JP3721737B2 - Map display device, route calculation method, and recording medium - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a map display device, a route calculation method, and a recording medium that are mounted and used, for example, in an automobile.
[0002]
[Prior art]
Conventionally, automobile navigation devices using GPS (Global Positioning System) have been widely used. In this type of navigation apparatus, latitude information and longitude information of the current position are calculated based on signals from a plurality of artificial satellites received by a GPS antenna, and roads around the current position read from a recording medium such as a CD-ROM. Map data consisting of information and place name information is developed and displayed on a monitor display.
[0003]
In this type of navigation apparatus, there is a route guidance function as one of basic functions. This route guidance function omits input from the starting point, waypoint, and destination point, or the current point as the starting point, and inputs only the waypoint and destination point. The route of the shortest distance to is calculated, and the calculated route is displayed separately from other roads for guidance.
[0004]
[Problems to be solved by the invention]
In the route guidance function, as described above, among the plurality of routes from the departure point to the destination point via the waypoint, the route with the shortest distance is selected as the one that can be reached earliest. When a plurality of points are input as route points, a route that passes through each route point is selected according to the input order.
[0005]
However, the route passing through each waypoint in the input order is not necessarily the shortest route, and a route with an unnecessarily long distance may be selected as the guide route.
[0006]
Therefore, in order to set a route through a plurality of waypoints at the shortest distance as a guide route, there is a problem that the user himself / herself has to select an order of passing through each waypoint at the shortest distance.
[0007]
Furthermore, the waypoints in the route guidance function are handled only by the position of the point where the point is entered, and other factors at that point, for example, the opening time when the point is a store, etc. The factor was not considered at all.
[0008]
The present invention has been made in view of the above circumstances, and the object of the present invention is to provide an optimum in consideration of the order of passage and time conditions at each waypoint when there are a plurality of waypoints. An object of the present invention is to provide a map display device, a route calculation method, and a recording medium capable of obtaining a guidance route.
[0009]
[Means for Solving the Problems]
The invention according to claim 1 is a map storage means for storing map data, a designation means for designating a starting point, a destination point, and a plurality of waypoints in the map data, and a map stored in the map storage means Route calculation means for calculating a route from the starting point designated by the designation means to a destination point through the plurality of waypoints using the data, and a display means for displaying the route obtained by the route calculation means And an instruction means for instructing an arbitrary waypoint in the route displayed by the display means, and when an arbitrary waypoint is instructed by the instruction means, the instruction means passes through the indicated waypoint in the route. The present invention is characterized by comprising resetting means that shifts the order later and causes the route calculation means to recalculate a route that passes through a plurality of waypoints in this changed order and reaches the destination point .
[0011]
The invention according to claim 3 is a map storing means for storing map data, a specifying means for specifying a departure point, a destination point, a plurality of waypoints, and arrival time conditions for each waypoint in the map data, and the map Route calculation means for calculating a route from the departure point designated by the designation means to a destination point through a plurality of waypoints using the map data stored in the storage means, and a route obtained by the route calculation means Calculated by the display means for displaying the current time, the time measuring means for measuring the current time, the current position detecting means for detecting the current position, the current time measured by the time measuring means and the current position detected by the current position detecting means. Determination means for determining whether or not the estimated arrival time of a waypoint that has not yet passed in the route displayed by the display means is out of the arrival time condition of the waypoint; When it is determined that the estimated arrival time of a waypoint in the route that has not yet passed is outside the arrival time condition of the route point, the order of the waypoints that have not yet passed in the route may be partially replaced. And a resetting means for causing the route calculation means to recalculate the route to the destination point where the estimated arrival time of each waypoint that has not yet passed satisfies the arrival time condition of the waypoint. .
[0032]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment when the present invention is applied to an automobile navigation apparatus using GPS and FM data multiplex broadcasting will be described below with reference to the drawings.
FIG. 1 shows a circuit configuration of the entire apparatus. As a GPS reception function, a GPS antenna 1 installed on a roof of a vehicle body and an L1 band (1.57542 GHz) from a plurality of GPS satellites received by the GPS antenna 1 are shown. ) C / A code data is demodulated and decoded by a despreading LSI, and the GPS block 2 for calculating the latitude, longitude, height, time, etc. of the current location is included.
[0033]
The GPS block 2 is connected to a graphic block 3. The graphic block 3 includes an FM antenna 4, a beacon antenna 5, a key block 6 having various input keys, map data including road information and place name information. A CD block 8 on which a map CD-ROM 7 which is a recording medium on which is recorded is mounted, for example, a monitor block 9 having a display device composed of a color LCD panel and its drive circuit, and D for analogizing the guide voice data / A converters 10 are connected to each other.
[0034]
The graphic block 3 is provided with a CPU 13 that controls the entire apparatus based on an operation program read from the ROM 11 and various data stored in the RAM 12.
[0035]
Also, in the graphic block 3, an FM multiplex receiver that demodulates the FM radio wave received by the FM antenna 4 to obtain an FM demodulated signal of a desired broadcast station and decodes the data multiplexed on the obtained FM demodulated signal. 14. A beacon receiver 15 that obtains data by demodulating a beacon radio wave received by the beacon antenna 5; receives traffic information by performing tuning control at the FM multiplex receiver 14 and reception control at the beacon receiver 15; The input / output control of the data between the CPU 13 and the traffic information processing controller 16, mainly the GPS block 2, the key block 6, the CD block 8, the traffic information processing controller 16, and the timer unit 17 that passes the current time. CPU peripheral circuit gate array (G / A) 18 and graphic controller 19 It provided the bus connection with the ROM 11, RAM 12 and CPU 13, even more graphic controller 19 is connected to the video RAM 20.
[0036]
When the CPU 4 travels on the road, when the latitude and longitude data of the current location, that is, position data is sent from the GPS block 2 together with other height and time data, the CPU peripheral circuit G The map data at an arbitrary scale around the current location is called from the CD block 8 via / A18 and sent as display data to the graphic controller 19 to which the video RAM 20 is connected, while the FM multiplex receiver 14, the beacon receiver 15, and When traffic information based on FM data multiplex broadcasting and radio beacon VICS is sent via the traffic information processing controller 16, the scale of the map displayed at that time is within a scale range corresponding to VICS. If the received traffic information is developed, the graphic controller 19 Delivery, is linked to the display data in the video RAM 20.
[0037]
The graphic controller 19 develops map data sent from the CPU 13 linked to traffic information on the video RAM 20 to create display data for each screen, and sends the created display data to the monitor block 9. Display traffic information and map.
[0038]
Also, the voice data necessary for the guide message is stored in the ROM 11 in a state set in advance by the position data of the current location and the map data in the vicinity of the current location, for example, a state approaching a corner in the set guide route. The data is read out in combination and sent to the D / A converter 10. The audio data analogized by the D / A converter 10 is appropriately amplified by the amplifier 21 and then amplified by the speaker unit 22. As a result of the output, a guide message based on the voice of the navigation operation together with the display on the monitor block 9 is issued to the user of this apparatus.
[0039]
In addition to the operation program of the CPU 13 and the audio data, the ROM 11 provides the frequency of the broadcasting stations in various locations that provide the VICS traffic information data multiplexed on the FM broadcast radio wave and the service target. It is assumed that the position information of the area to be registered is set in advance.
[0040]
Next, the operation of the above embodiment will be described.
Here, for example, a special-purpose application program used in a delivery center or the like is built in, and a delivery route of a plurality of packages is calculated using the route guidance function, and delivery is performed while executing the route guidance function according to the calculated route. Let us exemplify the operation when performing the above.
[0041]
In this case, the delivery destination of each parcel is input and set as a waypoint by a predetermined key operation in the key block 6, and in particular, the delivery time at which delivery can be performed at each waypoint is a time condition. Can be set as needed.
[0042]
FIG. 2 exemplifies data of a plurality of waypoints (hereinafter abbreviated as “delivery data”) stored in a predetermined memory area of the RAM 12. Each delivery data is indicated by a delivery destination (indicated by a place name in the figure). However, in practice, latitude / longitude data obtained by specifying a point on the map with the key block 6), package reference number, and delivery time are stored as one set.
[0043]
In the drawing, the package reference number of the delivery data stored in the RAM 12 is random, but this is due to the optimal passing order of the waypoints calculated by the guidance route calculation process described later.
[0044]
Thus, specific contents of the operation processing will be described.
FIG. 3 mainly shows the processing contents by the CPU 13 from the input of a plurality of waypoints as delivery destinations by the route guidance function until the actual optimum guidance route is calculated. Here, the starting point and the purpose of the route are shown. The point is assumed to be the current point, and the input is omitted.
[0045]
However, at the beginning of the process, first, a delivery destination is input and set as delivery data (step A1).
This is performed by designating a point on the map displayed on the monitor block 9 by the key operation of the key block 6, and when the delivery destination input is set, for example, according to the above application program. If a window for entering a package reference number and a delivery time is automatically displayed on the screen of the monitor block 9, the package reference number as the remaining delivery data and the delivery time if necessary are displayed according to the display. Then input (steps A2 and A3). The input delivery data is sequentially stored in a predetermined memory area of the RAM 12.
[0046]
Next, it is determined whether or not the delivery data input setting has been completed depending on whether or not the key input instructing calculation of the guide route is made in the key block 6 (step A4). When performing, the process returns to step A1 again.
[0047]
In this way, it is assumed that a plurality of n pieces of delivery data are input and set by repeatedly executing the processing of steps A1 to A4. When the key input for instructing the calculation of the guide route is performed by the key block 6 after the last n-th delivery data has been input and set, it is determined in step A4 that the delivery data input setting has been completed, Calculation is started to calculate a delivery route having the shortest distance as a guide route (step A5), and routes corresponding to all delivery order patterns are calculated (step A6).
[0048]
In this case, as described above, the starting point and the destination point as the guidance route are both obtained from the GPS antenna 1 and the GPS block 2 and the operation required for the input setting is omitted.
[0049]
Therefore, after obtaining all delivery order patterns as delivery routes in consideration of their passing order with a plurality of n delivery destinations as transit points, control for selecting an optimum one from the obtained many delivery routes. After the initial value “1” is set in the data m (step A7), the delivery route with the shortest time or distance of the entire process is extracted based on the value of m, which is the first at this time (step A8). ) The estimated arrival time of each delivery destination, which is a transit point in the extracted delivery route, is calculated by the timer unit 17 as the departure time (step A9).
[0050]
In this case, VICS traffic information obtained from the FM multiplex receiver 14 and the beacon receiver 15 via the traffic information processing controller 16 for the delivery route with the shortest time or distance of the m-th process, particularly during construction. When there is traffic information that causes delays in delivery, such as traffic jams, the calculation should be performed in consideration of the traffic information.
[0051]
Then, it is determined whether the estimated arrival time of each delivery destination calculated based on the calculation result satisfies the delivery time condition of each delivery data stored and set in the RAM 12 as shown in FIG. 2 (step A10). ).
[0052]
Here, if none of the delivery data in the RAM 12 has a delivery time condition set, there is no time restriction, so the delivery route is recommended unconditionally. Become.
[0053]
If it is determined in step A10 that any one of the delivery time conditions of each delivery data is not satisfied, the control data m is set to “ After “+1” update is set (step A11), the process returns to step A8 again, and the same processing is performed for the next delivery route.
[0054]
In this way, while sequentially updating and setting the value of the control data m, it is determined whether the scheduled arrival time of each delivery destination of the delivery route satisfies the delivery time condition in the order of short time or distance of the whole process. .
[0055]
Then, if there is a delivery route in which the estimated arrival time of each delivery destination satisfies the delivery time condition, this is judged in step A10 and recommended as a result of determining the delivery route considered at that time. The display data is developed on the video RAM 20 by the graphic controller 19 and is displayed on the monitor block 9 together with the relevant traffic information considered in the calculation in step A9 (step A12).
[0056]
Thereafter, the delivery data in the predetermined memory area of the RAM 12 is rearranged and stored as shown in FIG. 2 in accordance with the determined delivery route as shown in FIG. 2 (step A13). Then, according to the rearranged delivery data, The parcel number of each delivery data is displayed on the monitor block 9 in the reverse order to the delivery order (step A14), and the processing of FIG.
[0057]
The display of the package reference number in the order opposite to the order of delivery in step A14 indicates the order of loading the corresponding package on the delivery vehicle, and the package is loaded from the back of the delivery vehicle according to the order. As a result, it is possible to smoothly load and unload packages during delivery.
[0058]
In the above steps A1 to A4, it has been described that the delivery data is sequentially input and set by operating the various keys of the key block 6. However, for example, a computer installed in a delivery center such as an external personal computer or a workstation. From the input terminal (not shown) provided in the graphic block 3, the address, the package reference number, and the delivery time list data are input, or a storage medium such as a memory card storing the data is stored in the graphic block 3 If the stored contents are read in such a manner that it can be attached to the camera, the labor required for input setting can be simplified.
[0059]
In such a case, when the delivery destination data is given as address data instead of position data on the map, it is necessary to calculate the position on the map from the address data. Separate software is required to convert to position coordinates.
[0060]
Next, the processing by the CPU 13 when the delivery by the route guidance function is actually executed according to the delivery route obtained as shown in FIG. 3 will be described with reference to FIG.
[0061]
When guidance of the delivery route is started by displaying the delivery route and the remaining distance to the next delivery destination, and the estimated arrival time of the next delivery destination on the monitor block 9 (step B1), the GPS antenna 1 and Based on the current position data sent via the GPS block 2 and the current time by the timer unit 17, the estimated arrival time of each delivery destination that has not yet passed through the remaining delivery route is calculated and stored in the RAM 12. Whether or not the delivery time condition of each delivery data is outside (step B2), and whether or not the “absent” key of the key block 6 to be operated when the delivery destination is absent and delivery cannot be performed is pressed (Step B3) is always repeatedly determined.
[0062]
If it is determined in step B3 that the “absent” key of the key block 6 has been pressed, the package must be delivered again to the delivery destination, and if there is more time, it will be absent at the next delivery. Therefore, the storage order in the RAM 12 is reset so that the delivery destination that matches the current position data is the last delivery destination of the delivery route, the delivery route is recalculated (step B4), and then Return to step B2.
[0063]
If it is determined in step B2 that the estimated arrival time of the delivery destination that has not yet passed is out of the delivery time condition of the delivery data, the speaker unit 22 and the monitor block 9 are used to immediately And a message to that effect is output (step B5), and whether the estimated delivery time of the out-of-delivery destination is earlier or later than the delivery time condition of the delivery data, that is, delivery is executed earlier than the original schedule. It is determined whether or not there is a delay (step B6).
[0064]
Here, if it is determined that the estimated arrival time of the departed delivery destination is earlier than the delivery time condition of the delivery data and the delivery is executed at a faster pace than the original schedule, the delivery time condition in the delivery route is determined. If the delivery destination that is in the order after the delivery destination that is out of the range is moved before the delivery destination that is out of the delivery time condition and delivered first, will the conditions of each delivery time be satisfied? It is determined whether or not (step B7).
[0065]
In this case, among the delivery destinations that are in the order after the delivery destination that deviates from the delivery time condition, those that do not have the delivery time condition are preferentially moved. If it is determined that the conditions of the delivery time of each delivery destination are satisfied by the movement, the storage order in the RAM 12 is reset based on the contents of the movement, the delivery route is recalculated, and the order of delivery is partially replaced (step B9) Then, the process returns to step B2.
[0066]
In addition, when it is determined that the estimated arrival time of the delivery destination that has deviated in Step B6 is later than the delivery time condition of the delivery data and the delivery is delayed, the delivery destination that deviates from the delivery time condition in the delivery route It is determined whether or not each delivery time condition is satisfied by moving the delivery destinations in the earlier order after the delivery destinations that are out of the delivery time conditions and delivering them first (step) B8).
[0067]
In this case, among the delivery destinations in the order before the delivery destination that deviates from the delivery time condition, those with no delivery time condition set are moved with priority. If it is determined that the conditions of the delivery time of each delivery destination are satisfied by the movement, the storage order in the RAM 12 is reset based on the contents of the movement, the delivery route is recalculated, and the order of delivery is partially replaced (step B9) Then, the process returns to step B2.
[0068]
If it is determined in step B7 or step B8 that the delivery time order of each delivery destination is not satisfied even if the delivery destination order is moved, a part of the delivery order in step B9 is given. Since the process of recalculating the delivery route for replacement is invalid, the process directly returns to step B2.
[0069]
In step B2, the estimated arrival time of each delivery destination that has not yet passed through the delivery route remaining from the current position and current time is calculated, and this is the delivery time condition of each delivery data stored and set in the RAM 12. Although it has been determined whether or not it falls off, for example, when it falls within a certain time period of about 5 minutes or 10 minutes, it is judged that the delivery conditions are not met, and the process proceeds to step B5 to notify. May be.
[0070]
In addition, after notifying in step B5, the process does not automatically shift to the recalculation process of the delivery route after step B6, but the user manually moves, deletes, adds, etc. the delivery destination. Also good.
[0071]
Furthermore, in the above-described embodiment, a specific route application program used in a distribution center or the like calculates a delivery route for a plurality of packages using the route guidance function, and executes the route guidance function according to the calculated route. However, the delivery destination, the package reference number, and the delivery time condition are stored as delivery data in the RAM 12 as the delivery is performed. However, as another use, for example, for a sightseeing course passing through a plurality of sightseeing spots. It can also be used when performing calculations.
[0072]
In this case, in the sightseeing data instead of the delivery data stored in the RAM 12, a sightseeing spot instead of the delivery destination and a time zone in which sightseeing can be performed instead of the delivery time are set, and setting instead of the package number is unnecessary.
[0073]
In addition, although the method described in the said embodiment demonstrated as what was memorize | stored fixedly in ROM11 as an operation program for making a navigation apparatus perform, it is not restricted to this, For example, it mounted in CD block 8 An operating system is stored in a part of the map CD-ROM 7 and may be operated after being written in an electrically rewritable memory such as an EEPROM or a flash memory in place of the RAM 12. The recording medium is not limited to a CD-ROM, but is written on various recording media such as a magnetic disk (floppy disk, hard disk, etc.), an optical disk (DVD, data MD, etc.), a semiconductor memory, etc. Applicable or transmitted by communication media and applied to various devices Are possible, but also includes a navigation system for a motor vehicle equipped assumed it can be applied to a data processing apparatus such as a personal computer by mounting these various devices.
In addition, the present invention can be variously modified and implemented without departing from the scope of the invention.
[0079]
【The invention's effect】
According to the first aspect of the present invention, when there are a plurality of waypoints, it is possible to obtain an optimum guide route in consideration of the order of passage and time conditions at each waypoint, and any reason. When it is necessary to pass through the route point again after a while, the recalculation of the guidance route can be executed with a simple instruction.
[0081]
According to the third aspect of the present invention, when there are a plurality of waypoints, it is possible to obtain an optimum guide route that takes into consideration the order of passage and time conditions at each waypoint, and in the initial calculation, If it is impossible to pass via points that have not yet passed while passing through the obtained guidance route, the time of those way points can be changed by partially changing the order of the remaining way points. When the general condition can be cleared, the route can be immediately obtained by recalculation and reset.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a circuit configuration according to an embodiment of the present invention.
FIG. 2 is a view illustrating a content configuration of delivery data set in a RAM 12 according to the embodiment;
FIG. 3 is a flowchart showing the operation processing contents of delivery route calculation according to the embodiment;
FIG. 4 is a flowchart showing operation processing contents for delivery route guidance according to the embodiment;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... GPS antenna 2 ... GPS block 3 ... Graphic block 4 ... FM antenna 5 ... Beacon antenna 6 ... Key block 7 ... Map CD-ROM
8 ... CD block 9 ... monitor block 10 ... D / A converter 11 ... ROM
12 ... RAM
13 ... CPU
14 ... FM multiplex receiver 15 ... Beacon receiver 16 ... Traffic information processing controller 17 ... Timer unit 18 ... CPU peripheral circuit gate array (G / A)
19 ... Graphic controller 20 ... Video RAM
21 ... Amplifier 22 ... Speaker unit

Claims (10)

Map storage means for storing map data;
A designation means for designating a departure point, a destination point, and a plurality of waypoints in the map data;
Using the map data stored in the map storage means, route calculation means for calculating a route from the departure point designated by the designation means to a destination point through a plurality of waypoints in order ;
Display means for displaying the route obtained by the route calculation means;
An instruction means for instructing an arbitrary waypoint in the route displayed by the display means;
When an arbitrary waypoint is instructed by this instruction means, the order of passing the indicated waypoint in the route is shifted later, and the destination point is reached through the plurality of waypoints in this changed order. A map display device comprising: resetting means for recalculating a route by the route calculating means. 2. The map display device according to claim 1, wherein the instruction means determines the current location when a key operation by the user is performed as the instructed waypoint. Map storage means for storing map data;
A designation means for designating a departure point, a destination point, a plurality of waypoints, and arrival time conditions of each waypoint in the map data;
Route calculation means for calculating a route from the departure point designated by the designation means to a destination point via a plurality of waypoints using the map data stored in the map storage means;
Display means for displaying the route obtained by the route calculation means;
A time measuring means for measuring the current time;
A current point detection means for detecting the current point;
The estimated arrival time of a waypoint that has not yet passed in the route displayed by the display means, calculated from the current time measured by the timekeeping means and the current point detected by the current position detection means, Determining means for determining whether or not the arrival time condition of
If it is determined by this determination means that the estimated arrival time of a waypoint that has not yet passed in the route is out of the arrival time condition of the route point, the order of the waypoints that have not yet passed in the route And a resetting means that causes the route calculation means to recalculate the route to the destination point where the estimated arrival time of each waypoint that has not yet passed by satisfying the arrival time condition of the waypoint by switching. A featured map display device. In the case where it is determined by the determination means that the estimated arrival time of the waypoint that has not yet passed in the route is out of the arrival time condition of the waypoint, the information further comprises notification means for notifying that effect. The map display device according to claim 3. The determination means determines whether the estimated arrival time of the waypoint is earlier or later than the time indicated by the arrival time condition of the waypoint,
In the resetting means, if the judging means determines that the estimated arrival time of the waypoint is earlier than the time indicated by the arrival time condition of the waypoint, the passing order after the waypoint is designated. The route calculation means changes the order of passage of the route point before the route point and causes the route calculation means to recalculate the route, and the decision means determines the arrival time of the route point as the arrival time of the route point. If it is determined that it is later than the time indicated in the conditions, the route calculation is performed by changing the passing order of the waypoint before the waypoint to the passage order after the waypoint. Recalculate the route by means
The map display device according to claim 3 . These multiple waypoints are package delivery destinations,
The order of passage of the multiple transit points shown in the above route is the delivery order of the package,
A delivery information storage means for storing each delivery destination and identification information of a package to be delivered to the delivery destination in association with each other;
Package information display means for displaying identification information of a plurality of packages stored in the delivery information storage means in an order reverse to the delivery order of the packages indicated by the route calculated by the route calculation means;
The map display device according to any one of claims 1 to 5, further comprising: A route calculation method applied to a map display device that reads map data from a storage medium storing map data and displays the map data.
A designation process for designating a departure point, a destination point, and a plurality of waypoints in the map data;
Using the map data stored in the storage medium, a plurality of routes from the starting point specified in the specifying process to a destination point through a plurality of waypoints by changing the passing order of each waypoint A route calculation process to calculate,
Display processing to display the route obtained by this route calculation processing;
An instruction process for receiving an instruction for an arbitrary waypoint in the route displayed in this display process,
When an arbitrary waypoint is instructed in this instruction processing, the order of passing the indicated waypoint in the route is shifted backward, and the route passes through the plurality of waypoints in this changed order to reach the destination point. Resetting process to recalculate the route by the above route calculation processing;
A route calculation method characterized by comprising: A route calculation method applied to a map display device that reads map data from a storage medium storing map data and displays the map data.
A designation process for designating a departure point, a destination point, a plurality of waypoints in the map data, and arrival time conditions of each waypoint
A route calculation process for calculating a route from the departure point designated in the designation process to a destination point via a plurality of waypoints using the map data stored in the storage medium;
Display processing to display the route obtained by this route calculation processing;
A timekeeping process that measures the current time;
A current location detection process for detecting the current location;
The estimated arrival time of a transit point that has not yet passed in the route displayed in the display process, calculated from the current time measured by the timing process and the current point detected by the current point detection process, is the transit point. Determination processing to determine whether or not the arrival time condition of
If it is determined in this determination process that the estimated arrival time of a waypoint that has not yet passed through the route is out of the arrival time condition of that route point, a part of the order of the waypoints that have not yet passed in the route A reconfiguration process that recalculates the route to the destination point where the estimated arrival time of each waypoint that has not yet passed by satisfying the arrival time condition of the waypoint is recalculated by the above route calculation process.
A route calculation method characterized by comprising: A recording medium recording a program for a map display device that displays and displays map data, the map display device,
A designation process for designating a departure point, a destination point, and a plurality of waypoints in the map data;
Using the map data stored in the storage medium, a plurality of routes from the starting point specified in the specifying process to a destination point through a plurality of waypoints by changing the passing order of each waypoint A route calculation process to calculate,
Display processing to display the route obtained by this route calculation processing;
An instruction process for receiving an instruction for an arbitrary waypoint in the route displayed in this display process,
When an arbitrary waypoint is instructed in this instruction processing, the order of passing the indicated waypoint in the route is shifted backward, and the route passes through the plurality of waypoints in this changed order to reach the destination point. Resetting process to recalculate the route by the above route calculation processing;
A recording medium on which a program for executing is recorded. A recording medium recording a program for a map display device that displays and displays map data, the map display device,
A designation process for designating a departure point, a destination point, a plurality of waypoints in the map data, and arrival time conditions of each waypoint
A route calculation process for calculating a route from the departure point designated in the designation process to a destination point via a plurality of waypoints using the map data stored in the storage medium;
Display processing to display the route obtained by this route calculation processing;
A timekeeping process that measures the current time;
A current location detection process for detecting the current location;
The estimated arrival time of a transit point that has not yet passed in the route displayed in the display process, calculated from the current time measured by the timing process and the current point detected by the current point detection process, is the transit point. Determination processing to determine whether or not the arrival time condition of
If it is determined in this determination process that the estimated arrival time of a waypoint that has not yet passed through the route is out of the arrival time condition of that route point, a part of the order of the waypoints that have not yet passed in the route A reconfiguration process that recalculates the route to the destination point where the estimated arrival time of each waypoint that has not yet passed by satisfying the arrival time condition of the waypoint is recalculated by the above route calculation process.
A recording medium on which a program for executing is recorded.

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