidate route is a "second candidate route", and the first and second The algorithm sequentially updates the first candidate route by comparing the toll-considered costs of the two candidate routes.

First, the system controller 20 searches for an approximate solution route (step S100). Next, the system controller 20 creates a list of high-speed facility existing on the approximate solution route (also called "high-speed facility list") (step S101). A high-speed facility existing on the approximate solution route is an example of an "on-route facility" in the present invention. Then, the system controller 20 calculates the toll-considered cost of the approximate solution route and sets it as the first candidate route (step S102). In this case, after calculating the toll-unconsidered cost of the approximate solution route, the system controller 20 converts the toll of the approximate solution route specified by the toll table 33 into a cost using a predetermined conversion rate, and adds it to the toll-unconsidered cost. Thus, the toll-considered cost of the approximate solution route is calculated.

Next, the system controller 20 selects at least one expressway facility to be artificially closed from the expressway facility list, and searches for a second candidate route that minimizes the toll-unconsidered cost (step S103). In this case, the system controller 20 can determine the cost according to the distance, required time, etc. for each link without considering the toll, so it is possible to efficiently search for the second candidate route by the Dijkstra method. is.

Then, the system controller 20 adds a cost corresponding to the specified toll by referring to the toll table 33 to the toll-unconsidered cost of the second candidate route searched in step S103, thereby obtaining the toll of the second candidate route. A consideration cost is calculated (step S104).

Then, the system controller 20 determines whether or not the toll-considered cost of the second candidate route is smaller than the toll-considered cost of the first candidate route (step S105). If the toll consideration cost of the second candidate route is smaller than the toll consideration cost of the first candidate route (step S105; Yes), the system controller 20 sets the second candidate route as the first candidate route (step S106). ). On the other hand, if the toll consideration cost of the second candidate route is greater than or equal to the toll consideration cost of the first candidate route (step S105; No), it is determined that there is no need to replace the first candidate route, and the process proceeds to step S107.

Next, the system controller 20 determines whether or not all the patterns of the expressway facilities that are pseudo-closed have been executed (step S107). That is, when at least one of the expressway facilities in the expressway facility list is to be pseudo-closed, the system controller 20 determines whether or not the processes of steps S103 to S106 have been executed for all patterns of the expressway facilities to be pseudo-closed.

Then, when the system controller 20 determines that all patterns of the expressway facilities that are to be pseudo-closed have been executed (step S107; Yes), the current first candidate route is regarded as the route with the lowest toll consideration cost, One candidate route is output as a recommended route (step S108).

On the other hand, when the system controller 20 determines that all the patterns of the expressway facilities that are pseudo closed to traffic have not been executed (step S107; No), the process returns to step S103. Then, in step S103, the system controller 20 performs a route search for patterns of expressway facilities that are to be artificially closed to traffic for which the processes of steps S103 to S106 have not been executed, and sets a second candidate route. In this manner, the system controller 20 repeatedly executes the processing of steps S103 to S106 until all patterns of expressway facilities that are to be artificially closed to traffic are executed.

Instead of outputting one route as the recommended route, the system controller 20 may output a predetermined number of routes with the lowest toll-considered costs as the recommended route. In this case, for example, the system controller 20 sets a maximum of a predetermined number of routes as the first candidate route, and if the number of the first candidate routes is less than the predetermined number, the system controller 20 selects the second candidate route without performing the determination in step S105. Add the route to one of the first candidate routes. On the other hand, if there are a predetermined upper limit number of first candidate routes, the system controller 20 compares the first candidate route with the highest toll-considered cost with the second candidate route, and determines the toll-considered cost of the second candidate route. is lower, the second candidate route is set as the first candidate route instead of the compared first candidate route.

[Second embodiment]
In the second embodiment, the system controller 20 divides the approximate solution route into a plurality of sections, and determines the pattern of the pseudo-closed expressway facility that minimizes the toll-considered cost for each divided section. As a result, the system controller 20 preferably reduces the number of route search executions, and preferably suppresses an increase in processing time even when there are many high-speed facilities on the approximate solution route.

FIG. 5(A) shows an approximate solution route with five expressway facilities 6A to 6E. In this case, there are 25-1 (=31) patterns of expressway facilities that are pseudo-closed, and in the case of the first embodiment, it is necessary to execute the processing of steps S103 to S106 31 times.

FIG. 5B shows an example in which the approximate solution route is divided into three sections (section 1 to section 3) based on distance. In this case, the system controller 20 divides the approximate solution route into sections 1 to 3 so that each section has an equal distance along the route, and specifies expressway facilities belonging to each of the sections 1 to 3. . In the example of FIG. 5B, the system controller 20 recognizes that section 1 has expressway facilities 6A and 6B, section 2 has expressway facilities 6C and 6D, and section 3 has expressway facility 6E. do.

After that, for each section, the system controller 20 selects a route that minimizes the toll-unconsidered cost for all patterns in which the expressway facility in the target section is pseudo-closed when the expressway facility in the other section is made passable. to explore. As a result, the system controller 20 determines, for each section, the expressway facilities to be artificially closed.

5(C) to (E) show the route searched when determining the expressway facilities to be pseudo-closed to section 1. FIG. In the example of FIG. 5(C), the system controller 20 closes the expressway facility 6A in the section 1, and permits the passage of the other expressway facility 6B in the section 1 and the expressway facilities 6C to 6E in the other sections without considering the toll. Find the route with the lowest cost. Also, in the example of FIG. 5(D), the system controller 20 closes the expressway facility 6B in section 1 to traffic, and permits traffic to the other expressway facility 6A in section 1 and sections 6C to 6E without considering the toll. Find the route with the lowest cost. Furthermore, in the example of FIG. 5(E), the system controller 20 closes the expressway facilities 6A and 6B in the section 1 and permits the passage of the expressway facilities 6C to 6E in the other sections, thereby minimizing the toll-unconsidered cost. to explore.

Then, the system controller 20 selects from the route obtained by each route search in FIGS. By determining the route that minimizes the consideration cost, the expressway facility that should be artificially closed in section 1 is determined. For example, if the system controller 20 determines that the toll-unconsidered cost is the minimum when the expressway facility 6B is pseudo-closed (that is, in the case of FIG. 5(D)), the expressway facility 6B is pseudo-closed in section 1. is the best. Similarly, the system controller 20 performs the same processing as for Section 1 for Sections 2 and 3, thereby determining expressway facilities that should be virtually closed to traffic in each section.

Next, the system controller 20 determines a route that minimizes the toll-considered cost based on the combination of expressway facilities to be pseudo-closed determined for each section.

FIGS. 6A-6E show each route against which the system controller 20 compares toll-considered costs when determining a recommended route. Here, FIG. 6A shows an approximate solution route, and FIG. , indicates the route with the lowest toll-unconsidered cost. In addition, FIG. 6(C) shows a route that minimizes the toll-unconsidered cost when the high-speed facility (here, high-speed facility 6C) determined to be pseudo-closed in Section 2 is pseudo-closed. 6(D) shows the route that minimizes the toll-unconsidered cost when the expressway facility (here, expressway facility 6E) determined to be pseudo-closed in section 3 is pseudo-closed. Further, FIG. 6(E) shows a route that minimizes toll-unconsidered cost when all expressway facilities determined to be pseudo-closed in each section are pseudo-closed.

After that, as shown in Fig. 6 (B) to (D), if the expressway facility that was decided to be temporarily closed in a certain section is temporarily closed, and the expressway facility in the other section is allowed to pass, the toll will not be charged. A route with the lowest considered cost is called a “best section route”. Also, as shown in FIG. 6(E), when all the expressway facilities determined to be pseudo-closed in each section are pseudo-closed, the route that minimizes the toll-unconsidered cost is called the "best overall route". .

In this way, the system controller 20 provides the approximate solution route (see FIG. 6A), the section best route corresponding to each section (see FIGS. 6B to 6D), and the overall best route (see FIG. 6 (E)) and are searched respectively. Then, the system controller 20 determines the route with the lowest toll-considered cost among these routes as the recommended route. In this case, the system controller 20 can preferably reduce the processing load required for determining the recommended route compared to the first embodiment. Specifically, in the case of the first embodiment, when the approximate solution route shown in FIG. 6A is obtained, the route search in step S103 of FIG. 1) times, whereas in the case of the second embodiment, if the route search based on the toll consideration cost is executed 7 (=(22-1)+(22-1)+(21-1)) times, good. That is, in the case of the second embodiment, the route search based on the toll consideration cost is performed in 3 (= 22 - 1) ways for section 1 (cases where both expressway facilities are not pseudo-closed are excluded because they have already been calculated. ), 3 (= 22 - 1) ways for section 2 (cases where both expressway facilities are not artificially closed are excluded because they have already been calculated), 1 (= 21 - 1) ways for section 3 (simulated closure of expressway facilities Calculations have already been made for cases where

Here, a supplementary explanation will be given on how to divide the section.

Although the system controller 20 is divided into three sections in the examples of FIGS. 5 and 6, the number of sections may be set to two or four or more. In this case, for example, the system controller 20 may set the above number of sections to increase as the number of expressway facilities in the expressway facility list increases. In another example, the system controller 20 may set the above number of sections to be larger as the required travel distance or required time of the approximate solution route is longer. In these cases, the data storage unit 31 may pre-store a map or table for determining the number of segments described above.

Similarly, in the examples of FIGS. 5 and 6, the system controller 20 divides each section so that the distance of the approximate solution route in each section is uniform. is not limited to distance. For example, the system controller 20 may determine the division of each section based on the cost calculated when searching for the approximate solution route. In this case, the system controller 20 determines each section so that the total value of the link costs calculated during the route search for the approximate solution route is equal for each section. This also allows the system controller 20 to preferably divide the approximate solution route. In another example, the system controller 20 may divide each section based on the number of high-speed facilities. In this case, for example, the system controller 20 determines each section so that the number of expressway facilities belonging to each section is the same or within a difference of one. In this case, for example, the system controller 20 determines the expressway facilities to belong to each section, and then determines the intermediate points (for example, the intermediate points based on distance or cost) between adjacent expressway facilities in different sections. defined at the boundary position of These also allow the system controller 20 to suitably determine the boundary position of each section.

FIG. 7 is a flow chart showing the procedure of route search processing executed by the system controller 20 in the second embodiment. In the flowchart of FIG. 7, as an example, the system controller 20 sequentially compares the toll-considered costs of the approximate solution route and the best route for each section (see FIGS. 6B to 6D), and then selects the overall best A recommended route is determined by calculating the toll-considered cost of the route (see FIG. 6(E)). Here, when the toll-considered costs of the approximate solution route and the section best route of each section are sequentially compared, the route with the lowest toll-considered cost is tentatively set as the first candidate route.

First, the system controller 20 searches for an approximate solution route (step S200). At this time, the system controller 20 preferably stores the integrated distance or cost from the departure point to each expressway facility, which is required for section division. Next, the system controller 20 creates a high-speed facility list (step S201). Then, the system controller 20 calculates the toll-considered cost of the approximate solution route and sets it as the first candidate route (step S202). Then, the system controller 20 divides the approximate solution route into a predetermined number of sections based on distance, cost, etc., and divides the expressway facilities into groups for each section (1 to n; n is an integer equal to or greater than 2) (step S203). .

Next, the system controller 20 executes a route search for all patterns of expressway facilities to be pseudo-closed for one selected section k (k is an integer whose initial value is 1), and the toll-unconsidered cost is minimized. A route is searched (step S204). As a result, the system controller 20 determines the expressway facility to be artificially closed to traffic in the target section k, and specifies the section best route corresponding to the section k.

Next, the system controller 20 adds a cost corresponding to the toll of the expressway identified by referring to the toll table 33 to the toll-unconsidered cost for the section best route searched in step S204. A cost is calculated (step S205).

Then, the system controller 20 determines whether or not the toll-considered cost of the section best route calculated in step S205 is smaller than the toll-considered cost of the first candidate route (step S206). If the toll consideration cost of the section best route searched in step S204 is smaller than the toll consideration cost of the first candidate route (step S206; Yes), the system controller 20 selects the section best route searched in step S204 as the first route. It is set as a candidate route (step S207). On the other hand, if the toll consideration cost of the section best route searched in step S204 is greater than or equal to the toll consideration cost of the first candidate route (step S206; No), it is determined that there is no need to update the first candidate route, and the process proceeds to step S208. Proceed with processing.

Next, the system controller 20 determines whether or not the processes of steps S204 to S207 have been executed for all sections (k=1 to n) (step S208). Then, when the system controller 20 determines that the processes of steps S204 to S207 have been executed for all sections (step S208; Yes), the process proceeds to step S209. On the other hand, the system controller 20 returns the process to step S204 when there is a section in which the processes of steps S204 to S207 are not executed (step S208; No). In this case, the system controller 20 adds 1 to the section index k and re-executes steps S204 to S207.

Next, in step S209, the system controller 20 selects the route ( That is, the overall best route) is searched (step S209). Then, the system controller 20 adds the cost corresponding to the toll for the expressway on the best overall route identified by referring to the toll table 33 to the toll-unconsidered cost for the overall best route searched in step S209. Then, the fee-considered cost is calculated (step S210). Then, the system controller 20 outputs, as the recommended route, the first candidate route or the overall best route, whichever has the smaller toll-considered cost (step S211). As a result, the system controller 20 can suitably reduce the number of route searches and accurately determine a route with a low toll-considered cost as a recommended route.

[Third embodiment]
In the third embodiment, the system controller 20 can divide the approximate solution route into multiple steps. As a result, the system controller 20 adjusts the number of high-speed facilities in the section to favorably improve the processing efficiency.

FIG. 8(A) shows an example in which an approximate solution route including expressway facilities 6a to 6k is divided into two sections, section 1 and section 2. FIG. In the example of FIG. 8A, the system controller 20 divides the approximate solution route into two sections so that section 1 includes six expressway facilities 6a to 6f and section 2 includes five expressway facilities 6g to 6k. divided into In this case, there are 26 (=64) patterns of expressway facilities that are pseudo-closed in section 1, and there are 25 (=32) patterns of expressway that are pseudo-closed in section 2. is 2, at least 96 route searches are required. Therefore, in this embodiment, the system controller 20 further divides a section in which the number of expressway facilities in the section is equal to or greater than a predetermined number (also referred to as "threshold number"). Here, it is assumed that the system controller 20 sets the threshold number to three.

FIG. 8B shows an example in which section 1 is further divided into section 1A and section 1B, and section 2 is further divided into section 2A and section 2B. In the example of FIG. 8B, the system controller 20 sets the number of expressway facilities in sections 1 and 2 to be the same or with a difference of one, since there are more than the threshold number of expressway facilities in sections 1 and 2, respectively. It is re-divided so that As a result, section 1A has three high-speed facilities 6a-6c, section 1B has three high-speed facilities 6d-6f, section 2A has three high-speed facilities 6g-6i, and section 2B. There are two high-speed facilities 6j and 6k.

Here, the system controller 20 re-divides the sections 1A, 1B, and 2A because the number of high-speed facilities equal to or greater than the threshold number exists in these sections. FIG. 8(C) shows the relationship between each section and the expressway facility belonging to each section when the section is further divided from the example of FIG. 8(B). In the example of FIG. 8(C), the system controller 20 divides the section 1A into a section 1Aa including two expressway facilities 6a and 6b and a section 1Ab including one expressway facility 6c. Also, the system controller 20 divides the section 1B into a section 1Ba including two expressway facilities 6d and 6e and a section 1Bb including one expressway facility 6f. Also, the system controller 20 divides the section 2A into a section 2Aa including two expressway facilities 6g and 6h and a section 2Ab including one expressway facility 6i. On the other hand, the system controller 20 does not redivide section 2B because the number of expressway facilities is already less than the threshold number.

Then, when the number of expressway facilities in all sections is less than the threshold number, the system controller 20 selects the section best route that minimizes the toll-unconsidered cost for all patterns of pseudo-closed expressway facilities for each section. Search and determine the expressway facilities that should be pseudo-closed for each section.

FIG. 9(A) is a diagram reflecting the result of determining expressway facilities that should be pseudo-closed for each section. In the example of FIG. 9A, in the case of section 1Aa, the toll-unconsidered cost is minimized when the high-speed facility 6b is pseudo-closed. In the case of section 1Bb, the toll-unconsidered cost is minimized when the expressway facility 6f is pseudo-closed, and in the case of section 2Ab, the expressway facility 6i is pseudo-closed. The toll-unconsidered cost is the smallest, and in the case of the section 2B, the toll-unconsidered cost is the smallest when the expressway facility 6k is pseudo-closed.

After that, in the first example, the system controller 20 determines the recommended route by executing the flowchart of FIG. 7 of the second example. In the example of FIG. 9A, the system controller 20 assumes that there are seven sections and executes the flowchart of FIG.

In a second example, the system controller 20 determines the expressway facilities that are determined to be pseudo-closed in the re-divided section as expressway facilities that are to be pseudo-closed in the original section. FIG. 9(B) shows the sections 1Aa, 1Ab, 1Ba, 1Bb, 2Aa, and 2Ab, which are divided into sections 1Aa, 1Ab, 1Ba, 1Bb, 2Aa, and 2Ab. An example determined based on the search result of the best section route in .

In the example of FIG. 9(B), the system controller 20 designates the expressway facilities that should be pseudo-closed in section 1Aa and 1Ab shown in FIG. It has established. Similarly, the system controller 20 defines expressway facilities to be pseudo-closed for sections 1B and 2A. After that, the system controller 20 may determine a recommended route by executing the flowchart of FIG. 7 of the second embodiment for section 1A, section 1B, section 2A, and section 2B. Expressway facilities to be pseudo-closed may be determined in section 1 and section 2 based on a combination of expressway facilities that are pseudo-closed. Fig. 9 (C) shows the high-speed facilities that should be pseudo-closed in Sections 1 and 2 based on the combination of high-speed facilities that are pseudo-closed in each subdivided Section 1A, Section 1B, Section 2A, and Section 2B. example. In this case, the system controller 20 determines the expressway facilities to be pseudo-closed in section 1 by combining the expressway facilities to be pseudo-closed in sections 1A and 1B shown in FIG. 9(B). Similarly, for the section 2, the system controller 20 determines the expressway facility to be artificially closed. After that, the system controller 20 assumes that there are two sections, section 1 and section 2, and executes the flowchart of FIG.

In addition, in FIGS. 8 and 9, the system controller 20 sequentially divides the approximate solution route into two, but the number of divisions is not limited to this and may be three or more.

Thus, according to the third embodiment, the system controller 20 determines whether or not to re-divide the approximate solution route into sections according to the number of expressway facilities in the section, and sets the number of expressway facilities in the section to the threshold number. less than As a result, the system controller 20 can improve the efficiency of processing by setting an appropriate section according to the number of high-speed facilities even when there are many high-speed facilities on the approximate solution route.

[Fourth embodiment]
In the fourth embodiment, the system controller 20 accepts an input specifying a conversion rate from tolls to costs used when calculating the toll-considered cost, and displays and outputs a recommended route reflecting the specified conversion rate. Hereinafter, as an example, it is assumed that the unit of the charge-considered cost is time.

FIG. 10 shows a first display example of the route selection screen. On the route selection screen of FIG. 10, the system controller 20 sets the conversion rate from the charge to the cost (charge-based time cost) as 500 yen/h, 700 yen/h, and 900 yen/h. The top four routes with the lowest are presented as recommended routes. In FIG. 10, the system controller 20 displays, on the route selection screen, a table 7A showing the toll-considered costs of the top four routes when the toll-to-cost conversion rate is 500 yen/h, and Table 7B showing the toll-considered costs of the top four routes when the conversion rate is 700 yen/h, and Table 7C showing the toll-considered costs of the top four routes when the conversion rate is 900 yen/h. , and a route outline diagram 8A showing an outline of each route are displayed.

As shown in Tables 7A to 7C, by changing the hourly toll conversion rate, the toll-considered costs of routes using expressways, such as Route C and Route E, change. Specifically, when the conversion rate is 900 yen/h, the value of time relative to the toll is relatively higher than when the conversion rate is 500 yen/h. Routes that use roads have lower toll-considered costs, resulting in higher rankings for these routes.

Also, tables 7A to 7C are selectable, and the system controller 20 causes the route overview diagram 8A to display a route overview based on the toll-considered cost corresponding to the selected table. In the example of FIG. 10, since the table 7A is selected, the system controller 20 displays the route A, which is the highest in the case of the conversion rate of 500 yen/h, in the thickest, route B, route C, route In the order of D, the lines representing these are displayed gradually thinner. FIG. 11 shows a route selection screen when the user selects the table 7C using a touch panel or the like. In this case, the system controller 20 makes route C, which is the highest rank in the selected table 7C, the thickest, and creates a route schematic diagram 8C in which lines representing these routes are gradually thinned in order of route A, route B, and route E. I am displaying. After that, the user sets the route by specifying the desired route on the touch panel or the like in the tables 7A to 7C or the route outline drawings 8A and 8C, for example.

FIG. 12 is a second display example of the route selection screen. In the example of FIG. 12, the system controller 20 displays a table 7A with a conversion rate of 500 yen/h, a route overview diagram 8A showing an overview of each route in the table 7A, and a conversion rate button 26 on the route selection screen. is displayed. Then, when the conversion rate button 26 is selected, the system controller 20 displays a balloon 27 containing a plurality of conversion rate designation buttons 28 for selecting a conversion rate. The conversion rate specifying button 28 is provided for each conversion rate selectable by the user. When a conversion rate specifying button 28 indicating a conversion rate different from the currently selected conversion rate is selected, the system controller 20 displays a table showing the charge-considered cost of the conversion rate corresponding to the selected conversion rate specifying button 28. , and the route schematic diagram are displayed on the route selection screen in place of the table 7A and the route schematic diagram 8A. According to this aspect, the system controller 20 can preferably display the route search result corresponding to the conversion rate designated by the user on the route selection screen.

FIG. 13 is a third display example of the route selection screen. In the example of FIG. 13, the system controller 20 displays a table 7X showing the route with the lowest toll-considered cost at each conversion rate together with the toll-considered cost. Furthermore, the system controller 20 displays a route overview diagram 8X showing an overview of the routes listed in the table 7X together with the table 7X. According to this aspect, the system controller 20 can allow the user to easily grasp the route that minimizes the toll-considered cost at each conversion rate.

[Modification]
Modifications suitable for the first to fourth embodiments will be described below. In addition, each of these modifications may be combined and applied to the above embodiment.

(Modification 1)
In the second and third embodiments, the system controller 20, in addition to searching for a route using the overall best pattern, searches for a pattern in which the presence or absence of a pseudo-traffic route at a highway facility existing at the boundary between adjacent sections is changed from the overall best pattern. A route search may also be performed.

FIG. 14(A) shows the overall best pattern when the approximate solution route including the expressway facilities 6a to 6k is divided into section 1 and section 2. FIG. In the example of FIG. 14(A), the expressway facilities 6b and 6f are simulated to be closed when the section best route is found by executing step S204 of FIG. On the other hand, the expressway facilities 6i and 6k are the expressway facilities 6i and 6k that are pseudo-closed when the section best route is searched by executing step S204 in FIG. Therefore, in the example of FIG. 14A, the best overall pattern is the pattern in which the highway facilities 6b, 6f, 6i, and 6k are pseudo-closed.

Here, in addition to searching for the overall best route in step S209 of FIG. Also for the changed pattern, search for the route that minimizes the cost without consideration of tolls. FIG. 14(B) shows a pattern obtained by changing the presence/absence of pseudo traffic closures of the high-speed facility 6f adjacent to the boundary between Sections 1 and 2 from the overall best pattern, and FIG. 14(C) shows the boundary between Sections 1 and 2 shows a pattern obtained by changing the presence/absence of false traffic closures of the adjacent expressway facility 6g from the overall best pattern. Then, the system controller 20 also searches for a route that minimizes the toll-unconsidered cost for the patterns corresponding to FIGS. It is determined whether or not it can be.

In general, high-speed facilities located near the boundaries of sections are easily affected by the presence or absence of simulated road closures in other adjacent sections. may have occurred. Taking the above into consideration, in this modified example, a route search is also performed for a pattern obtained by changing from the overall best pattern the presence or absence of false road closures at expressway facilities existing at the boundary between adjacent sections. As a result, it is possible to efficiently search for routes that can be recommended route candidates while preventing an excessive increase in the number of route searches.

(Modification 2)
The route search process executed by the navigation device 1 may be executed by a server device that communicates with the navigation device 1 via a network.

FIG. 15 shows the configuration of a route search system according to a modification. In the example of FIG. 15, the route search system has a navigation device 1 and a server device 3 having map data 32 and a fare table 33 .

In the configuration example of FIG. 15 , the navigation device 1 transmits input information such as the destination and current position information to the server device 3 after receiving input specifying the destination and the like. After that, the server device 3 determines a recommended route by referring to the map data 32 and the fare table 33 based on the first to third embodiments, and transmits information indicating the route search result to the navigation device 1. FIG. Further, the server device 3 causes the navigation device 1 to display the route selection screen by transmitting the display information of the route selection screen described in the fourth embodiment to the navigation device 1 . At this time, the navigation device 1 transmits to the server device 3 information about the conversion rate input on the route selection screen.

In this modified example, the server device 3 is an example of the "route search device" in the present invention, and the CPU of the server device 3 is equivalent to the "search means", "control means", and "calculation means" in the present invention. , "determining means", "dividing means", "composite cost calculating means", "presenting means", and a computer that executes the program in the present invention.

(Modification 3)
In the second and third embodiments, the system controller 20 may determine sections by a plurality of division methods, calculate routes for each division method, and determine recommended routes from these calculated routes.

In this case, in the first example, the system controller 20 changes the numerical value that defines the length per section when dividing the approximate solution route by a predetermined index (distance, cost, number of high-speed facilities, etc.). Thus, the approximate solution root is separated by different division positions. For example, when dividing the approximate solution route based on the distance, the system controller 20 determines division positions of the approximate solution route by a dividing method of dividing one section by 50 km and a dividing method by dividing one section by 60 km. In this case, the system controller 20 may divide the approximate solution routes by three or more numerical values with the same index, and determine the route with the lowest toll-considered cost from the routes searched for each case as the recommended route.

In the second example, the system controller 20 divides the approximate solution routes by different indexes, and determines the route with the lowest toll-considered cost as the recommended route from among the routes searched for each case. For example, the system controller 20 divides the approximate solution route into a plurality of sections based on the distance and divides the approximate solution route into a plurality of sections based on the cost, respectively. I do. Then, the system controller 20 determines, as a recommended route, the route with the lowest toll-considered cost from the routes obtained by the route search in each case. It should be noted that the system controller 20 may divide the approximate solution routes using three or more indices, and determine the route with the lowest toll-considered cost from the routes searched for each case as the recommended route.

According to these examples, it is possible to suitably reduce the influence of the method of dividing the approximate solution route on the result of the recommended route.

(Modification 4)
In the first embodiment, the system controller 20 calculates the cost by using different indicators for the charge-unconsidered cost used in the route search in step S103 of FIG. may be calculated. For example, the former may be a cost using distance as an index, and the latter may be a cost using time as an index. Similarly, in the second and third embodiments, the system controller 20 separates the toll-unconsidered cost used when searching for the section best route and the toll-unconsidered cost used when calculating the toll-considered cost. You may calculate a cost by the parameter|index.

Reference Signs List 1 navigation device 3 server device 10 self-supporting positioning device 12 GPS receiver 20 system controller 22 CPU
31 data storage unit 38 communication device 40 display unit 44 display 50 audio output unit 60 input device

Claims (1)

a search means for searching for a route;
a control means for causing the search means to search for a route including a toll road based on a cost other than the toll for the route;
a calculating means for calculating tolls for each of the plurality of routes searched by the searching means;
a determination means for determining a recommended route by comparing a cost other than the toll and a composite cost that is a cost for each route calculated based on the toll,
The calculating means calculates a toll according to a combination of toll road facilities including an entrance facility and an exit facility of the toll road regardless of the distance traveled.