JP3955483B2 - Moving body navigation device and traveling road determination method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a moving body navigation device that detects the current position of a moving body, and in particular, a plurality of roads including a toll road and other general roads are in a parallel running state or the like, as in a relationship between a toll road and its side roads. The present invention relates to a moving body navigation apparatus and a traveling road determination method capable of accurately detecting which road the moving body is traveling in a state where they are overlapped vertically.
[0002]
[Prior art]
Conventionally, for example, as proposed in Japanese Patent Application Laid-Open No. 11-271075, an automatic toll payment system (hereinafter referred to as ETC “Electronic Toll Collection System”) received information is used in a situation where a plurality of roads are running in parallel. A method for detecting the road on which the vehicle is traveling is known.
[0003]
  Also, JP2As proposed in Japanese Unexamined Patent Publication No. 000-146606, there is known a method for determining a traveling road of a host vehicle using the fact that a stop occurs near a toll gate.
[0004]
[Problems to be solved by the invention]
In the conventional vehicle road detection method, in order to detect reception of ETC information, the ETC vehicle-mounted device and the mobile navigation device are in a connected state or a communicable state, and the received information is used as the mobile navigation device. It is indispensable to notify the device, and if the ETC in-vehicle device used by the user and the navigation device for mobile objects are not connected or cannot communicate, it is not possible to detect the traveling road of the vehicle using the ETC. There was a problem.
In addition, in the method for judging the road on which the vehicle is traveling using the fact that a stop occurs near the toll gate, it is possible that the stop will not occur near the toll gate when using the ETC. Regardless, the priority of the road where the toll booth is lowered, and there is a problem that it is impossible to detect the correct driving road.
[0005]
The present invention has been made to solve the above-described problems, and is a navigation device for a moving body and a traveling road determination method capable of detecting a correct own vehicle traveling road in a situation where a toll road and a general road run side by side. The purpose is to obtain.
[0006]
[Means for Solving the Problems]
  The navigation device for a moving body according to the present invention includes an automatic fee collection use determination unit that determines whether or not an automatic fee collection system is used,The automatic toll collection usage determining means includes a connection presence / absence determining means for determining presence / absence of connection with an automatic toll collection receiver, a reception presence / absence determining means for determining presence / absence of reception of automatic toll collection information, and the received automatic fee collection. A tollgate identification information determining means for determining whether or not the information includes tollgate identification information, and a passing speed determining means for determining a tollgate passage speed when passing through the vicinity of the tollgate,The traveling road determination means is an automatic toll collection use determination means.Of each judgment meansBased on the determination result and various information about the current position detected by the position detection means, the form of passing the toll gate is determined, and the road that is running is determined based on the determination result It is.
[0008]
In the mobile navigation apparatus according to the present invention, the connection presence / absence determining means determines that the automatic fee collection receiver is connected, and the reception presence / absence determination means determines that the automatic fee collection information has been received. When the tollgate identification information determining means determines that the information includes tollgate identification information, the traveling road determination means determines the road where the tollgate specified by the tollgate identification information is provided as the traveling road determination result. It is made to do.
[0009]
In the mobile navigation apparatus according to the present invention, the connection presence / absence determining means determines that the automatic fee collection receiver is connected, and the reception presence / absence determination means determines that the automatic fee collection information has been received. When the tollgate identification information determining means determines that the information does not include the tollgate identification information, the traveling road determining means is configured to use the toll road as the traveling road determination result.
[0010]
  In the mobile navigation device according to the present invention, the connection presence / absence determining means determines that the automatic toll collection receiver is connected, the reception presence / absence determining means determines that the automatic fee collection information has not been received, and Speed judgment means,Fee StationnearWhen it is determined that the toll pass speed when passing through the vehicle exceeds a predetermined value, the traveling road determination means uses a road having no toll gate as a traveling road determination result.
[0011]
  In the mobile navigation device according to the present invention, the connection presence / absence determining means determines that the automatic toll collection receiver is not connected, and the toll gatenearWhen the pass speed determining means determines that the toll pass speed when passing the toll exceeds the specified value set according to whether or not the automatic toll collection system is used, the traveling road determining means A road that does not exist is used as a traveling road determination result.
[0012]
  The traveling road determination method according to the present invention includes various information about the current position obtained by the position detection system,A mobile navigation device andWhether there is a connection with the automatic toll collection receiver and the toll pass speed according to whether or not the automatic toll collection system is used when the connection to the automatic toll collection receiver is not connected In addition, the mode of passing through the toll gate is determined, and on the basis of the determination result, the toll road running in parallel and the traveling road in the general road are determined.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of a mobile navigation apparatus according to Embodiment 1 of the present invention. In the figure, reference numeral 11 denotes a calculation of an estimated position of a mobile body based on output data from a GPS receiver and various sensors. It is an estimated position calculation means. 12 stores data such as road data in which roads are approximated by broken lines, and the approximated broken lines are coordinate data and data indicating connection of coordinates, information indicating toll roads and information on road forms indicating that a toll gate exists. Map storage means. The map storage unit 12 may reproduce a storage medium in which information is stored in advance, or may acquire necessary information from an external information source by communication.
[0014]
13 assumes that the current position of the vehicle is present on each road within a predetermined range including the estimated position calculated by the estimated position calculation means 11, extracts candidate points, and traces of past current positions, that is, travel trajectories Pattern correlation calculating means for calculating the degree of correlation between the pattern and each road pattern in which the extracted candidate points exist.
[0015]
14 determines the type of road (for example, a toll road or a toll gate) based on information stored in the map storage means 12 or information from the ETC determination processing means 15, and the degree of correlation with each road. It is a traveling road determination means which determines.
[0016]
Reference numeral 15 denotes an ETC determination processing means for determining whether or not the ETC on-vehicle device and the navigation device can communicate with each other, and whether or not the ETC on-vehicle device is used when communication is not possible.
[0017]
Reference numeral 16 denotes correlation degree evaluation means for determining the current position. Based on the correlation degree determined by the pattern correlation degree calculation means 13 and the traveling road determination means 14, the candidate point having the highest correlation degree is set as the current position. To decide.
Reference numeral 17 denotes current position output means for outputting a map and a current position on the screen.
[0018]
FIG. 2 is a block diagram showing a hardware configuration of the mobile navigation apparatus according to Embodiment 1 of the present invention. In the figure, 21 is a vehicle speed sensor (position detecting means) for detecting the travel distance of the moving body by measuring the number of rotations of the wheel, and 22 is an orientation sensor such as a geomagnetic sensor or a gyro sensor for detecting the traveling direction of the moving body. (Position detecting means) 23 is a GPS receiver (position detecting means) for receiving the radio wave from the GPS satellite and detecting the current position of the moving body. Based on these outputs, the estimated position calculating means of FIG. 11 calculates the estimated position. Reference numeral 24 denotes an ETC vehicle-mounted device (automatic fee collection system, automatic fee collection receiver, automatic fee collection communication means) that performs transmission and reception with the ETC. An I / F circuit 25 performs input / output between the CPU 26 and an external sensor.
Reference numeral 26 denotes a CPU (automatic toll collection use determination means, reception presence / absence determination means, toll gate identification information determination means, passage speed determination means, output means) for performing various calculations and overall control of the apparatus, and an estimated position calculation means in FIG. 11, pattern correlation degree calculating means 13, traveling road determining means 14, ETC determination processing means (connection presence / absence determining means) 15, and correlation degree evaluating means 16 are each realized as a function of the CPU 26. Reference numeral 27 denotes a memory corresponding to the map storage means 12 in FIG. Reference numeral 28 denotes a liquid crystal display (output means) on which display data such as a map and a current position are displayed.
[0019]
Next, the operation of the mobile navigation apparatus according to Embodiment 1 of the present invention will be described. FIG. 3 is a flowchart showing the operation of the mobile navigation apparatus of the first embodiment. First, in step ST301, the travel distance is detected by the vehicle speed sensor 21, and in step ST302, the relative azimuth change amount of the moving body is detected by the direction sensor 22. In step ST303, a vector obtained from the travel distance detected in step ST301 and the relative azimuth change amount of the moving body detected in step ST302 is added to the previous estimated position to obtain the current estimated position. In addition, the current candidate position is a position shifted from the previous candidate position (position where the moving body's own vehicle position may exist) along the road where the candidate position exists for the travel distance detected in step ST301. Find as position.
[0020]
In step ST304, an error range in which the subject vehicle is considered to be present is calculated from the estimated position. Here, the error range is determined on the basis of a predetermined condition. For example, an accumulated error (an error generated from errors of various sensors) due to integration in the estimated position calculation means 11 described above, and the linear travel distance is long. The error range may be enlarged because the error increases, and the error range may be determined by the sum of the map error (for example, a fixed value of 100 m), or may be a fixed distance range (for example, 100 m) from the estimated position. In step ST305, all road data within the error range calculated in step ST304 is read, and in step ST306, the correlation between the driving pattern based on the past estimated position and the road pattern of each candidate position is calculated. Here, the travel pattern based on the estimated position is specifically the position, direction, speed, etc. of the estimated position, and the road pattern is the attribute of each road and the position, direction of each candidate position existing on each road. Etc. The calculation contents include the difference between the azimuth of each candidate position and the estimated position, the distance difference between each candidate position and the estimated position, the continuation status of each candidate position (whether it has just been generated or exists continuously) Situation), and the relationship between each road attribute where each candidate position exists and the vehicle speed. Next, in step ST307, the travel distance is determined, and the process proceeds to step ST308. Details of the determination method of the traveling road will be described later.
[0021]
In step ST308, the highest correlation is obtained among the candidate positions on the attribute road determined by the traveling road determination based on the traveling road determination result obtained in step ST307 and the pattern correlation obtained in step ST306. The candidate position is determined as the current position. As a determination method, when the own vehicle traveling road attribute is determined in step ST307, the candidate position having the highest pattern correlation degree is determined as the current position among the candidate positions existing on the corresponding attribute road.
If the vehicle traveling road attribute is not determined in step ST307, the candidate position having the highest pattern correlation degree is determined as the current position among all candidate positions.
[0022]
In step ST309, the candidate position corresponding to the highest degree of correlation determined in step ST308 is output as the current position. In step ST310, ETC use determination is performed. Details of the ETC usage determination will be described later.
[0023]
FIG. 4 shows images of estimated positions and candidate positions. In the figure, reference numeral 41 denotes the previous estimated position, and reference numeral 42 denotes a display position determined from the previous candidate positions. The estimated position after the vehicle makes a right turn at position 43 is position 45, the candidate positions are position 44 and position 46, and candidate position 44 is the display position based on the correlation evaluation. Since the candidate position 44 is connected to a road where the previous display position exists, the candidate position 44 is a connected candidate position, and the candidate position 46 is connected to the road where the display position existed the previous time. This is a candidate position that has just been generated. Subsequently, the estimated position and the candidate position are updated to become the estimated position 48 and the candidate positions 47 and 49, and the candidate position 47 becomes the display position by the correlation evaluation.
[0024]
Next, the operation of the traveling road determination method will be described with reference to the flowchart of FIG. First, in step ST501, it is determined whether or not the ETC vehicle-mounted device is connected. As a determination method, a communication result for confirming whether or not the ETC on-vehicle device and the navigation device are connected, such as when the power is turned on, is used. Further, when the navigation device receives a communication result between the ETC on-vehicle device and the ETC gate, it may be determined that the ETC on-vehicle device and the navigation device are connected. Further, it may be possible to set whether or not it is connected by a user operation. If it is determined that the connection is established based on the determination result of step ST501, the process proceeds to step ST502, where it is determined whether or not the navigation device has obtained ETC information from the ETC on-vehicle device. This ETC information is information used only in the ETC system (for example, business data IDs such as toll data, toll gate ID, Japan Highway Public Corporation, Metropolitan Toll Road Public Corporation, Hanshin Toll Road Public Corporation, Honshu-Shikoku Bridge Public Corporation, etc. ), And it can be determined that the ETC on-board unit has communicated with the ETC gate. If it is determined that the ETC on-board unit and the ETC gate have communicated, the process proceeds to step ST503, and information that can be used for specifying the vehicle location such as a tollgate ID and a provider ID in the ETC information obtained by the navigation device. Whether or not is included. If it is determined in step ST503 that the ETC information includes information that can be used for toll gate ID, business operator ID, and vehicle location specification, the process proceeds to step ST504, and the road corresponding to the information is displayed. It is determined that the vehicle is a traveling road.
[0025]
If it is determined in step ST503 that information that can be used for specifying the vehicle location, such as a tollgate ID and a carrier ID, is not included, the process proceeds to step ST505, and ETC information is received. It is determined that the vehicle is traveling on a toll road.
[0026]
When it is determined in step ST501 that the ETC on-vehicle device is connected, if no ETC information is received in step ST502, the vehicle is traveling on a general road, or an ordinary toll gate that does not have an ETC gate. Therefore, the process proceeds to step ST506, where the minimum speed condition used for the toll gate passage determination is set to a value (for example, 10 km / h) that can be considered when passing the normal toll gate, Proceeding to step ST507, it is determined whether or not the minimum speed when passing through the toll gate is equal to or less than the predetermined value. If the minimum speed when passing through the toll booth is equal to or less than the specified value in step ST507, the process proceeds to step ST509, and charged / free traveling road attribute determination is not performed. If the minimum speed when passing through the toll gate is not equal to or less than the predetermined value in step ST507, the process proceeds to step ST508, where it is determined that the vehicle is traveling on a road other than the road where the toll gate exists.
[0027]
If it is determined in step ST501 that the ETC on-vehicle device is not connected, the process proceeds to step ST510, and the ETC connection determination result in step ST310 shown in FIG. 3 is referred to. Details of the ETC usage determination will be described later.
If it is determined in step ST510 that the ETC system is used, the process proceeds to step ST511, and the maximum speed condition used for the toll gate passage determination is changed to that considered when ETC is used (for example, 60 km / h). Proceeding to step ST507, it is determined whether or not the maximum speed when passing through the toll gate is equal to or less than the specified value. If the maximum speed when passing through the toll booth is equal to or less than the specified value in step ST507, the process proceeds to step ST509, and charged road and free road attribute determination is not performed. If the maximum speed when passing through the toll gate is not less than the predetermined value in step ST507, the process proceeds to step ST508, where it is determined that the vehicle is traveling on a road other than the road where the toll gate exists.
[0028]
If it is determined in step ST510 that the ETC system is not used, the process proceeds to step ST506, where the minimum toll pass speed condition used for the toll gate passage determination can be considered when passing through the normal toll gate (for example, 10 km / h), the process proceeds to step ST507, and it is determined whether or not the minimum speed when passing through the tollgate is equal to or less than the specified value. If the minimum speed when passing through the toll booth is equal to or less than the specified value in step ST507, the process proceeds to step ST509, and charged road or free road attribute determination is not performed. If the minimum speed when passing through the toll gate is not equal to or less than the predetermined value in step ST507, the process proceeds to step ST508, and it is determined that the vehicle is traveling on a road other than the road where the toll gate exists.
[0029]
Next, the processing operation for the ETC usage determination will be described with reference to the flowchart of FIG.
First, it is determined whether or not it is already determined as “ETC system unused car” in step ST61. If it is determined that the vehicle is not an ETC system unused vehicle, the process proceeds to step ST62, where it is determined whether each candidate position exists near the toll gate. The determination as to whether or not it is in the vicinity of the toll booth is performed by acquiring from the map storage means 12 information on whether or not a toll booth exists on the road where each candidate position exists. If there is a candidate position determined to be in the vicinity of the toll gate, the process proceeds to step ST63, and the minimum speed at the time of passing through the vicinity of the toll gate is obtained for the trapping position existing in the vicinity of the toll gate. Even if the obtained speed range is not using the ETC system, the speed is considered to be able to pass through the toll gate (for example, less than 10 km / h), and the speed considered to be able to pass through the toll gate only when using the ETC system (for example, 10km / h or more and less than 60km / h), and using each ETC system, it is classified into three speed ranges that are considered impossible to pass through the toll gate (for example, 60km / h or more). It is stored as unique information to be set.
[0030]
In step ST64, the minimum speed for passing through the toll gate at the candidate position determined as the display position in the correlation evaluation in step ST308 is the speed that is considered to be able to pass through the toll gate only when using the ETC system. It is determined whether the speed is considered to be capable of passing through all the tolls even when not being used, or the speed at which it is considered impossible to pass through the toll booth even when using the ETC system.
[0031]
In Step ST64, when the toll gate minimum speed is a speed that is considered to be able to pass the toll gate even if the ETC system is not used, or a speed that is considered impossible to pass the toll gate even if the ETC system is used. Then, the process proceeds to step ST65, where it is determined that the vehicle is “ETC system unused vehicle”. If the determination result in step ST64 is a speed at which the toll gate pass is considered to be possible only when the toll gate passing minimum speed is using the ETC system, the process proceeds to step ST66, and it is determined that the vehicle is an “ETC system using vehicle”.
[0032]
In step ST61, if the ETC usage determination result is already “ETC system use vehicle”, the process proceeds to step ST66 and is determined to be “ETC system use vehicle”.
[0033]
If it is determined in step ST66 that the ETC system is used, a message such as “The ETC unit is not connected to the navigation device” is displayed and the user is prompted to connect. Good. However, since an ETC vehicle-mounted device that cannot be connected to the navigation device in use may be used, the user may be able to manually set whether or not to perform this process.
[0034]
As the ETC usage determination method described above, for example, the user may be able to manually set by system setting on the navigation device side. In addition, since it may be considered that the user removes the ETC on-vehicle device from the vehicle after it is determined that the vehicle is an “ETC system use vehicle”, an ETC use determination reversal process may be incorporated.
[0035]
As described above, according to the first embodiment, in the case of an ETC vehicle, the determination speed condition when passing through the toll gate is set to 60 km / h. If the speed when passing through the toll gate exceeds 60 km / h despite using the ETC, it is determined that the vehicle is traveling on a road where the toll gate does not exist, and 60 km If you do not exceed / h, you are using the ETC, so if your vehicle is traveling on a toll road, it is determined that the speed when passing through the toll gate is below the upper limit of 60km / h for using the ETC. judge.
In the case of an ETC unused vehicle, the determination speed condition when passing through the toll gate is set to 10 km / h. And if the ETC is not used and the speed when passing through the toll booth exceeds 10 km / h, it is judged that the normal toll payment form cannot pay the fee and pass through the toll booth. It is determined that the vehicle is traveling on a road that is not to be used, and if the vehicle speed does not exceed 10 km / h, paid road attribute determination is not performed. In this way, there is an effect that a navigation device for a moving body that can detect a correct own vehicle traveling road with respect to the own vehicle traveling road in a situation where a toll road and a general road are running side by side is obtained.
[0036]
【The invention's effect】
  As described above, according to the present invention, the automatic fee collection use determination unit for determining whether or not the automatic fee collection system is used is provided,The automatic toll collection usage determining means includes a connection presence / absence determining means for determining presence / absence of connection with an automatic toll collection receiver, a reception presence / absence determining means for determining presence / absence of reception of automatic toll collection information, and the received automatic fee collection. A tollgate identification information determining means for determining whether or not the information includes tollgate identification information, and a passing speed determining means for determining a tollgate passage speed when passing through the vicinity of the tollgate,The traveling road determination means is an automatic toll collection use determination means.Of each judgment meansBased on the determination result and various information about the current position detected by the position detection means, the form of passing the toll gate is determined, and the driving road is determined based on the determination result. Therefore, even when the automatic toll collection system is not used, there is an effect that a correct own vehicle traveling road can be detected in a situation where a toll road and a general road are running side by side.In addition, it was determined based on whether there was a connection with an automatic toll collection receiver, whether to receive automatic toll collection information, and whether the received toll collection information includes toll gate identification information. There is an effect that a correct own vehicle traveling road can be detected even in a situation where a toll road and a general road are running side by side based on whether or not the automatic toll collection system is used and various information on the current position.
[0038]
According to this invention, the connection presence / absence determining means determines that the automatic toll collection receiver is connected, the reception presence / absence determining means determines that the automatic toll collection information has been received, and the automatic toll collection information identifies the toll gate When the tollgate identification information determination means determines that the information is included, the traveling road determination means is configured to use the road where the tollgate specified by the tollgate identification information is provided as the traveling road determination result. Therefore, there is an effect that the road where the toll gate is provided can be detected as the own vehicle traveling road even in a situation where the toll road and the general road are running in parallel.
[0039]
According to this invention, the connection presence / absence determining means determines that the automatic toll collection receiver is connected, the reception presence / absence determining means determines that the automatic toll collection information has been received, and the automatic toll collection information identifies the toll gate When the toll gate identification information determining means determines that the information is not included, the traveling road determining means is configured to use the toll road as a traveling road determination result, so that the toll road and the general road run in parallel. Even under certain circumstances, it is connected to an automatic toll collection receiver, receives automatic toll collection information, and detects a toll road as its own driving road on condition that the toll gate identification information is not included in the automatic toll collection information There is an effect that can be done.
[0040]
  According to this invention, the connection presence / absence determining means determines that the automatic fee collection receiver is connected, the reception presence / absence determination means determines that the automatic fee collection information has not been received, and the passage speed determination means PlacenearWhen it is determined that the toll gate passage speed when passing the vehicle exceeds a predetermined value, the traveling road determination means is configured to use the road having no toll gate as the traveling road determination result. The toll gate passage speed exceeds the specified value when the automatic toll collection information is not received. This means that the specified value is the upper limit of the toll pass speed range using the automatic toll collection system. If the speed is set, the toll road and the general road are running side by side because it indicates that the road is running on the road where the toll booth is set, rather than passing through the toll booth. There is an effect that a road without a tollgate can be detected as a traveling road under the circumstances.
[0041]
  According to the present invention, the connection presence / absence determining means determines that there is no connection with the automatic toll collection receiver, and the toll gatenearWhen the pass speed determining means determines that the toll pass speed when passing the toll exceeds the specified value set according to whether or not the automatic toll collection system is used, the traveling road determining means Because it is configured so that the road where there is no road is used as the traveling road judgment result, the connection with the automatic toll collection receiver is not connected and the toll pass speed exceeds the specified value is the default value. Is set to either the upper limit speed or the lower limit speed of the toll gate passage speed range when passing through the toll gate using the automatic toll collection system, the automatic fee is set when the default value is set to the upper limit speed Use of the toll system is denied, and when the default value is set to the lower speed limit, the passage of the toll gate in the normal form is denied, indicating that it has passed the road where the toll gate was established From an effect capable of detecting a non-existent road toll gates as current road under circumstances where the toll road and an ordinary road run in parallel.
[0042]
  According to this invention, various information about the current position obtained by the position detection system,A mobile navigation device andWhether there is a connection with the automatic toll collection receiver and the toll pass speed according to whether or not the automatic toll collection system is used when the connection to the automatic toll collection receiver is not connected When it is not connected to the automatic toll collection receiver, it is configured to determine the toll pass form and determine the toll road running parallel and the general road based on the determination result However, there is an effect that a correct own vehicle traveling road can be detected in a situation where a toll road and a general road are running side by side.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the configuration of a mobile navigation apparatus according to Embodiment 1 of the present invention.
FIG. 2 is a block diagram showing a hardware configuration of the mobile navigation device according to the first embodiment of the present invention.
FIG. 3 is a flowchart showing an operation of the mobile navigation apparatus according to the first embodiment of the present invention.
FIG. 4 is an explanatory diagram showing a relationship between an estimated position and a candidate position in the mobile navigation apparatus according to the first embodiment of the present invention.
FIG. 5 is a flowchart showing an operation of a traveling road determination method in the mobile navigation apparatus according to the first embodiment of the present invention.
FIG. 6 is a flowchart showing a processing operation for ETC use determination in the mobile navigation apparatus according to the first embodiment of the present invention.
[Explanation of symbols]
14 traveling road determination means, 15 ETC determination processing means (connection presence / absence determination means), 21 vehicle speed sensor (position detection means), 22 direction sensor (position detection means), 23 GPS receiver (position detection means), 24 ETC on-board unit ( Automatic charge collection system, automatic charge collection receiver, automatic charge collection communication means), 26 CPU (automatic charge collection use determination means, reception presence / absence determination means, toll gate identification information determination means, passage speed determination means, output means), 28 Liquid crystal display (output means).

Claims (6)

Map storage means for storing map information, position detection means for detecting various information about the current position, automatic toll collection communication means for communicating with the automatic toll collection system, In a navigation device for a moving body, comprising: a traveling road determination unit that determines; and an output unit that outputs various types of information including an image such as a map and a current position.
The traveling road determining means includes automatic toll collection use determining means for determining whether or not the automatic toll collection system is used, and the automatic toll collection use determining means is connected to an automatic toll collection receiver. Connection presence / absence determination means for determining presence / absence of reception, reception presence / absence determination means for determining presence / absence of reception of automatic fee collection information, and determination of whether or not toll gate identification information is included in the received automatic fee collection information A toll gate identification information determining means, and a passing speed determining means for determining a toll gate passing speed when passing through the vicinity of the toll gate, wherein the traveling road determining means includes a determining means for each of the determining means of the automatic toll collection use determining means. Based on the determination result and various information about the current position detected by the position detection means, the mode of toll gate passage is determined, and the road on which the vehicle is traveling is determined based on the determination result. Mobile navigation system according to claim. The connection presence / absence determining means determines that the automatic toll collection receiver is connected, the reception presence / absence determining means determines that the automatic toll collection information has been received, and the received toll collection information includes tollgate identification information. When the toll gate identification information determination means determines that the toll gate is determined, the traveling road determination means uses the road where the toll gate specified by the toll gate identification information is provided as the traveling road determination result. The navigation device for a moving body according to claim 1 . The connection presence / absence determining means determines that the automatic toll collection receiver is connected, the reception presence / absence determining means determines that the automatic toll collection information has been received, and the received toll collection information includes tollgate identification information. When determining the tollgate identification information determination means that have not been, the traveling road determining unit, mobile navigation system according to claim 1, characterized in that the traveling road determination result toll road. The connection presence / absence determination means determines that the automatic toll collection receiver is connected, the reception presence / absence determination means determines that the automatic toll collection information has not been received, and the passing speed determination means passes near the toll gate. When tollgate rate of passage of time is determined to exceed the predetermined value, the traveling road determining unit, mobile navigation according to claim 1, characterized in that the traveling road determination result existent road tollgate apparatus. Depending on whether the toll gate passage speed when passing through the vicinity of the toll gate is using the automatic toll collection system or not When passing speed determining means determines that more than the set prescribed value each, traveling road determining unit, a moving body according to claim 1, characterized in that the traveling road determination result existent road tollgate Navigation device. A traveling road determination method in a mobile navigation device for determining whether a traveling road is a toll road or a general road running in parallel,
When various information about the current position obtained by the position detection system, whether or not the mobile navigation device and the automatic toll collection receiver are connected, and the connection between the automatic toll collection receiver is not connected Based on the toll gate passing speed according to whether or not you are using the automatic toll collection system of, and based on the determination result, on the toll road and the general road running in parallel A traveling road determination method for determining a traveling road.

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