JP4400173B2 - Vehicle navigation device - Google Patents

Description

  The present invention relates to a vehicle navigation apparatus that provides route guidance to a destination, and in particular, a vehicle capable of quickly starting route guidance suitable for a route after leaving when the vehicle leaves the guide route. The present invention relates to a navigation device.

  The navigation device has a route guidance function, searches for an optimum guide route by designating a starting point and a destination, and performs route guidance according to the searched guide route. However, it may be considered that the vehicle leaves the guidance route due to various factors during the route guidance. For this reason, Patent Document 1 discloses a navigation device that shortens the time for searching for a new guidance route when the vehicle leaves the guidance route.

In the navigation device disclosed in Patent Literature 1, when the vehicle starts to travel after setting a guide route to the destination, the vacant time of the CPU of the navigation device is used to make an omnidirectional center around the destination. While searching for a route, it periodically detects whether the vehicle has left the route. When it is detected that the vehicle has left the route, it is determined whether or not the vehicle is located within a range in which an omnidirectional route search is performed. When the vehicle is located within the range, the optimum route is obtained based on the omnidirectional route search result. Therefore, in this case, it is not necessary to perform a new route search. On the other hand, when the vehicle is not located within the range in which the omnidirectional route search is performed, the route search is performed using the range in which the route search is performed. For this reason, the time required for the route search is shortened.
Japanese Patent Laid-Open No. 7-174777

  However, the above-described conventional apparatus always performs a non-directional route search centering on the destination while the vehicle is traveling, and thus there is a problem that the calculation processing load of the CPU increases. Furthermore, when the position of the vehicle when leaving the guide route does not belong to the range in which the omnidirectional route search is performed, it is still necessary to perform the route search after the vehicle leaves the guide route. . Therefore, even if the route search time is shortened by using the range in which the omnidirectional route search is performed, the route search itself is performed after the vehicle has left the route, so the route guidance according to the new guidance route is started. It takes a certain amount of time to do this.

  The present invention is a vehicle navigation system capable of quickly starting route guidance suitable for a route after leaving when the vehicle leaves the guide route while suppressing an increase in calculation processing load for route search. The object is to provide an apparatus.

In order to achieve the above object, a vehicle navigation device according to claim 1 is provided.
Traveling state detecting means for detecting the traveling state of the vehicle;
Current position detecting means for detecting the current position of the vehicle;
Map data storage means for storing map data including road shapes;
Guide route search means for searching for a guide route for guiding the vehicle to the destination using map data;
Route guidance means for performing route guidance according to the guidance route searched by the guidance route search means;
Determining means for determining whether or not the vehicle is likely to leave the guide route based on the running state of the vehicle and the road shape in the guide route on which the vehicle is scheduled to travel from the current position of the vehicle;
An instruction means for instructing the guidance route search means to search for the guidance route after the departure when the determination means determines that the vehicle may leave the guidance route;
The traveling state detection means detects at least one of the traveling speed of the vehicle and the traveling acceleration of the vehicle,
The determination means is in a state where the vehicle is highly likely to go straight at a branch point in the guide route by comparing the detected traveling speed with a predetermined speed and / or comparing the detected traveling acceleration with a predetermined acceleration, This is to determine whether or not there is a high probability of turning, and based on the complexity of the road structure at the branch point in the guide route, the more complicated the road structure, the more likely it is to leave The complexity of the road structure is evaluated by the number of roads connected to the branch point, and the vehicle may leave the guide route , by changing the predetermined speed and / or the predetermined acceleration so that it is easy to be done. before reaching the branch point is a leaving occurrence prediction point, at the timing when the search for a guidance route after the withdrawal by the guide route search means is completed, determining a withdrawal possibility from the guide route of the vehicle And butterflies.

  Thus, in the vehicle navigation device according to claim 1, whether or not the vehicle may leave the guide route based on the traveling state of the vehicle and the road shape in the guide route on which the vehicle is scheduled to travel. Determine whether. Then, when it is determined that there is a possibility of leaving, a search for a guidance route after leaving is started. Therefore, the search for the guidance route after the departure can be started before the vehicle actually leaves the guidance route. For this reason, when the vehicle actually departs from the guide route, it becomes possible to quickly start route guidance according to the guide route after the departure. Further, the route search is performed only when it is determined that there is a possibility that the vehicle may leave the guide route, so that it is possible to reduce the processing load for the route search.

In particular, in the vehicle navigation device according to claim 1, after the determination unit reaches the branch point that is a predicted departure occurrence point where the vehicle may leave the guide route, The possibility of leaving the vehicle from the guide route is determined at the timing when the search for the guide route ends. By determining the possibility of leaving at such a timing, when the vehicle actually leaves the guide route, the search for the guide route after leaving has been completed. Accordingly, it is possible to perform route guidance according to the guidance route after leaving immediately after detecting that the vehicle has left the guidance route.
The traveling state detecting means detects at least one of the traveling speed of the vehicle and the traveling acceleration of the vehicle. From the comparison between the vehicle running speed and the specified speed and / or the comparison between the running acceleration and the specified acceleration, it is estimated whether the vehicle is going to go straight or turn right or left at the branch point. This is because it can be done. For example, when the traveling speed is equal to or higher than a first predetermined speed or the traveling acceleration is equal to or higher than the first predetermined acceleration, it can be estimated that the traveling state of the vehicle is highly likely to go straight. Conversely, when the traveling speed is equal to or lower than the second predetermined speed or the traveling acceleration is equal to or lower than the negative second predetermined acceleration, it is estimated that the traveling state of the vehicle is highly likely to bend. it can.
The determining means is based on the complexity of the road structure at the branch point in the guide route, and the predetermined speed and / or the above-mentioned predetermined speed and / or determined to be compared with the traveling speed and / or traveling acceleration of the vehicle in order to determine the traveling state of the vehicle. Change the predetermined acceleration. That is, when the road structure is complicated, the driver of the vehicle tends to leave the guide route by mistake, compared to the case where the road structure is simple. Therefore, the predetermined speed and / or the predetermined acceleration are changed so that the more complicated the road structure is, the easier it is to determine that there is a possibility of leaving. The complexity of the road structure can be evaluated by the number of roads connected to the branch point. This is because as the number of roads connected to the branch point increases, it becomes more difficult to determine which road corresponds to the guide route.
Further, as described in claim 2, the complexity of the road structure may be evaluated by the distance between the branch point and the adjacent branch point when the guide route is bent at the branch point. For example, if multiple intersections are adjacent to each other at very short intervals, the driver may be confused as to which intersection should make a right or left turn even if he / she is guided to make a right or left turn. It is.

As a specific example of the determination of the possibility of departure based on the traveling state of the vehicle and the road shape in the guidance route on which the vehicle is scheduled to travel, as described in claim 3 , the determination means provides guidance at a branch point in the guidance route. Even if the road shape corresponding to the route is curved, if the running state of the vehicle indicates a state where the vehicle is highly likely to go straight, it is determined that the vehicle may leave the guide route be able to. On the other hand, as described in claim 4 , the determination means determines whether the vehicle is in a curved state at a branch point in the guide route even though the road shape corresponding to the guide route is substantially straight. In a case where the possibility that the vehicle is likely to be displayed is indicated, it can be determined that the vehicle may leave the guide route.

According to a fifth aspect of the present invention, the vehicle includes second determination means for determining that the vehicle has actually left the guide route based on the current position of the vehicle and the map data.
The route guidance means immediately executes route guidance according to the guidance route after the departure that has been searched in advance by the guidance route search means when the second determination means determines that the vehicle has actually left the guidance route. It is preferable to do. In this way, since it is possible to reliably detect that the vehicle has left the guide route, it is possible to reliably prevent the route guidance from being started according to the guide route after the departure even though the vehicle has not left. be able to.

  Hereinafter, a vehicle navigation apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a vehicle navigation apparatus 20 according to the present embodiment. As shown in the figure, the vehicle navigation device 20 of the present embodiment includes a position detector 1, a map data input device 6, an operation switch group 7, a display device 9, a VICS receiver 10, a remote control sensor 11, and the like. A connected control circuit 8 is provided. The control circuit 8 has a communication function with the mobile phone 13 and can be connected to the external network 14 via the mobile phone 13.

  The control circuit 8 is configured as a normal computer, and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these configurations. In the ROM, a program to be executed by the control circuit 8 is written, and a CPU or the like executes predetermined arithmetic processing according to this program.

  The position detector 1 is a well-known geomagnetic sensor 2, gyroscope 3, distance sensor (vehicle speed sensor) 4, and GPS for GPS (Global Positioning System) that detects the position of the vehicle based on radio waves from a satellite. It has a receiver 5. Since these have errors of different properties, they are configured to be used while being complemented by a plurality of sensors. Depending on the accuracy of each sensor, the position detector 1 may be configured as a part of the above, or another sensor may be used.

  The map data input device 6 is a device that inputs map data necessary for drawing a map, such as road map data composed of node data and link data, landmark data such as place names, to the control circuit 8. The map data input device 6 includes a storage medium for storing map data. As the storage medium, a CD-ROM, a DVD-ROM or the like is generally used depending on the amount of data to be stored. A rewritable medium such as a hard disk may be used.

  Here, the configuration of node data and link data will be described. The node data includes a node ID with a unique number for each node where a plurality of roads intersect, merge, and branch, a node coordinate, a node name, a connection link ID in which the link IDs of all links connected to the node are described, It consists of data such as intersection type, presence / absence of traffic lights, regulation information, and node cost. The link data includes a link ID with a unique number for each road, link length, node coordinates of start and end points, highway, toll road, general road, urban / suburban road, road width, number of lanes, It consists of data such as link travel time, legal speed limit and link cost. That is, the link of the link data is obtained by dividing each road on the map into a plurality of nodes by nodes indicating intersections, branching points, etc., and defining two nodes as links.

  With these node data and link data, it is possible to draw a road on a map or calculate a guide route from a departure point to a destination by using a known method such as the Dijkstra method.

  The operation switch group 7 is configured as, for example, a touch switch or a mechanical switch integrated with a display device 9 described later, and is used for various inputs. For example, the navigation device 20 according to the present embodiment has a route guidance function in addition to a normal navigation function for displaying the current position of the vehicle and its surrounding map. It is possible to specify the ground. When the starting point and the destination are specified, the control circuit 8 searches for a guide route from the starting point to the destination using a known Dijkstra method or the like. Then, when it is instructed by the operation of the operation switch group 7 to start route guidance based on the searched guidance route, the control circuit 8 starts route guidance. The navigation device 20 also includes a remote controller (remote controller) 12 as a device for performing various inputs. When the remote controller 12 is operated, the remote control sensor 11 receives the operation signal and the control circuit 8 receives the operation signal. input.

  The display device 9 is configured by a liquid crystal display, and is input to the screen of the display device 9 from, for example, an own vehicle position mark corresponding to the current position of the vehicle input from the position detector 1 and the map data input device 6. A road map around the vehicle generated by the map data is displayed. At the time of the route guidance described above, a road map in which the guidance route is highlighted is displayed on the screen of the display device 9.

  The VICS receiver 10 is a device that receives road traffic information distributed from the VICS center via beacons laid on the road and FM broadcast stations in various places. The received road traffic information is processed by the control circuit 8, and for example, traffic jam information and regulation information are displayed superimposed on the road map.

  Further, the control circuit 8 can access an external network (such as the Internet) via the mobile phone 13, and can collect road traffic information such as traffic jam information and regulation information provided on the Internet, for example. . In addition, you may provide the communication module which can communicate with external infrastructure irrespective of a mobile telephone.

  Next, in the vehicle navigation device 20 having the above-described configuration, when route guidance is being executed, the possibility of departure from the route being the guidance target is determined, and when the possibility of departure is high, A process for re-searching the guide route and performing route guidance immediately after leaving when the guide route is actually left will be described with reference to the flowcharts of FIGS. 2 and 3 are executed only when route guidance is being executed. In the route guidance, first, in the route search routine (not shown), a departure place (current location) and a destination are designated, and one or a plurality of guidance routes reaching the destination from the departure place are searched. When a route to be guided is specified from the guide route and a start of guidance is instructed, a route guidance routine (not shown) is executed. While the route guidance routine is being executed, the guidance route is highlighted on the road map, and when it is necessary to make a right or left turn at a branch point such as an intersection, an enlarged view of the intersection and the direction to be turned are displayed. To do. Further, the distance to the destination and the estimated arrival time to the destination are calculated and displayed on the display device 9.

  In the flowchart of FIG. 2, first, in step S100, whether or not the vehicle travels along the guide route, that is, the possibility of departure from the guide route is predicted. The search for the guidance route corresponding to the route is performed again. The process of step S100 will be described in detail later.

  In step S200, it is determined whether the vehicle has actually left the guide route. In this determination, for example, when the current position of the vehicle and the guide route are separated by a predetermined distance or more, or when the shape of the travel track starting from the current position of the vehicle is different from the shape of the guide route, the vehicle Judge that it has left.

  If it is determined in step S200 that the vehicle has left the guide route, the process proceeds to step 300, and the route guide routine described above is called to start route guidance according to the guide route after departure searched in step S100. To do. In step S400, it is determined whether the vehicle has arrived at the destination by comparing the current position of the vehicle with the position of the destination. At this time, if it is determined that the destination has been reached, the processing of the flowchart of FIG. 2 ends. On the other hand, if it is determined that the destination has not yet been reached, the processing from step S100 is executed again. If it is determined in step S200 that the route has not left the guide route, the determination process of step S400 is performed without executing the process of step S300.

  Next, the process of step S100 described above will be described using the flowchart of FIG. The flowchart in FIG. 3 shows details of the processing in step S100.

  First, in step S110, the travel speed and travel acceleration of the vehicle are calculated based on the output signal from the vehicle speed sensor 4. The travel acceleration can be calculated by differentiating the travel speed, but an acceleration sensor that directly detects the travel acceleration may be provided.

  Next, in step S120, it is determined whether or not the predetermined time until the branch point has passed is reached, thereby determining that the timing for determining the possibility of departure from the guide route has been reached. Specifically, based on the traveling speed of the vehicle, the time required to pass the branch point when traveling at the traveling speed is calculated, and it is determined whether or not the calculated time is equal to or less than a predetermined time. To do. It should be noted that the travel acceleration of the vehicle may be taken into account in calculating the time until the vehicle passes through the branch point. Since the travel acceleration of the vehicle indicates a tendency of change in the travel speed of the vehicle, the time required for the vehicle to pass through the branch point can be obtained with higher accuracy by considering the travel acceleration.

  The predetermined time described above is set to be longer than the time required for the re-search process for the guidance route after leaving. Therefore, when it is determined that there is a possibility of leaving from the guidance route at a predetermined time until the branch point passes, and when it is determined that there is a possibility of leaving, by starting the re-search process of the guidance route, The re-search process can be completed by the time the vehicle passes the branch point.

  In addition to determining whether or not the predetermined time has passed until the branch point is passed as described above, for example, when the current position of the vehicle is within a predetermined distance from the branch point, The determination timing of the possibility of leaving may be used.

  In step S130, the presence or absence of the possibility of leaving the guide route is determined based on the road shape on the guide route, the travel speed of the vehicle, and the travel acceleration. This determination process will be described in detail below.

  In the determination process described above, it is determined that there is a possibility that the vehicle travel speed and the travel acceleration may be further curved by the first predetermined speed and the first predetermined acceleration for determining that there is a high possibility that the vehicle travels straight. The second predetermined speed and the second predetermined acceleration (negative acceleration) are compared. When the traveling speed is equal to or higher than the first predetermined speed or the traveling acceleration is equal to or higher than the first predetermined acceleration, the vehicle is traveling at high speed or being accelerated. It is considered that there is a high probability of going straight. On the contrary, when the traveling speed is equal to or lower than the second predetermined speed or the traveling acceleration is equal to or lower than the second predetermined acceleration, the vehicle is traveling at a low speed or is decelerating. Is considered to be a state of possible turning.

  When the road shape corresponding to the guide route is bent at the branch point in the guide route, the vehicle travels straight when it is considered that the vehicle is likely to go straight. And determine that there is a possibility of leaving the guide route. On the other hand, if the driving state of the vehicle is considered to be a state where the vehicle may turn even though the road shape corresponding to the guide route is substantially straight at the branch point in the guide route, the vehicle It is determined that there is a possibility of moving away from the guide route.

  In addition, when the guide route is bent, when determining whether or not the vehicle leaves the guide route, the first predetermined speed and / or the first predetermined acceleration described above are determined based on the guide route. You may set to the value according to the bending degree. That is, if the degree of bending is small, the first predetermined speed and / or the first predetermined acceleration is set large, and if the degree of bending is large, it is set small.

  After determining whether or not there is a possibility of leaving the guide route in step S130 described above, in step S140, it is determined whether or not it is determined in step S130 that there is a possibility of leaving. At this time, if it is determined in step S130 that it is determined that there is a possibility of leaving, the process proceeds to step S150, a route search routine is called, and a re-search process for the guide route after leaving is executed. When the guidance route after the departure can be searched by the re-search process, the process shown in FIG. 3 is terminated, and the process of step S200 in the flowchart of FIG. 2 is executed.

  As described above, according to the present embodiment, it is determined whether or not there is a possibility of the vehicle leaving the guide route based on the travel speed and travel acceleration of the vehicle and the road shape of the guide route. Then, when it is determined that there is a possibility of leaving, a search for a guidance route after leaving is started. Therefore, the search for the guidance route after the departure can be started before the vehicle actually leaves the guidance route. For this reason, when the vehicle actually departs from the guide route, it becomes possible to quickly start route guidance according to the guide route after the departure.

  Furthermore, in the present embodiment, the guide route re-search process is completed before the vehicle passes a branch point where the vehicle may leave the guide route. Therefore, when the vehicle actually leaves the guide route. The route guidance can be resumed immediately after the departure is detected.

  The preferred embodiment of the present invention has been described above, but the vehicle navigation device according to the present invention is not limited to the above-described embodiment, and various modifications are made without departing from the spirit of the present invention. be able to.

  For example, in the above-described embodiment, the traveling state (straight or curved) of the vehicle is estimated from the traveling speed and traveling acceleration of the vehicle. However, it is possible to estimate the traveling state of the vehicle based on the depression amount of the accelerator pedal and the depression amount of the brake pedal, which have a correlation with the traveling speed and the traveling acceleration. For example, if the amount of depression of the accelerator pedal detected by the accelerator pedal sensor is greater than or equal to a predetermined amount, or if the amount of depression is changing in an increasing direction, it is considered that the vehicle is likely to go straight. Can do. Conversely, if the amount of depression of the brake pedal detected by the brake pedal sensor is greater than or equal to a predetermined amount or changes in the direction in which the amount of depression is increased, the vehicle speed is reduced to prepare for turning. It can be regarded as a possible state. Further, in addition to the depression amount of the accelerator pedal and the brake pedal, it is also possible to estimate whether the vehicle is going straight or curved by detecting the operating state of the winker and the steering angle of the steering wheel. Further, the travel speed (straight or curved) of the vehicle can be determined by arbitrarily combining the travel speed, travel acceleration, accelerator pedal depression amount, brake pedal depression amount, turn signal operating state, and steering wheel steering angle. You may make a guess.

Further, based on the complexity of the road structure at the branch point in the guide route, the first and second predetermined speeds compared with the traveling speed of the vehicle and / or the first and second compared with the traveling acceleration of the vehicle. The predetermined acceleration may be changed. That is, when the road structure is complicated, the driver of the vehicle tends to leave the guide route by mistake, compared to the case where the road structure is simple. Therefore, it is preferable to change the first and second predetermined speeds and / or the first and second predetermined accelerations so that the more complicated the road structure is, the easier it is determined that there is a possibility of leaving. is there.

  The complexity of the road structure can be evaluated by the number of roads connected to a branch point such as an intersection. This is because as the number of roads connected to the branch point increases, it becomes more difficult to determine which road corresponds to the guide route. The number of roads connected to this branch point may be calculated only for roads that fall within a predetermined accuracy range based on the road corresponding to the guide route. This is because when there is a road extending in a similar direction to the road corresponding to the guide route, the driver is likely to leave the guide route by mistake.

  The complexity of the road structure is also preferably evaluated based on the distance between the branch point and the adjacent branch point when the guide route bends at the branch point. For example, if multiple intersections are adjacent to each other at very short intervals, the driver may be confused as to which intersection should make a right or left turn even if he / she is guided to make a right or left turn. It is. Therefore, in this case, the first and second predetermined speeds and / or the first and second predetermined accelerations are described so that the shorter the distance between adjacent branch points, the easier it is determined that there is a possibility of leaving. To change.

It is a block diagram which shows schematic structure of the navigation apparatus for vehicles concerning embodiment of this invention. 7 is a flowchart showing the entire process for performing route guidance according to a new guidance route immediately after leaving when the vehicle leaves the guidance route while route guidance is being executed by the vehicle navigation device. . FIG. 3 shows details of the process of step S100 in the flowchart of FIG. 2. A process for determining the possibility of leaving from the route that is the guidance target and re-searching the guide route when the possibility of leaving is high. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Position detector 6 ... Map data input device 7 ... Operation switch group 8 ... Control circuit 9 ... Display apparatus 10 ... VICS receiver 11 ... Remote control sensor 12 ... Remote control 20 ... Vehicle navigation apparatus

Claims (5)

Traveling state detecting means for detecting the traveling state of the vehicle;
Current position detecting means for detecting the current position of the vehicle;
Map data storage means for storing map data including road shapes;
Guidance route search means for searching for a guidance route for guiding the vehicle to the destination using the map data;
Route guidance means for performing route guidance according to the guidance route searched by the guidance route search means;
Determining means for determining whether or not the vehicle is likely to leave the guide route based on a running state of the vehicle and a road shape on a guide route on which the vehicle is scheduled to travel from the current position of the vehicle; ,
An instruction means for instructing the guide route search means to search for a guide route after the departure when the determination means determines that the vehicle may leave the guide route;
The traveling state detecting means detects at least one of a traveling speed of the vehicle and a traveling acceleration of the vehicle,
In the state in which the vehicle is highly likely to go straight at a branch point in the guide route by comparing the detected traveling speed with a predetermined speed and / or comparing the detected traveling acceleration with a predetermined acceleration. It is determined whether there is a high possibility of turning, and based on the complexity of the road structure at the branch point in the guide route, the more complicated the road structure, the more likely it is to leave The predetermined speed and / or the predetermined acceleration is changed so that it can be easily determined that there is a road, and the complexity of the road structure is evaluated by the number of roads connected to the branch point. at a timing before reaching the branch point is a leaving occurrence prediction point that may be detached, in which the search for the guide route after the withdrawal by the guidance route search means ends from the guide of the vehicle Vehicle navigation apparatus characterized by determining the withdrawal possibilities from the road. Traveling state detecting means for detecting the traveling state of the vehicle;
Current position detecting means for detecting the current position of the vehicle;
Map data storage means for storing map data including road shapes;
Guidance route search means for searching for a guidance route for guiding the vehicle to the destination using the map data;
Route guidance means for performing route guidance according to the guidance route searched by the guidance route search means;
Determining means for determining whether or not the vehicle is likely to leave the guide route based on a running state of the vehicle and a road shape on a guide route on which the vehicle is scheduled to travel from the current position of the vehicle; ,
An instruction means for instructing the guide route search means to search for a guide route after the departure when the determination means determines that the vehicle may leave the guide route;
The traveling state detecting means detects at least one of a traveling speed of the vehicle and a traveling acceleration of the vehicle,
In the state in which the vehicle is highly likely to go straight at a branch point in the guide route by comparing the detected traveling speed with a predetermined speed and / or comparing the detected traveling acceleration with a predetermined acceleration. It is determined whether there is a high possibility of turning, and based on the complexity of the road structure at the branch point in the guide route, the more complicated the road structure, the more likely it is to leave The predetermined speed and / or the predetermined acceleration is changed so that it is easy to determine that there is a road, and the complexity of the road structure is that a branch point adjacent to the branch point when the guide route bends at the branch point. Further, the guide route after leaving by the guide route searching means until the vehicle reaches the branch point that is a predicted departure occurrence point where the vehicle may leave the guide route. At the timing when the search is completed, the vehicle navigation apparatus characterized by determining the withdrawal possibilities from the guide route of the vehicle. In the case where the determination means indicates a state in which the traveling state of the vehicle is highly likely to go straight even though the road shape corresponding to the guidance route is bent at a branch point in the guidance route the vehicle is a vehicle navigation apparatus according to claim 1 or claim 2, characterized in that determining that there is a possibility to leave the guiding route. The determination means indicates a state in which the vehicle is highly likely to bend even though the road shape corresponding to the guide route is a substantially straight line at a branch point in the guide route. If the vehicle is a vehicle navigation apparatus according to claim 1 or claim 2, characterized in that determining that there is a possibility to leave the guiding route. Based on the current position of the vehicle and the map data, comprising a second determination means for determining that the vehicle has actually left the guide route;
The route guidance means, when the second judgment means judges that the vehicle has actually left the guidance route, the route guidance according to the guidance route after the departure searched in advance by the guidance route search means. The vehicle navigation device according to any one of claims 1 to 4 , wherein the navigation device is immediately executed.

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