JP3732935B2 - Navigation device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation device that sets an optimum route connecting a departure point and a destination by route search.
[0002]
[Prior art]
In general, an in-vehicle navigation device detects a current position of a vehicle, reads map data in the vicinity thereof from a CD-ROM, and displays it on a screen. In addition, a vehicle position mark indicating the vehicle position is displayed at the center of the screen, and map data in the vicinity is scrolled as the vehicle progresses around the vehicle position mark, so that map information around the vehicle position is always known. It is like that.
[0003]
Also, most of the recent in-vehicle navigation devices are equipped with a route guidance function that allows a driver to travel to a desired destination without making a mistake on the road. According to this route guidance function, the lowest cost route connecting from the starting point to the destination using map data is automatically searched by performing a simulation such as a horizontal search (BFS) method or Dijkstra method, and the search is performed. The route is stored as a guidance route. Then, the driver displays the guidance route on the map image with a different color from other roads and displays it on the screen and displays the required time to the destination and the estimated arrival time. Until now.
[0004]
Cost is a value obtained by multiplying a predetermined constant according to road width, road type (whether it is a general road or a highway), right turn, left turn, etc., based on the distance. Is a numerical value. Even if there are two routes with the same distance, the cost differs depending on whether the driver uses the expressway, whether to give priority to time or priority to distance.
[0005]
[Problems to be solved by the invention]
By the way, there are cases where the driver wants to know in advance where and when the vehicle will pass on the route to the destination before departure or during driving. In particular, when driving for a long time, it is often desirable to confirm where to eat or take a break. However, in the conventional navigation device described above, it is possible to know the estimated arrival time of the destination in advance, but it is not possible to know the estimated transit time on the route to the destination. There was an inconvenience that it was difficult to stand up. In addition, the driver may think that he does not want to drive at night as much as possible for safety, but in this case as well, he could not determine which neighborhood would be sunset during driving.
[0006]
The present invention has been created in view of the above points, and an object of the present invention is to provide a navigation device that can know the estimated transit time on the travel route and can easily plan driving. .
[0007]
[Means for Solving the Problems]
In order to solve the above-described problem, the navigation device according to the present invention displays the estimated transit time along the travel route when displaying the travel route set by the route search process. By just looking at the display screen, it is possible to know the intermediate transit time along the travel route and the position on the travel route corresponding to that time, making it easier to plan driving. In addition, by displaying the travel routes so that they can be distinguished from each other according to a predetermined time zone, it becomes possible to easily know the daytime and nighttime travel sections, and the morning and afternoon travel sections, so Makes it easier to schedule.
[0008]
In particular, the display of the estimated halfway passage time described above is calculated by the route search processing means by calculating the expected time of passing the halfway point based on the departure time and the required travel time to the halfway point on the route. Thus, the calculated predicted time can be displayed in the vicinity of the corresponding halfway point.
[0009]
Moreover, it is preferable to set the above-described estimated passage time at predetermined time intervals and to display a predetermined time. For example, it is displayed by performing display such as Δhour 00 minutes with no fractional minutes (or it may include 30 minutes, 15 minutes, etc. in addition to 00 minutes) as the estimated elapsed time on the way. It is easier to see the expected transit time.
[0010]
In particular, the route search processing means calculates a halfway passing position corresponding to the expected halfway passing time set at a predetermined time interval so that the predetermined time display described above is completed after the setting of the travel route is completed, and the guidance route display Preferably, the means displays the expected midway passing time at the midway passing position calculated by the route search processing means. By performing the processing necessary for displaying the predicted midway passage time after the route search processing is completed, it is possible to perform the display processing of the predicted midway passage time without increasing the time required for the route search processing. In general, the display of the expected transit time is not required to be immediate, so there is no problem even if priority is given to the route search process.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
A navigation device according to an embodiment to which the present invention is applied displays a transit time on a travel route connecting a departure place and a destination, or travels at predetermined time zones (for example, daytime and nighttime). It is characterized by changing the display color of the route. Hereinafter, a navigation device according to an embodiment will be described with reference to the drawings.
[0012]
(1) Overall configuration of navigation device
FIG. 1 is a diagram showing an overall configuration of an in-vehicle navigation device according to an embodiment to which the present invention is applied. The navigation device shown in FIG. 1 reads a navigation controller 1 that controls the whole, a CD-ROM 2 that records various map data necessary for map display, route search, and the like, and reads the map data recorded on the CD-ROM 2. A disk reader 3, a remote control (remote control) unit 4 as an operation unit for a driver or a passenger to input various instructions, a GPS receiver 5 and an autonomous navigation sensor for detecting the position and direction of the vehicle 6, a beacon transmitter / receiver 7 and an FM multiplex broadcast receiver 8 that receive road traffic information sent from a road traffic information center (VICS center) by various communication methods, a map image and a guidance route superimposed on the map image. A display device 9 for displaying and an audio unit 10 for outputting a predetermined guidance voice when performing route guidance are provided.
[0013]
The disk reader 3 described above can be loaded with one or more CD-ROMs 2 and reads map data from any of the CD-ROMs 2 under the control of the navigation controller 1. The remote control unit 4 includes a search key for giving a route search instruction, a route guidance mode key used for setting the route guidance mode, a destination input key, left / right / up / down cursor keys, a map reduction / enlargement key, and a cursor on the display screen. Various operation keys such as a setting key for determining an item at a position are provided, and an infrared signal corresponding to the operation state of the key is transmitted to the navigation controller 1.
[0014]
The GPS receiver 5 receives radio waves transmitted from a plurality of GPS satellites, performs a three-dimensional positioning process or a two-dimensional positioning process, and calculates the absolute position and direction of the vehicle (the vehicle direction is determined by the current vehicle). Calculated based on the position and the vehicle position before one sampling time ΔT), and these are output together with the positioning time. The autonomous navigation sensor 6 includes an angle sensor 12 such as a vibration gyro that detects a vehicle rotation angle as a relative direction, and a distance sensor 14 that outputs one pulse for each predetermined travel distance. Detect position and orientation.
[0015]
The beacon transmitter / receiver 7 performs two-way communication with a radio beacon transmitter / receiver mainly installed on a highway via radio waves, and between an optical beacon transmitter / receiver mainly installed on a general road. The VICS traffic information sent from the VICS center is received by performing two-way communication via light. The FM multiplex broadcast receiver 8 receives the VICS traffic information included in the multiplexed data superimposed on the general FM broadcast. When the above-mentioned radio wave beacon, optical beacon and FM multiplex broadcasting are compared, there is no fundamental difference in the point and contents of the VICS traffic information that can be received. Traffic information can be obtained.
[0016]
Based on the image data output from the navigation controller 1, the display device 9 displays map information around the vehicle along with the vehicle position mark, departure point mark, destination mark, etc., and displays a guidance route on the map. To do.
[0017]
(2) Detailed contents of map data
Next, details of the map data recorded on the CD-ROM 2 will be described. The map data recorded on the CD-ROM 2 is based on the leaves separated by a predetermined longitude and latitude. The map data of each leaf can be specified and read by specifying the leaf number. It becomes. In addition, the map data for each map leaf includes (1) a drawing unit composed of various data necessary for map display, and (2) data necessary for various processes such as map matching, route search, and route guidance. Road unit and (3) intersection unit consisting of detailed data of the intersection. Further, the drawing unit described above has a background necessary for displaying the VICS conversion layer data necessary for specifying the corresponding road based on the traffic jam information sent from the VICS center and the buildings or rivers. Layer data and character layer data necessary for displaying a city name, a road name, and the like are included.
[0018]
In the road unit described above, a line connecting a certain intersection on the road with another adjacent intersection or the like is called a link, and a point connecting two or more links is called a node. FIG. 2 is a diagram showing an overall configuration of the road unit described above. As shown in the figure, the road unit includes a unit header for identifying the road unit, a connection node table storing detailed data of all nodes, and a node table indicating a storage position of the connection node table. And a link table storing detailed data of links specified by two adjacent nodes.
[0019]
FIG. 3 is a diagram illustrating detailed contents of various tables included in the road unit. As shown in FIG. 3A, the node table stores node records # 0, # 1,... Corresponding to all the nodes included in the drawing of interest. Each node record is given a node number from # 0 in the order of arrangement, and indicates the storage position of the connection node table corresponding to each node.
[0020]
In addition, as shown in FIG. 3B, the connection node table is provided for each existing node.
a. Normalized longitude / latitude,
b. "Node attribute flag" consisting of an intersection node flag indicating whether or not this node is an intersection node, an adjacent node flag indicating whether or not the node is at the boundary with other leaves,
c. "Number of connected nodes", which indicates the number of nodes that make up the other end of each link when there is a link with this node as one end of the link,
d. If the link connected to this node has traffic restrictions such as right turn prohibition or U turn prohibition, the "number of traffic restrictions"
e. Connection node records for the number of links indicating the link number of each link where this node is one end,
f. A traffic regulation record showing the specific contents of the traffic regulation corresponding to the number of traffic regulations mentioned above,
g. If this node is a node at the boundary with another leaf, an “adjacent node record” indicating the position of the connection node table of the corresponding node in the adjacent leaf,
h. If this node is an intersection node, the storage location and size of the corresponding intersection record in the intersection unit;
Etc. are included.
[0021]
Further, as shown in FIG. 3C, the link table includes a plurality of link records in the order of link numbers corresponding to all the links included in the drawing of interest. Each of these link records
a. Link ID, which is a code attached to each link mainly for the search route display,
b. Node number 1 and node number 2 identifying two nodes located at both ends of the link,
c. Link distance,
d. Calculate the required time for driving this link from the road type, etc., and calculate the cost required for passing this link in minutes.
e. Various road attribute flags including a VICS link correspondence flag indicating whether or not this link corresponds to a VICS link managed by the VICS center,
f. A road type flag indicating the type of whether the actual road corresponding to this link is a highway or a general road,
g. The route number given to the road corresponding to this link,
Etc. are included.
[0022]
(3) Detailed configuration and operation of the navigation controller
Next, a detailed configuration of the navigation controller 1 shown in FIG. 1 will be described. The navigation controller 1 includes a map buffer 16 for displaying a predetermined map on the display device 9 based on the map data read from the CD-ROM 2, a map reading control unit 18, a map drawing unit 20, a VRAM 22, a reading control unit 24, An image composition unit 26, a data storage unit 30 for performing calculation of the vehicle position, map matching processing, route search processing, route guidance processing and displaying the result, vehicle position / orientation calculation unit 32, map matching processing unit 34, for displaying the VICS information received by the route search processing unit 36, the guidance route memory 38, the route search memory 40, the guidance route drawing unit 42, the mark image generation unit 44, the intersection guide unit 46, the beacon transceiver 7 and the like. Received data buffer 50, VICS information drawing unit 52, and various operation screens for the user Remote control unit 60 for transmitting the respective portions of the operation instruction from the display or remote control unit 4, the cursor position calculating unit 62, and an operation screen generating unit 64.
[0023]
The map buffer 16 is for temporarily storing map data read from the CD-ROM 2 by the disk reader 3. When the map readout control unit 18 calculates the screen center position, an instruction to read out a predetermined range of map data including the screen center position is sent from the map readout control unit 18 to the disk reader 3 and is necessary for map display. Map data is read from the CD-ROM 2 and stored in the map buffer 16. For example, map data corresponding to four map leaves including the screen center position is read and stored in the map buffer 16.
[0024]
The map drawing unit 20 creates a map image necessary for display based on the drawing units included in the map data of the four map leaves stored in the map buffer 16. The created map image data is stored in the VRAM 22, and the map image data for one screen is read by the read control unit 24. The image composition unit 26 performs image composition by superimposing the image data output from the mark image generation unit 44, the intersection guide unit 46, and the operation screen generation unit 64 on the read map image data. The image thus displayed is displayed on the screen of the display device 9.
[0025]
The data storage unit 30 sequentially stores positioning position (own vehicle position) data output from the GPS receiver 5. Further, the vehicle position / orientation calculation unit 32 calculates the absolute vehicle position and direction from the relative position and direction of the own vehicle output from the autonomous navigation sensor 6. The map matching processing unit 34 determines whether or not the vehicle position calculated by the vehicle position / orientation calculating unit 32 by the GPS receiver 5 stored in the data storage unit 30 is on the road of the map data. If the vehicle is off the road, a process for correcting the vehicle position obtained by calculation is performed. Pattern matching and projection methods are known as typical map matching methods.
[0026]
When the destination input key is pressed after the cursor is moved to a specific location on the map by the operation of the cursor key of the remote control unit 4, the route search processing unit 36 is calculated by the cursor position calculation unit 62 at this time. Set the cursor position as the destination of the route search. The set destination data is stored in the guide route memory 38. In addition, when the search key of the remote control unit 4 is pressed, the route search processing unit 36 sets the vehicle position after being corrected by the map matching processing unit 34 as a departure place and stores it in the guidance route memory 38. The travel route connecting the starting point and the destination stored in the guide route memory 38 under a predetermined condition is searched. For example, a guide route with a minimum cost is set under various conditions such as the shortest time. As a typical method of route search, Dijkstra method and horizontal search method are known. The route search processing unit 36 calculates an absolute longitude and latitude that passes every unit elapsed time. The guidance route set in this way by the route search processing unit 36 and the calculated absolute longitude and latitude for each unit elapsed time are stored in the guidance route memory 38.
[0027]
FIG. 4 is a diagram illustrating an example of guidance route data stored in the guidance route memory 38. As shown in the figure, the guidance route data set by the route search processing unit 36 is represented as a set of links LS, L1, L2,..., LD from the departure point to the destination, and stored in the guidance route memory 38. Is done. Also, information about each link
a. Link ID to identify each link,
b. The absolute longitude and latitude of the start point and the absolute longitude and latitude of the end point, which are the normalized longitude and latitude of the two nodes located at both ends of the link,
c. Calculate the required time for traveling on this link based on the road type, etc. (for example, by dividing the link length by the average required time set for each road type of the link) The time required to pass the link, in minutes, indicating the time required to pass the link,
d. Display color when the link is displayed on the screen of the display device 9,
Etc. are configured. Among these, “a. Link ID”, “b. Absolute longitude and latitude of start point and end point”, and “c. Required time for passing the link” are set based on the connection node table and link record shown in FIG. . Further, “d. Link display color” is set based on the time of passing through the link and the sunrise / sunset time derived by the route search processing unit 36. A specific link display color setting procedure will be described later.
[0028]
FIG. 5 is a diagram showing an example of the vehicle position data for each unit elapsed time stored in the guidance route memory 38. As shown in the figure, the vehicle position data for each unit elapsed time is
a. Transit time set at predetermined time intervals,
b. The absolute longitude and latitude of the vehicle position, which is the normalized longitude / latitude where the vehicle position exists at each passing time,
It is composed of
[0029]
The route search memory 40 stores intersection network list data necessary for route search, and the route search processing unit 36 reads out the stored data and performs predetermined route search processing.
[0030]
The guide route drawing unit 42 selects, from the guide route data stored in the guide route memory 38, the one included in the map area drawn in the VRAM 22 at that time, and selects the guide route that is boldly emphasized over the map image. draw. Further, the guidance route drawing unit 42 includes the absolute longitude and latitude of the vehicle position in the vehicle position data for each unit elapsed time shown in FIG. 5 in the map area drawn in the VRAM 22 at that time. In this case, the corresponding passage time is displayed at the position corresponding to the absolute longitude and latitude. The mark image generation unit 44 generates a vehicle position mark at the own vehicle position after the map matching process, or generates a cursor mark having a predetermined shape.
[0031]
The intersection guide unit 46 performs guidance at the intersection where the vehicle is approaching with a display image and sound. When the vehicle approaches within a predetermined distance from the intersection ahead of the guidance route, A guide map (intersection enlarged view, destination, travel direction arrow) of the approaching intersection is displayed on the screen of the display device 9 and the travel direction is guided by voice through the audio unit 10.
[0032]
The route search processing unit 36 described above corresponds to the route search processing unit, and the VRAM 22 and the guidance route drawing unit 42 correspond to the guidance route display unit.
[0033]
(4) Operation of navigation device
The entire navigation device and the navigation controller 1 have the above-described configuration. Next, the position on the route passing at the set time is guided, and the display color of the route is changed according to the traveling time zone. The operation procedure for screen display will be described.
[0034]
FIG. 6 is a flowchart showing the operation procedure of the route search process when displaying the transit time on the travel route set by the route search and changing the display color of the travel route according to the travel time zone. When the search key of the remote control unit 4 is pressed, the route search processing unit 36 sets the starting point and destination of the route search (step 100) and then searches for the route so as to connect the set starting point and destination. Processing is performed to search for an optimum travel route (step 101). In this route search processing, “link ID”, “absolute longitude / latitude of start point”, and “absolute longitude / latitude of end point” in the guidance route data shown in FIG. 4 are created for each link and stored in the guidance route memory 38. Stored (step 102).
[0035]
Next, the route search processing unit 36 designates links included in the travel route set by the route search processing in step 101 described above one by one from the departure point (step 103), and the time required to pass through this link and the departure The accumulated required time from the ground to this link is calculated (step 104). The calculated required travel time is stored in the guide route memory 38 as the guide route data shown in FIG.
[0036]
In addition, the route search processing unit 36 adds the “cumulative required time to the link” obtained in step 104 to the time of departure to calculate the time for passing the link, and the link is searched for during the day ( It is determined whether or not the vehicle passes between sunrise and sunset (step 105). This determination process is performed by examining whether or not the time when the link travels is after the sunrise time obtained from the sunrise / sunset time table, for example, and before the sunset time.
[0037]
FIG. 7 is a diagram illustrating an example of a sunrise / sunset time table. For example, if the current time is 6:00 on January 1, 1997 and the accumulated time from the starting link to the link 50 is 100 minutes, the passing time of the link 50 is 7:40. By comparing the sunrise / sunset time table shown in FIG. 7 with the calculated passage time 7:40, it is determined that the link 50 passes through the daytime.
[0038]
The route search processing unit 36 sets the display color (for example, red) corresponding to the daytime to the “link display color” of the guidance route data when the time zone passing through the link is daytime (step red). 106) If it is not during the daytime (nighttime), a display color (for example, blue) corresponding to the nighttime is set as the “link display color” (step 107). The display color of the link set in this way is stored in the guide route memory 38 in association with this link as the guide route data shown in FIG.
[0039]
Next, the route search processing unit 36 determines whether or not a predetermined time set for each unit time is reached while passing through the link (step 108). For example, when the unit time is set to 2 hours, it is determined whether or not any of the even times (8:00, 10:00,...) Is met. When the predetermined time is reached while passing through the link, the route search processing unit 36 sets the predetermined time (for example, 8:00) to the “passing time” shown in FIG. In “Absolute longitude and latitude”, the normalized route and latitude of the position of the vehicle that is passing at this passage time are set, and the setting data is stored in the guidance route memory 38 (step 109). Note that the absolute longitude and latitude of this vehicle position is the absolute longitude and latitude of the start point of the corresponding link included in the guide route data, or the absolute value of the end point, instead of accurately calculating the position of the vehicle that is traveling at the predetermined transit time. You may substitute the longitude and latitude.
[0040]
When the processes from Step 103 to Step 109 described above for a given link are completed, the route search processing unit 36 determines whether another link exists on the route set by the route search processing (Step 110). If it exists, the process returns to the above-described step 103 to repeat the processing after the link designation. Further, when the processing from step 103 to step 109 described above is completed for all links to the destination, the following drawing processing is performed.
[0041]
First, the guidance route drawing unit 42 reads the guidance route data stored in the guidance route memory 38, and is included in the map area drawn in the VRAM 22 based on the "absolute longitude and latitude of the start point and end point". Is selected, and the guide route of the color designated by the “link display color” is drawn and written in the VRAM 22. (Step 111).
[0042]
Further, the guidance route drawing unit 42 selects from the own vehicle position data stored in the guidance route memory 38 for each unit elapsed time and included in the map area drawn in the VRAM 22, and The passing time value is drawn as a character image at the position specified by the absolute longitude and latitude and written in the VRAM 22 (step 112).
[0043]
FIG. 8 is a diagram illustrating an example of a screen that displays the travel route set by the route search process and the transit time. For example, the unit time of the display interval is set to 2 hours, and the estimated transit time is displayed every 2 hours after 10 o'clock, so that the driver is on the way along the travel route while watching the display on the screen. You can know the transit time and the location on the map at that time. Therefore, for example, the driver can easily find out where to have lunch by searching for a place where “12:00” is displayed, and further, this “12:00” is displayed. It is also possible to display the neighborhood in detail and search for a restaurant for lunch, making it easier to plan driving. In addition, since the display color of the route is changed between daytime and nighttime, it is possible to know in advance where to start driving at night, and if you want to avoid driving at night, secure an accommodation place in advance. It is also possible to leave.
[0044]
In addition, this invention is not limited to the said embodiment, A various deformation | transformation implementation is possible within the range of the summary of this invention. For example, in the above-described embodiment, the route display color is changed between daytime and nighttime. However, the route display color may be changed between morning and afternoon, or may be changed in the morning, noon, evening, and night. There are various possible change patterns. In the present embodiment described above, whether the link included in the route travels during the day or during the night is accurately determined by the sunrise / sunset time table shown in FIG. The determination may be made roughly every time, or may be determined by setting a fixed time, such as sunrise at 6 am and sunset at 6 pm.
[0045]
Further, in the above-described embodiment, the estimated transit time along the travel route is directly displayed on the screen as a number, but a clock using a long hand and a short hand may be displayed. Further, the unit time of the display interval for displaying the estimated passage time may be other than 2 hours, or may be set variably according to the total length of the travel route, or the driver himself may specify the unit time. In addition, the driving route is displayed in different colors during the day and at night, but the color is the same and other methods that can be distinguished from each other, such as changing the shade, or putting one in practice and the other in dotted lines, or the other in A single line may be displayed as a double line.
[0046]
Further, in the above-described embodiment, the time required to pass each link included in the travel route is obtained by dividing the link distance by the average speed of the road type. You may make it obtain | require based on information. Further, although the time is displayed along the route, various marks such as a sunrise mark, a meal mark, and a sunset mark may be displayed together with the time display or instead of the time display.
[0047]
Further, in the above-described embodiment, when performing route setting by route search processing, the link from the departure point to the destination is extracted and the guidance route data is created. Guide route data may be created. In that case, instead of the data corresponding to each link shown in FIG. 4, the node ID, the absolute longitude and latitude of the node, the time required to travel from the previous node to the node of interest, from the previous node What is necessary is just to hold | maintain each data of the display color of the link contained between the attention nodes as data corresponding to each node.
[0048]
【The invention's effect】
As described above, according to the present invention, when the travel route set by the route search process is displayed, the estimated transit time is displayed along the travel route, and the driver looks at the display screen. It is possible to know the intermediate transit time along the travel route and the position on the travel route corresponding to that time, and to easily plan driving. In addition, by displaying the travel routes so that they can be distinguished from each other according to a predetermined time zone, it becomes possible to easily know the daytime and nighttime travel sections, and the morning and afternoon travel sections, so Makes it easier to schedule.
[0049]
In particular, by performing the processing necessary for displaying the expected midway passage time after the route search processing is completed, it is possible to perform the display processing of the expected midway passage time without increasing the time required for the route search processing.
[Brief description of the drawings]
FIG. 1 is a diagram showing an overall configuration of an in-vehicle navigation device according to an embodiment to which the present invention is applied.
FIG. 2 is a diagram showing an overall configuration of a road unit.
FIG. 3 is a diagram showing detailed contents of various tables included in a road unit.
FIG. 4 is a diagram illustrating an example of guidance route data stored in a guidance route memory.
FIG. 5 is a diagram showing an example of own vehicle position data for each unit elapsed time stored in the guide route memory.
FIG. 6 is a flowchart showing an operation procedure of route search processing for displaying a transit time on the travel route and changing the display color of the travel route according to the travel time zone.
FIG. 7 is a diagram illustrating an example of a sunrise / sunset time table;
FIG. 8 is a diagram showing an example of a screen that displays a travel route set by route search processing and an intermediate transit time.
[Explanation of symbols]
1 Navigation controller
4 Remote control unit
7 Beacon transceiver
8 FM multiplex broadcast receiver
16 Map buffer
20 Map drawing part
22 VRAM
36 Route search processing unit
38 Guide route memory
40 Route search memory
42 Guide route drawing unit
50 Receive data buffer

Claims (3)

Route search processing means for searching for an optimum travel route from the departure point to the destination;
Guidance route display means for displaying the expected transit time set to be a predetermined time display at a predetermined time interval along the travel route together with the travel route set by the route search processing means;
A navigation device comprising: In claim 1,
The navigation apparatus according to claim 1, wherein the guide route display means displays the travel route so as to be distinguishable from each other in a predetermined time zone. In claim 1 or 2,
The route search processing means calculates a halfway passage position corresponding to the expected halfway passage time set at a predetermined time interval so as to become the predetermined time display after setting a travel route by route search processing,
The navigation apparatus according to claim 1, wherein the guidance route display means displays the estimated halfway passage time at the halfway passage position calculated by the route search processing means.

Images