JP3402260B2 - Target object search device, target object search method, navigation device, and navigation method - Google Patents

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a target object search device,
The present invention relates to a target object search method, a navigation device, and a navigation method, for example, a method for displaying target objects displayed on a map screen in a predetermined order of priority.

As a conventional navigation device, for example, there is an on-vehicle navigation device disclosed in JP-A-61-194473. In this on-vehicle navigation device, a map of the area desired by the user is displayed on the display device, and when the user selects the desired facility, the location of the existing facility on the map screen is displayed as a mark. Further, in response to the user's operation, the explanation of the facility displayed on the map screen is displayed. The user can set the destination based on the facility display and the description on the map screen.

[0003]

For example, when a car on which a user rides is traveling according to a preset route guidance to a destination using a navigation device, a request for meals, shopping, etc. is made. Then, the user tries to immediately find the desired facility using the navigation device. In the above conventional navigation device, when the user selects a desired facility genre from the menu display, the facility of the designated genre existing in the map displayed at that time is displayed on the map screen.

However, when there are a plurality of facilities, the conventional navigation device described above only displays a plurality of facility marks selected by the user on the map screen.
For this reason, it is difficult for the user to quickly determine which of the displayed facilities is the one most suited to the user's wishes, and it is not necessary to meet the wishes. It was necessary to select one facility or to stop and call the explanation screen of each facility to determine the facility that matches the wish based on the explanation.

[0005]

In order to solve the above-mentioned problems, the present invention generates search reference information serving as a search reference when searching for a plurality of targets, and based on the generated search reference information. Then, the priority order is determined for each target object to be searched, and each target object is output in the order of the priority order.

[0006] A plurality of targets such as convenience stores are displayed in the order of determined priority based on the search reference information corresponding to the user's wishes such as distance and business contents. As a result, even when the automobile is running, the user can select a target object that matches his or her wish in a short time. Therefore, driving safety is not impaired.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION 1. Overall Circuit FIG. 1 shows the overall circuit of the navigation device. The central processing unit 1 controls the operation of the navigation device and performs calculations by the CPU 2. The ROM 3 and 5 store system programs executed by the CPU 2 and various parameters. The RAM 4 stores data input from the outside, various parameters used for calculation, calculation results, and the like. The clock 6 generates time information. The sensor input interface 7 inputs the detection data from the absolute azimuth sensor 21, the relative azimuth sensor 22, the distance sensor 23, and the acceleration sensor 24 of the current position detection device 20, and sends it to the CPU 2. The communication interface 8 transmits / receives various data to / from the device connected to the data bus 28.

The image processor 9 reads out the image data stored in the image memory 10 and outputs the image data to a display 33 capable of displaying an image such as a CRT, a liquid crystal display or a plasma display. The image memory 10 stores the image data displayed on the screen of the display 33, and sends and receives the image data to and from the image processor 9. The image processor 9 converts data of a target object, a road, etc., which will be described later, into display data according to a command from the CPU 2, and forms image data to be displayed on the screen of the display 33. At this time, in order to scroll the screen, an image around the screen displayed on the display 33 is also formed and stored in the image memory 10. The voice processor 11 inputs the synthesized voice waveform data read from the ROMs 3 and 5 by the CPU 2, forms a voice waveform of an analog waveform, and sends it to the speaker 13.

The current position detection device 20 is a device for obtaining data for detecting the current position of a vehicle equipped with a navigation device (hereinafter referred to as the own vehicle). The absolute direction sensor 21 is, for example, a geomagnetic sensor that detects geomagnetism and outputs data indicating the north-south direction that is the absolute direction. The relative azimuth sensor 22 outputs data indicating a deviation of the traveling direction of the vehicle with respect to the absolute azimuth detected by the absolute azimuth sensor 21, and detects a steering angle of a gyro device such as a piezoelectric vibration gyro or a wheel. It is a steering angle sensor. The distance sensor 23 outputs data indicating the traveling distance of the own vehicle, and is, for example, a digital counter linked with a traveling distance meter. Acceleration sensor 24
Is for detecting the acceleration of the own vehicle, and is, for example, a semiconductor acceleration sensor.

The GPS receiver 25 is a GPS (Global P
ositioning System) signal and outputs the position data. The beacon receiving device 26 receives GPS correction data and a beacon from an information providing system such as VICS (road traffic information communication system) and outputs the received data. The data transmitting / receiving device 27 transmits / receives the current position information to / from the bidirectional current position information providing system.

The data communication device 30 is a VICS or ATI.
It sends and receives signals to and from road information systems such as S (traffic information service). The data transmitting / receiving unit 31 is, for example, V
The telephone transmission unit 32, which is a transmission / reception unit of the ICS, is
It is the communication part of TIS.

A transparent touch panel 34 is provided on the screen of the display 33. This touch panel has transparent touch switches arranged in a planar matrix. The printer 35 prints various information such as maps and facility guides output via the communication interface 8. The recording card reader 36 is an IC card, RO
It is a card-shaped recording medium reading device such as an M card or a memory card. The CD-ROM driver 37 is a reading device for a CD-ROM which is a CD (compact disc) type storage medium.

The voice recognition device 38 converts the voice picked up by the microphone 39 into a digital signal, determines whether or not a voice matching a predetermined command has been input, and inputs a voice matching the command. If so, this command data is sent to the CPU 2. This voice recognition device 38
Either a specific speaker recognition method or an unspecified speaker recognition method may be used.

The operation switch 40 is a wired remote control switch or a wireless remote control switch, or a manual switch arranged around the display 33, and is operated on the touch panel 34 for menu display, image quality adjustment, start of destination setting, etc. It is a switch for instructing operations other than.

2. External Storage Medium Various data files as shown in FIG. 2 are stored in the card type storage medium or the external storage medium such as a CD-ROM. The map data file F1 stores map data such as a national road map. The intersection data file F2 stores data about the intersection such as the position and name of the intersection. The node data file F3 stores data of nodes set on the road. The road data file F4 stores data on roads such as the position and type of roads, the number of lanes, and the connection relationship between the roads. The photograph data file F5 stores image data of photographs showing various facilities, tourist spots, or places where visual display is required such as major intersections.

The destination data file F6 stores data such as locations and names of places and facilities that are likely to become destinations of major tourist destinations, buildings, companies, businesses, etc. listed in the telephone directory. Has been done. The guide point data file F7 stores the guide data of the point where guidance such as the content of the guide display plate installed on the road and the guidance of the branch point is required. The detailed destination data file F8 stores detailed data about the destination stored in the destination data file F6. The road name data file F10 stores name data of major roads among the roads stored in the road data file F4. The branch point name data file F11 stores name data of main branch points. The address data file F11 stores list data for searching the destination for the destination stored in the destination data file F6.

The area / city code list file F12 stores list data of only the area / city code of the destination stored in the destination data file F6. The registered telephone number file F13 stores telephone number data, such as business partners registered by manual operation of the user, which should be remembered. The mark data file F14 stores data such as a position and a name of a place to be a mark on a run or a place to be remembered, which is input by a user by a manual operation. The point data file F15 stores detailed data of the mark points stored in the mark data file F14. The target object data file F16 stores data such as the position and description of the target object such as a place to stop at other than the destination such as a gas station, a convenience store, or a parking lot.

3. Target Object Data File FIG. 3 shows details of the stored contents of the target object data file F16. The target object is classified into a plurality of genres, and the number of classifications is stored as target object genre number data JN. Genres are divided into types such as facilities and places.For example, gas stations, convenience stores, parking lots, hotels, restaurants, family restaurants, soba restaurants, coffee shops, stations, subway station entrances, hospitals,
Parks, police, post offices, golf courses, driving ranges, shrines,
This is the type of facility or place that you might drop in while traveling, such as a cosmetics store or a pharmacy. And each genre J1-Jn
Is the genre code number data JC determined for each genre, the target property number data m, and the target list data L.
1 to Lm are stored.

The target list data L1 to Lm are the name data MM of the target, the telephone number data MT of the target, and the coordinate data M on the map of the target for each of the m targets.
Z, information data MD regarding the target object are stored.
Then, in the target object information data MD, information about the target object is classified into a plurality of items and stored. This item is, for example, the usage fee of the target, the capacity of the facility (parking capacity and capacity, width, height, length of vehicles that can be accommodated, etc.), brand (gas station distributor company name, chain store name, etc.) , Address, service content, parking lot availability, business hours, restaurant food type, restaurant information (whether upscale, chain store, famous chefs, etc.), convenience store Information about items such as a store name that is a condition for selection when stopping by while traveling is stored.

4. Data Group FIG. 4 shows a data group stored in the RAM 4. The external data GD includes the recording card reader 36 or C.
All or part of the data stored in the external storage medium read by the D-ROM driver 37 is copied. The current position data MP is the current position data of the vehicle detected by the current position detection device 20. The absolute azimuth data ZD is data obtained based on the data from the absolute azimuth sensor 21. Relative azimuth data θ1
Is an angle formed by the traveling direction of the vehicle with respect to the absolute azimuth, which is obtained based on the data from the relative azimuth sensor 22.

The traveling distance data ML is the traveling distance of the own vehicle obtained based on the data from the distance sensor 23. The acceleration data ma is the acceleration detected by the acceleration sensor 24. The current position information PI is data regarding the current position input from the beacon receiving device 26 or the data transmitting / receiving device 27. VICS data VD
Is VICS data input from the data transmitting / receiving unit 31. The ATIS data AD is ATIS data input from the telephone transmission unit 32. The registered destination data TP is data regarding the destination such as the position and name of the destination registered by the user.

The registered target object data SP is data concerning the target object such as the position and name of the target object set by the user. The optimum route data MW is data of the optimum route obtained in the route search process (step 52) described later. The genre code number JC is the genre code number of the genre selected in the target object selecting operation process described later. The area designation data AS is data that designates the search area input in the target object selection operation process. The sub reference data KS is data for searching for the target object input in the target object selecting operation process. This sub reference data KS may be plural.

The reference position data KP is a reference position for searching for a target object determined by a reference position determination process described later.
The road information RD is information such as whether the road being used, which is used in an automatic setting process described later, is a highway or a general road. The traveling speed data V is the traveling speed of the vehicle. The search area data KA is coordinate data of the target search area obtained in the target search process described later.
The search target object data KM is data related to the target object searched by the target object search process, and is picked up from the external data GD and stored.

The reach distance data TK is the reach distance to the search target object obtained in the priority order determination process described later. The priority order data UN is the priority order displayed for selecting the search target object determined in the priority order determination process. The target relative azimuth data θ2 is an angle formed by the search target with respect to the absolute direction. Target direction data θ is
It is the angle between the traveling direction of the vehicle and the search target. The destination avoidance data MK is initial destination data that is saved before the target is registered in the target registration process. Although not shown, the RAM 4 stores data for various other processes, variable data, and the like.

5. Overall Process FIG. 5 is a flowchart of the overall process executed by the CPU 2. This process starts when the power is turned on and ends when the power is turned off. CP at the start
Initialization processing of U2, RAM4, image memory 9, etc. is performed. Then, the current position acquisition process (step 5)
0), the destination setting process (step 51), the route search process (step 52), and the guidance display process (step 53) are repeatedly executed.

In the current position acquisition process (step 50),
The current position of the vehicle is calculated based on the data sent from the current position detection device 20. In this calculation processing of the current position, the latitude and longitude are calculated from the data input from the GPS receiving device 25, and the latitude and longitude are stored in the RAM 4 as the current position data MP. The current position data MP is modified by the information about the current position input from the beacon receiving device 26 or the data transmitting / receiving device 27.

Further, a calculation process for specifying the position of the vehicle is performed based on the absolute azimuth data ZD, the relative azimuth data SD, and the traveling distance data ML. The own vehicle position obtained by this arithmetic processing is collated with the map data in the external data GD, and is corrected so that the current position on the map screen is accurately displayed. By this correction processing, the current position of the vehicle can be accurately obtained even when GPS signals cannot be received in the tunnel or the like. Mileage data M
L is corrected by the acceleration data ma in order to take into consideration an error due to tire slip or the like.

In the destination setting process (step 51), a destination setting operation process and a target object selecting operation process are executed. In the destination setting operation process, the destination setting input screen is displayed on the display 33 by the user's destination registration operation. The user can specify the destination from any of the address, telephone number, and name. When one genre is selected from a genre-specific menu such as a tourist spot and various facilities, a plurality of destinations stored in the selected genre are displayed on the display 33 in the form of a list. Further, detailed guidance of each destination can be displayed. When the destination is determined, an operation for instructing the confirmation of the destination is performed, whereby data regarding the determined destination is stored in the RAM 4 as registered destination data TP.

The target selection operation process is a process for setting a desired stop-off place as a target if there is a place desired to stop by while traveling to the destination. The data regarding the set target object is stored in the RAM 4 as registered target object data SP. Details of this target object selection operation processing will be described later.

The operation of the destination setting operation processing and the target object selecting operation processing is performed by touching the touch panel 34,
In addition to a manual operation by operating the operation switch 40, an operation by voice input by the voice recognition device 38 is possible. Switching between the manual operation and the voice input operation is performed by the changeover switch 41 provided in the operation switch 40. The changeover switch 42 provided on the operation switch 40 also performs the switching operation between the destination setting operation process and the target object selecting operation process. The destination setting process (step 51) is jumped when a new destination setting operation or a new target selecting operation is not performed.

In the route search process (step 52), the optimum route to the destination or the target is searched based on the registered destination data TP or the registered target data SP, the current position data MP, and the map data. , The optimum route data MW is stored in the RAM 4. Then, this optimum route is displayed by a thick red line in the map screen displayed on the display 33. It should be noted that this route search processing (step 52) is jumped if there is no change in the optimum route.

In the guidance / display processing (step 53), the guidance is produced by voice from the speaker 13 or the guidance is displayed on the map screen so that the vehicle can travel along the optimum route obtained in the route search processing (step 52). Displayed inside.

By repeating the above processing, the optimum route to the destination or the target registered by the user, the current position of the vehicle and the traveling direction are displayed on the map screen displayed on the display 33. The current position is corrected according to the progress of the vehicle, and when the vehicle approaches a point requiring guidance such as an intersection or a branch, the guidance is notified by voice or display.

6. Target Object Selection Operation Process FIG. 6 is a flowchart of the target object selection operation process (step 100) executed in the destination setting process (step 51). This process is started when a target selection operation is instructed by operating the destination / target switching switch 42. In addition, since the operation of selecting the target object is performed while the vehicle is running, in consideration of driving safety, when the start of this process is instructed, the operation for automatically inputting the voice is set. When the user operates the manual / voice switching switch 41 to switch to the manual operation, the target switch can be selected by manually operating the operation switch 40. Further, this processing may be executed by inputting voice during the driving guidance without operating the changeover switch.

The target selecting operation process (step 100) is repeatedly executed like the current position acquisition process (step 50), the route search process (step 52) and the guidance / display process (step 53). When approaching an intersection during target object selection operation, the target object selection operation is interrupted for a few seconds to interrupt the target object selection operation, and guidance is given by voice and display. The current position may be displayed.

This target object selection operation process (step 10
In 0), the process of determining the search criteria of the target (step 102), the process of determining the reference position of the range for searching the target (step 104), the process of searching the target according to the search criteria (step 106), A process of determining priorities according to whether the retrieved target object matches the user's wishes (step 108), a process of displaying the prioritized targets (step 110), and user selection The process (step 112) of registering one target object is sequentially executed.

7. Search Criteria Determination Processing FIG. 7 is a flowchart of the search criteria determination processing (step 102). Genre input process (step 120)
Then, first, a command signal is sent from the CPU 2 to the voice processor 11, and the speaker 13, for example, asks, "What is the genre?" Note that, instead of pronouncing this question, the user may input by using a predetermined key on the touch panel 34 for voice input.

When there is a voice input from the voice recognition device 38 during the predetermined waiting time, the CPU 2 converts the input voice data into code data by a predetermined calculation. Then, the input code data is collated with the genre code number JC of the target object data file F16 in the external data GD to obtain a matching genre code number. The genre code number data JC that matches this voice input is stored in the RAM 4. For example, if the user desires to drop in at a gas station on the way to the destination, he or she utters "gas station" and the genre code number JC of the gas station is stored.

In the area input process (step 122),
A command signal is sent from the CPU 2 to the voice processor 11, and the speaker 13 "specifies the search area."
Is generated. It should be noted that, instead of the sound generation, key input on the touch panel 34 may be performed. Then, when there is a voice input from the voice recognition device 38 during the predetermined standby time, the voice data input by the CPU 2 is converted into area designation data AS and stored in the RAM 4. It should be noted that it is possible to search for targets from all data without specifying the area in this way, but when prioritizing the searched targets as described above, the ones closer to the reference position are selected. The processing speed is faster when an area is set and searched in advance.

When the scale of the map screen displayed during the navigation operation to the destination can be selected from two types of large and small, "wide area" and "detail", for example, by the user saying "Kouiki" , The wide area designation data is the area designation data A so that the wide area display screen is set as the search area.
It is stored as S. In addition, when the user utters “Shousai”, the detailed designation data is set as the area designation data A such that the detailed display screen is set as the search area.
It is stored as S.

When three or more scale values on the map display screen can be selected, a word for selecting each scale is determined, and when the user utters the word, the corresponding scale size data is displayed. It is stored as area designation data AS. Further, as described above, in addition to designating the entire map screen displayed at a predetermined scale as a search area, a voice input such as "radius 10 km" or "10 km square" allows the reference position described later. A search area can be a range of a predetermined radius or a predetermined distance centered on KP. In this case, the radius data or the side length data input by voice is stored as the area designation data AS. Further, by inputting a specific “city / town / village name” by voice, the range in which the city / town / village exists can be set as the search area.

The genre and search area of the above target are the main search criteria, and in the next step 124, the sub-criteria specific to each genre of the target are input. In this process, a command signal is sent from the CPU 2 to the voice processor 11, and a voice requesting a sub reference having contents corresponding to the specified genre code number JC is generated from the speaker 13. For example, if the designated genre is "gas station", the voice "What is the brand?" Is pronounced, and if the designated genre is "Restaurant", the voice "What is the type of dish?" Is pronounced.

When there is a voice input from the voice recognition device 38 during the predetermined waiting time, the voice data input by the CPU 2 is converted into the sub reference data KS and stored in the RAM 4. Further, the CPU 2 automatically selects and stores in the RAM 4 the sub-criteria for items that do not require selection by the user. For example, the sub reference data KS indicating "direction" or "parking" when the designated genre is parking is stored.
This sub-criterion is an item stored in the target object information data MD of the target object data file F16.

8. Reference Position Determination Process FIG. 8 is a flowchart of the reference position determination process (step 104). First, the CPU 2 to the voice processor 1
A command signal is sent to 1, and the speaker 13 outputs a voice "specify a reference position". Then, by the time the predetermined waiting time elapses, the user displays the current position, the destination set before the start of traveling, the intersections on the optimal route to the destination, the passing points such as buildings, and the display 33. A desired point is input by voice from the center of the displayed map screen, the intersection on the optimum route display currently displayed on the display 33, or the point on the route such as a building.

When there is a voice input from the user, the CP
When the content of the voice input data is analyzed by U2 and a position away from the current position is designated, the designated point is stored in the RAM 4 as reference position data KP (step 148). That is, when the destination is designated (step 134), the position data on the map of the registered destination data TP is read and stored as the reference destination data KP.

The designation of the passing point or the point on the route (steps 136 and 140) is performed by the user because the name of the intersection or the building is input by voice.
2, a point having the same name data as the voice input voice data is searched from the intersection data file F2 and the destination data file F6. Then, the position data of the obtained point is stored as the reference position data KP. When the map center is specified (step 138)
Stores the position data of the center coordinates of the map screen displayed on the display 33 as the reference position data KP. In addition, you may make it possible to specify as a reference position other than the above points.

When the current position is specified (step 13
2) or when there is no voice input within the predetermined waiting time (step 130), an automatic setting process (step 130) in which the reference position is the current position or a position away from the current position based on the road information of the currently traveling road (step 130) 142) is performed.
When the current position is set to the reference position by this automatic setting process (step 144), a process of correcting the reference position according to the traveling speed (step 146) is executed. Note that the above input may be key input on a touch panel or the like instead of voice.

9. Automatic Setting Process FIG. 9 shows the automatic setting process of the reference position (step 14).
It is a flowchart of 2). RAM by CPU2
The current position data MP is read from 4 (step 1
50). Then, the road data file F4 is searched based on the present position data MP, and road information on the traveling road is obtained (step 152). This may be obtained from the current position information PI stored in the RAM 4. The obtained road information RD is stored in the RAM 4. This road information RD contains "0" if the road being driven is a highway.
1 "," 10 "if the road or tunnel is elevated, and" 00 "otherwise.

Even if the current position is designated as the reference position by the user, if the road currently running is a highway,
The target other than the service area cannot be reached without getting off the general road, so the point where the general road is taken down is taken as the reference position. That is, the map data file F1 is searched for an interchange that is scheduled to descend on the optimum route to the destination, and the position of this interchange is stored in the RAM 4 as the reference position KP (step 156).

Further, if the road currently running is an elevated road or a tunnel, it is not possible to make a right turn or a left turn from the current position. Therefore, the next appearing intersection is searched from the intersection data file F2 and the position of this intersection is determined. It is stored as the reference position KP (step 160). And
When the road currently running is an ordinary road and is neither an elevated road nor a tunnel, the current position MP is set as the reference position KP. This current position MP is further corrected by the reference position correction process (step 146). To be done.

10. Reference Position Correction Processing FIG. 10 is a flowchart of the reference position correction processing (step 146). When the current position is selected as the reference position, a sudden right / left turn is not possible, so the reference position is corrected forward of the current position according to the traveling speed V. The CPU 2 detects the current traveling speed V from the clock signal from the timepiece 6 and the traveling distance data ML from the distance sensor 23 (step 170). This may be traveling speed data output from a speedometer (not shown).

Then, the correction distance AL corresponding to the detected running speed is obtained by the CPU 2 (step 172). The correction distance AL is determined by executing a predetermined calculation or reading from a memory table that is stored in advance in association with the traveling speed V and the correction distance AL. Next, the current position data MP is sent from the RAM 4 to the CPU 2.
Is read (step 174), and the position obtained by adding the correction distance AL forward of the current position is set as the reference position (step 176). The position after this correction is the reference position data K
It is stored in the RAM 4 as P.

12. Target Object Search Process FIG. 11 is a flowchart of the target object search process (step 106). When the user specifies the radius of the search area or the length of the side in the search criterion determination process (step 102) (step 180), the CPU 2 executes R.
Reference position data KP of AM4 and area designation data AS
Is read (step 182), and a circle centered on this reference position and having a radius voice-input by the user or a square having the length voice-input by the user as one side is assumed as the search area (step 182). 184). This assumed search area KA is stored in the RAM 4 in the form of map coordinate data of a circle or a square centered on the reference position KP.

In addition, the above-described search criterion determination process (step 1
When the user specifies "wide area" or "details" or the reduced size in 02), the CPU 2 determines the content of the area specifying data AS (step 186),
The reference position data KP is read (step 18)
8). Then, the range of the map screen is assumed so that the center of the map screen of the scale specified by the user coincides with the reference position KP, and the map coordinate data of this range is stored in the RAM 4 as the search area KA (step 19
0).

Then, the genre code number data JC stored in the RAM 4 is read by the CPU 2 (step 192), the genre corresponding to this genre code number JC is read from the target object data file F16, and this genre code data is further read. By searching the read out target object coordinate data in the genre, the search area K
The target existing within the map coordinates of A is searched (step 194). The retrieved name data MM, telephone number data MT, coordinate data MZ, and information data MD of each target object are read out and stored in the RAM 4 as search target object data KM.

12. Priority Order Determination Process FIG. 12 is a flowchart of the priority order determination process (step 108). First, the CPU 2 RAM
The current position data MP of 4 is read (step 20)
0). Further, the map coordinate data MZ of each search target object is read from the search target object data KM (step 20).
2). Then, the reaching distance TK from the current position to each search target object is obtained by calculation (step 204).
This reaching distance TK is a straight line distance obtained by the Pythagorean theorem, or a route to each search target object obtained by using the map data file F1 (a shortest route may be used, or an optimum route considering road information may be used). Good) is the full length. Reached distance data T to each search target object obtained
K is stored in the RAM 4.

Further, the sub reference data KS of the RAM 4 is read into the CPU 2 (step 206), the reaching distance TK is weighted according to the sub reference data KS, and unnecessary search target data KM is erased. (Step 208). Then, the priority order is determined according to the reaching distance TK weighted by the CPU 2 and the remaining search target object data KM (step 210). The determined priority data UN is stored in the RAM 4.

13. Reaching Distance Changing Process FIGS. 13 and 14 are flowcharts of a process (step 208) of changing the reaching distance TK according to the sub reference data KS. In this processing, the CPU 2 determines the inside of the sub reference data KS (steps 220 and 25).
0, 260, ...). When the data indicating the “direction” is stored in the sub reference data KS, the reference position data K
It is determined whether P is the current position (step 22).
2). If the current position is set to the reference position,
The angle between each search target object and the own vehicle is calculated, and in which direction the search target object exists with respect to the traveling direction of the own vehicle is calculated from the calculation result (step 224).

The angle between each search target and the vehicle is calculated as follows. First, the CPU 2 causes the RAM 4
The relative azimuth angle data .theta.1 is read from. The relative azimuth angle θ1 is an angle formed by the traveling direction of the vehicle with respect to the north direction, and is represented by a value of 0 to 180 degrees counterclockwise and 0 to -180 degrees clockwise from the north direction. . Also, CPU
2, the current position data MP and the coordinate data MZ of each search target object are read from the RAM 4, tan θ2 is calculated from this coordinate data MZ and the current position data MP, and each search target object is calculated from this calculated tan θ2. A relative azimuth θ2 with respect to the north direction is obtained. The relative azimuth angle θ2 of this search target is stored in the RAM 4.

Then, the CPU 2 obtains the direction θ of the search target object with respect to the traveling direction of the own vehicle by the calculation of θ = θ2-θ1, and the target object direction data θ
Are stored in the RAM 4. Further, the target object direction θ is subjected to a calculation process of θ = 180 °, θ = θ-360 °, θ <−180 °, θ = 360 ° + θ.

Then, from the result of this arithmetic processing, it is determined in which direction each search target is present with respect to the own vehicle. The determination of this direction is performed according to the following criteria. In the case of 0 ≦ θ ≦ 90, it is “left front”. In the case of −90 ≦ θ <0, it is the “right front”. In case of 90 <θ ≦ 180, it is the “left rear”. In case of −180 ≦ θ <−90. Is “right rear” This determination result is added to each search target object data KM in the form of a flag. For example, in the case of “left front”, “0
In the case of 1 "," right front "," 10 "is added as a flag, and in the case of" right rear "," 11 "is added as a flag.

Next, if the direction of the target is "left front", the CPU 2 multiplies the reaching distance TK of this target by "1" to obtain a new reaching distance TK in the RAM 4
Is updated and stored (step 230). Further, if the direction of the target object is “front right”, the reach distance TK of this target object is
Is multiplied by “1.5” and R is set as a new reach distance TK.
The data is updated and stored in AM4 (step 234). Also, if the direction of the target object is "left rear" or "right rear",
The reaching distance TK of this target is multiplied by "2" and updated and stored in the RAM 4 as a new reaching distance TK (step 238).

As described above, in the case of left-hand traffic, it is easy to stop in the order of "left front", "right front", and "rear".
Weighting is performed so that the reaching distance of the target object that is the easiest to stop is small. The calculation of the direction and the weighting process (steps 222 to 238) described above are executed for all the search target objects KM (step 240).

If the reference position is not the current position, the reference position data KP is read out and the above-mentioned processing is executed using this reference position data KP instead of the current position. By this, the direction of the target object with respect to the position of the own vehicle at the reference position is obtained, and the reaching distance TK is weighted according to the direction of the target object. The azimuth angle θ1 of the host vehicle at the reference position is an angle formed by the traveling direction of the optimum route at the reference position with respect to the north direction, and is calculated from the road data file F3.

When the designated genre is "parking", the data corresponding to "parking" is stored in the sub reference KS. When this “parking” data is included when the sub-reference KS is sequentially read by the CPU 2, as shown in FIG.
Road information such as data VD or ATIS data AD is read, and "full vehicle information data" is selected from the read information (step 252). This full vehicle information data is added to the search target data KM in the form of a flag. Then, the CPU 2 deletes the search target object data KM added with “full vehicle information data”. As a result, full parking is no longer displayed as a target.

Next, the CPU 2 reads the number-of-accommodations data contained in each of the remaining retrieval target object data KM, and weights the reaching distance TK of each retrieval target object according to the accommodation number. For example, the reaching distance TK is multiplied by “2” when the number of accommodated vehicles is less than 50, “1.5” when the number of vehicles is 50 to 99, and “1” when the number of vehicles is 100 or more. As a result, weighting is performed such that the greater the number of vehicles accommodated, the smaller the reaching distance TK.

When the designated genre is "gas station" or "convenience store", etc., the sub reference KS
Contains "brand" data such as distribution company and chain store name. In this case, the CPU 2 compares the code data of the designated brand with the brand code of each of the remaining search target data KM to erase the search target data KM of the brand different from the designated brand. It That is,
Only the search target object data KM of the designated brand is selectively extracted (step 262). As a result, targets other than the brand specified by the user will not be displayed.

Further, although illustration and description are omitted, in addition to the above sub-criteria, for example, "upper and lower limits" such as direction, distance, and charge, city, suburbs, number of accommodated vehicles, business hours, etc. "Specified range", "Selection designation" of specific target, "Exclusion designation" of specific target, "Fee", "Position" such as near pond or harbor, "Altitude" such as mountain top or rooftop, in the sea or "Depth" such as underground, "size", "attribute", "characteristic",
“Content”, “property”, etc. can be used as the sub-criteria KS. When such a sub reference KS is stored in the RAM 4, the reaching distance TK is weighted or unnecessary search target object data KM is deleted according to the sub reference KS.

In addition to the road information, the reaching distance TK is weighted or unnecessary based on the information on the area where the target exists, the route information to the target such as construction, traffic regulation, existence of a steep slope, etc. The search target object data KM is deleted.

14. Priority Order Determination Process FIG. 15 is a flowchart of the priority order determination process (step 210). The search target object data KM left by the CPU 2 is read, and the reaching distance data TK corresponding to the left search target object KM is read (step 270). Then, the read reaching distance data TK are arranged in the ascending order (step 272), and the priority order is determined in the ascending order of the reaching distance data TK (step 274). The priority data UN is stored in the RAM 4 so as to correspond to each search target object data KM.

15. Target Object Display Process FIG. 16 is a flowchart of the target object display process (step 110). The CPU 2 reads the search target object data KM and the priority order data UN left from the RAM 4 (step 280). Then, a command is sent from the CPU 2 to the image processor 9, and a map screen of a designated scale centered on the reference position KP is read from the image memory 10.

The image data read from the image memory 10 is added with the mark and name of the search target and the priority order, and this image data is displayed on the display 33 as a map screen (step 282). For example,
When “Sobaya” is designated as the genre of the target object, as shown in FIG. 17, the names 60 and 62 of the target object and the numbers 63 to 65 indicating the name and priority thereof are displayed on the map screen. To be done.

Note that FIG. 17 is an example in which the names and the priorities are given only to the targets having the first to the third priorities. In addition, when the user touches the characters of “List” on the screen with his / her finger, as shown in FIG.
The contents such as the name of M, the telephone number, and the rank of the quality of the store are displayed on the display 33 in the form of a list together with the priority (steps 284 and 286). By touching the character 67 of "Return" on the screen with a finger, the display returns to the map screen display of FIG. Further, this list can be printed by the printer 35.

Then, the user touches the target marks 60 to 62 in FIG. 17 or the priority order (the leftmost number in the figure) or the name in FIG. A map screen centering on the screen (hereinafter referred to as a destination setting screen) is displayed on the display 33 (steps 288 and 290). For example, if “Yamamotoya” in FIG. 17 or FIG. 18 is selected, as shown in FIG. 19, the Yamamotoya mark 60 moves to the center of the screen, and the shop name 68 is displayed at the top of the screen. In this state,
If the character 67 of "Return" is touched with a finger, the screen returns to the display screen of FIG. Also, if the "SET" character 72 is touched, this Yamamotoya is registered as the destination (step 2).
92, 112).

When the character 71 of "position change" is touched, the center cursor 6 displayed by a small circle surrounding the center of the screen is displayed.
9 and an arrow 70 indicating eight directions are displayed around it (steps 294 and 296). This screen is used when the user wants to change the target displayed in the center of the screen to another target. When the user touches any of the arrows 70, the screen is scrolled in the direction of the touched arrow 70 (step 296).

The user performs the touch operation of the arrow 70 so that the mark of the desired target is put in the center cursor 69 by scrolling the screen. For example, when the user selects the mark 73 in FIG. 19, as shown in FIG. 20, the screen scroll operation is performed so that the mark 73 is within the center cursor 69. The new target to be selected is not limited to the genre specified by the user,
It can be freely selected from the place, facility, etc. displayed on the display 33. FIG. 20 shows a case where a restaurant is selected.

When the touch input of the arrow 70 is not performed for a predetermined time, the display of the arrow 70 is erased, and the destination setting screen in which the character 71 of "position change" and the character 72 of "set" are displayed is displayed. To be done. Character 7 of "position change" in this state
When 2 is touched, the arrow 70 is displayed again, and the screen can be scrolled. Also, the character 7 of "set"
When 2 is touched, the target object in the center cursor 69 is registered as the destination (steps 292, 112).

16. Target Object Registration Process FIG. 21 is a flowchart of the target object registration process (step 112). When the character 72 “SET” is touched in the state where the destination setting screen is displayed, the CPU 2 stores the initial registered destination data TP set in the destination setting operation process in the RAM 4. It is transferred to a predetermined avoidance area MK and stored (step 3).
00). This saves data about the original destination.

Next, the CPU 2 reads the coordinates of the center of the screen (step 302), and the data of the facility having the coordinates is stored in the target data file F16 in the RAM 4.
Is searched for and the corresponding target object data is read (step 304). Then, the target data is stored in the RAM 4 as new registered destination data TP (step 306).

When the registration of the target object is completed, this target object becomes a new destination, the display screen of the display 33 returns to the map screen around the own vehicle, and the route search processing to the target object (step 52) and guidance are performed.・ Display processing (step 53)
Is done. As a result, the navigation to the target object designated by the user is performed by displaying the optimum route to the target object, intersection guidance, and the like. Then, after the user stops at the target object, by performing the destination return operation,
The original destination data that was avoided is set again in the destination data TP, and the navigation to the original destination is restarted.

As described above, the navigation device of this embodiment can select a target object by a simple operation when a place to stop is generated on the way to an initially set destination. In addition, when there are a plurality of selected target objects, based on the criteria specified by the user or the criteria automatically set, the priority is automatically determined in order from the target object that matches the user's wishes, Since this priority order is displayed so that the user can easily understand it, the time for determining the target object is shortened for the user, and the safety during the operation of selecting the target object is maintained.

Further, by inputting the information of the reference position or the search reference by a voice input or an input means such as a touch panel or a switch, the target desired by the user can be narrowed down in terms of position or content. You can This makes it possible to speed up the process and search for a target object that is more suitable for the user's wishes. Further, since the operation by voice input is possible, even if the operation of selecting the target object is performed during driving, the driving safety is not impaired.

Further, by changing the reference position according to a predetermined condition (steps 104, 142,
146), the reference position can be set according to the current traveling situation. For example, when the speed of the host vehicle is high, the reference position can be set further forward, and when traveling on an expressway, an interchange that descends can be set as the reference position.
In addition to the current position, the reference position can be set to a position apart from the current position (step 1
04), it is possible to search for a target object that matches the user's wish regarding the positional condition.

Furthermore, the search criteria are not fixed, and can be changed according to the genre of the target object, or the setting can be changed according to the preference of the user (step 10).
2). As a result, it is possible to provide the target object information that better matches the user's wishes. Further, by prioritizing the targets based on the geographical relationship such as the distance and the direction (step 208), it is possible to obtain the target information based on the ease of reaching the target. Become. Further, by assigning a priority order to the content of the information regarding the target object (steps 250 and 260), it is possible to obtain the target object information based on the standard according to the genre of the target object.

Furthermore, because the target information is stored for various items (target data file F
16) It is possible to set various search criteria, and it is possible to search for and display a target object that best meets the user's various wishes in response to the various wishes. Also, by taking in external information such as VICS and ATIS and determining the priority of the target object (steps 208, 252), information such as parking lot fullness information, road congestion status, store information, etc. can be obtained on time. Therefore, it becomes possible to obtain the information of the target object that matches the user's wishes more. In addition, by displaying the retrieved target object with priority added thereto (step 110), the user can immediately determine which target object is most suitable for the user. it can.

The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, the external recording medium for storing the various data files shown in FIG. 2 may be a writable recording medium such as a floppy disk.

Further, the sub reference data KS is not limited to the items stored in the target object information data MD in the target object data file F16, and the user can register the items freely decided in advance. The registered item is set as the sub reference KS in the target object selection operation process (step 100).
May be selected as.

Further, a target object display process (step 11)
In 0), when the search target and the priority order are displayed, the list screen as shown in FIG. 18 is displayed before the map screen as shown in FIG. 17, and the map screen is switched by a predetermined operation. You may be allowed to. Also,
The priority display during the map screen display as shown in FIG. 17 or the list screen display as shown in FIG. 18 may be any display as long as it is a display that is easy for the user to understand. For example, the color and brightness of the target mark and name display,
You can change the illuminance, size, and shape according to your priority,
The display may blink. This makes it easier for the user to visually obtain information, which is convenient especially when operating while traveling. Of course, the priority may be pronounced by voice.

The above-mentioned reference position KP may be fixed at a predetermined position such as the current position or the destination so that it cannot be selected by the user, thereby reducing the processing amount. An inexpensive navigation device can be provided. Furthermore, the present invention can be applied as a navigation device for vehicles other than automobiles, ships, aircraft, helicopters, etc., and the map used for navigation may be a nautical chart, a seabed map, etc. in addition to a road map.

Embodiments of the present invention are as follows.
[A] Target object storage means for storing information representing the target object and information about the target object in association with each other for a plurality of target objects, and a reference position for searching the target object stored in the target object storage means Of the reference position storing means for storing the information of the reference information, the search reference information generating means for generating the search reference information serving as the reference of the search for searching the target stored in the target storing means, and the search reference information generating means for generating the search reference information. About the target object according to the retrieved search criteria information,
Target object information reading means for reading information representing the target object or information about the target object from the target object storage means, reference position information reading means for reading reference position information from the reference position storage means, and the target object information reading means And priority determination means for determining the priority of each target from the relationship between the information representing each target read by the information or the information about the target and the reference position information read by the reference position information reading means. And a display unit for displaying information on the priority order determined by the priority order determination unit.

[B] A voice input device, or a touch panel mounted on the display surface of the map display device, or an input means such as a switch is provided, and the information regarding the operation performed by the user is input by this input means, or this input. The navigation apparatus according to claim A, wherein the reference position information or the search reference information is input by means. [C] A reference position information changing unit that changes the reference position information read by the reference position information reading unit according to a predetermined condition such as a road type, a traveling speed, or road network information during traveling is provided. The navigation device according to claim A, wherein

[D] The search criteria information includes the upper and lower limits, a specified range, selection designation of a specific target, exclusion designation of a specific target, type of target, or property of target. 2. Regarding the above, the navigation device according to claim A, wherein the data is data input from the outside, data input by a user by a manual operation, or data stored in advance. [E]
The navigation device according to claim A, wherein the reference position is a current position or a position apart from the current position, and the reference position is fixed or can be modified.

[F] The relationship between the target information and the reference position information is a geographical relationship such as a distance or a direction, or a content relationship of information about the target object. Navigation device. [G] The information representing the target is the type of facility, building, or terrain, or the type or content of the target, or the position, altitude, depth, size, attribute, characteristic, or property of the target. The navigation device according to claim A, wherein:

[H] The priority order determining means further determines the priority order based on route information to the target such as road information and area information input from the outside via a communication medium. The navigation device according to claim A. [I] The display means displays the priority order together with the searched target mark on the map screen of the map display device, the priority order in the form of a list on the map display device, or the map display device. 2. The navigation device according to claim A, wherein the priority is displayed by changing the color of the mark of the target object displayed on the map screen of 1. according to the priority.

Target information storage means (external recording medium, RAM 4, target object data file F16) for storing information about the target object and information about the target object in association with each other for a plurality of target objects, and this target object storage. The reference position storage means (RAM 4, step 104) for storing information on the reference position when searching for the target object stored in the means, and the search reference when searching for the target object stored in the target object storage means. Search criterion information generating means for generating search criterion information (RAM 4, steps 102, 182, 18)
6, 192) and a target object according to the search reference information generated from the search reference information, target object information reading means (step for reading information representing the target object or information about the target object from the target object storage means (step). 106)
And reference position information reading means for reading the reference position information from the reference position storage means (steps 200 and 226).
And priority determining means for determining the priority of each target from the relationship between the information of each target read by the target information reading means and the reference position information read by the reference position information reading means. (Step 10
8) and a display unit (step 110) for displaying information on the priority order determined by the priority order determination unit.

The present invention searches for a target desired by the user on the basis of search reference information serving as a reference for searching a target,
Further, the priority of each target is determined from the relationship between the target information and the reference position information, and the information of the determined priority is displayed. As a result, even when the automobile is running, the user can select a target object that matches his or her desire in a short time by referring to the priority order. Therefore, it is possible to concentrate on driving.

According to the present invention, the priority of each target is determined on the basis of the search reference information which is the reference for the search of the target, and the information of the determined priority is output. For example, based on the search reference information that is the reference for searching the target object, the target object desired by the user is searched, and the priority order of each target object is determined from the relationship between the target object information and the reference position information. , Information on the determined priority is displayed.

Therefore, the priority order of the target objects is displayed based on the search reference information corresponding to the user's wishes such as distance and business contents. As a result, even when the automobile is running, the user can select a target object that matches his or her wish in a short time. Therefore, driving safety is not impaired.

[0099]

As described above in detail, according to the present invention, the search reference information which is the reference of the search when the plurality of target objects are searched is generated, and the search is performed based on the generated search reference information. The priority order is determined for each target object, and each target object is output in the order of the priority order. As a result, a plurality of targets such as convenience stores are displayed in the determined priority order based on the search reference information corresponding to the user's wishes such as distance and business contents. Therefore, even when the automobile is running, the user can select the desired target in a short time. For this reason, there is an effect that driving safety is not impaired.

[Brief description of drawings]

FIG. 1 is an overall circuit diagram of a navigation device.

FIG. 2 is a diagram showing a data file stored in an external storage medium.

FIG. 3 is a diagram showing the contents of a target object data file F16.

FIG. 4 is a diagram showing data stored in a RAM 4.

FIG. 5 is a diagram showing a flowchart of overall processing.

FIG. 6 is a diagram showing a flowchart of target object selection operation processing.

FIG. 7 is a diagram showing a flowchart of search criterion determination processing.

FIG. 8 is a diagram showing a flowchart of reference position determination processing.

FIG. 9 is a diagram showing a flowchart of a reference position automatic setting process.

FIG. 10 is a diagram showing a flowchart of reference position correction processing.

FIG. 11 is a diagram showing a flowchart of a target object search process.

FIG. 12 is a diagram showing a flowchart of priority order determination processing.

FIG. 13 is a diagram showing a part of a flowchart of reachable distance changing processing.

FIG. 14 is a diagram showing the remaining part of the flowchart of reachable distance changing processing.

FIG. 15 is a diagram showing a flowchart of priority order determination processing.

FIG. 16 is a diagram showing a flowchart of target object display processing.

FIG. 17 is a diagram showing an example in which a target object is displayed on the map screen of the display 33.

FIG. 18 is a diagram showing an example in which a list of targets is displayed on the display 33.

19 is a diagram showing an example of a target object setting screen displayed on the display 33. FIG.

FIG. 20 is a diagram showing an example of a screen of the display 33 when a position changing operation is performed.

FIG. 21 is a diagram showing a flowchart of target object registration processing.

[Explanation of symbols]

1 ... Central processing unit, 2 ... CPU, 3, 5 ... ROM, 4 ...
RAM, 9 ... Image processor, 10 ... Image memory, 11
... voice processor, 13 ... speaker, 20 ... current position detecting device, 21 ... absolute direction sensor, 22 ... relative direction sensor, 23 ... distance sensor, 25 ... GPS receiving device, 26 ...
Beacon receiving device, 27 ... Data transmitting / receiving device, 30 ... Data communication device, 31 ... Data transmitting / receiving unit, 32 ... Telephone transmitting unit, 33 ... Display, 34 ... Touch panel, 36 ...
Recording card reader, 37 ... CD-ROM driver,
38 ... Voice recognition device, 39 ... Microphone, 40 ... Operation switch, 41 ... Manual / voice switching switch, 42 ... Destination / target switching switch.

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-6-331379 (JP, A) JP-A-4-40596 (JP, A) JP-A-5-127596 (JP, A) JP-A-5- 197337 (JP, A) JP 5-142994 (JP, A) JP 6-223296 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 21/00 G08G 1 / 0969 G09B 29/00-29/10

Claims (20)

(57) [Claims] 1. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and for each target object searched according to the generated search reference information, a search reference position is set. A target object searching apparatus comprising means for determining a priority order according to a direction and a distance to each target object, and outputting each target object in the order of the priority order. 2. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and each target object searched according to the generated search reference information is searched from the reference position of the search. A target object search method characterized in that a priority order is determined according to a direction and a distance to each target object, and each target object is output in the order of the priority order. 3. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and each target object searched according to the generated search reference information is searched from the reference position of the search. A target object searching apparatus comprising means for determining a priority order according to a direction and a distance to each target object and outputting information on the priority order. 4. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and each target object searched according to the generated search reference information is searched from the reference position of the search. A target object searching method, characterized in that a priority order is determined according to a direction and a distance to each target object, and information on the priority order is output. 5. A search criterion information serving as a search criterion is generated when searching for a plurality of targets, and for each target searched according to the generated search criterion information, each target object is searched. A target object search characterized by including means for determining the priority order according to each distance from each attribute and the reference position of the search to each target object and outputting each target object in the order of the priority order. apparatus. 6. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and for each target object searched according to the generated search reference information, each target object is searched. A target object search method characterized in that a priority order is determined according to each attribute and each distance from the reference position of search to each target object, and each target object is output in the order of the priority order. 7. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and for each target object searched according to the generated search reference information, each target object is searched. A target object search apparatus comprising means for determining a priority order according to each distance from each attribute and a reference position for search to each target object and outputting information on the priority order. 8. A search criterion information serving as a criterion for searching when searching for a plurality of target objects is generated, and for each target object searched according to the generated search criterion information, each target object is searched. A target object search method, characterized in that a priority order is determined according to each attribute and each distance from the reference position for search to each target object, and information on the priority order is output. 9. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and communication is performed with respect to each target object searched according to the generated search reference information.
Priority is determined according to each information of each target obtained through the medium and each distance from the reference position of search to each target, and each target is output in the order of the priority. A target object search device comprising means. 10. A search criterion information serving as a criterion for searching when searching for a plurality of targets is generated, and for each target searched according to the generated search criterion information,
The priority order is determined according to each information of each target object obtained through the communication medium and each distance from the reference position of search to each target object, and each target object is output in the order of the priority order. A target object search method characterized by: 11. When a plurality of target objects are searched, search reference information serving as a search reference is generated, and each target object searched according to the generated search reference information is transmitted via a communication medium. It is characterized by comprising means for determining the priority order according to the obtained information of each target object and each distance from the search reference position to each target object, and outputting the information of the priority order. Target object search device. 12. A search criterion information serving as a criterion for searching when searching for a plurality of targets is generated, and for each target searched according to the generated search criterion information,
It is characterized in that the priority order is determined according to each information of each target object obtained through the communication medium and each distance from the reference position for search to each target object, and the information of the priority level is output. Target search method. 13. Retrieval standard information that is a basis for retrieval when retrieving a plurality of parking lots is generated, and for each parking lot searched according to the generated retrieval standard information, each parking lot is searched. A target characterized by having means for determining a priority according to the accommodation amount and each distance from the reference position of the search to each parking lot and outputting the information of each parking lot in the order of the priority Object search device. 14. A search criterion information serving as a criterion for a search when searching for a plurality of parking lots is generated, and for each parking lot searched according to the generated search criterion information,
It is characterized in that the priority order is determined according to each accommodation amount of each parking lot and each distance from the reference position of search to each parking lot, and the information of each parking lot is output in the order of the priority order. Target search method. 15. A search criterion information serving as a criterion for a search when searching a plurality of parking lots is generated, and for each parking lot searched according to the generated search criterion information, each parking lot is searched. A target object searching apparatus comprising means for determining a priority order according to the accommodation amount and each distance from the reference position of search to each parking lot and outputting information on the priority order. 16. A search criterion information serving as a criterion for a search when searching a plurality of parking lots is generated, and for each parking lot searched according to the generated search criterion information,
A target object search method characterized in that a priority order is determined according to each accommodation amount of each parking lot and each distance from a reference position for search to each parking lot, and information on the priority order is output. 17. The target object search device is applied to a navigation device.
The navigation device according to 9, 11, 13, and 15. 18. The target object search method is applied to a navigation method.
The navigation method according to 10, 12, 14, and 16. 19. The plurality of target objects correspond to at least information representing the target object and information about the target object, and the priority of each target object is the information of each target object and the information about the target object. The target object search device according to claim 1, wherein the target object search device is determined based on the reference position information. 20. The plurality of target objects correspond to at least information representing the target object and information about the target object, and the priority of each target object is the information of each target object and the information about the target object. 12. The target object searching device according to claim 1, wherein the target object searching device is determined from a relationship with reference position information.