JP4416615B2 - Route search method, route search device, and navigation device - Google Patents

Description

  The present invention relates to navigation technology for automobiles, and more particularly to a route search method, a route search device for searching for a route from a departure point to a destination point, and a navigation device for guiding a searched route.

  2. Description of the Related Art Conventionally, an automobile navigation device that obtains an appropriate route from a current point of a vehicle to a destination point and guides the route to the driver of the vehicle by using a display on the display or voice is used. This navigation device accepts the setting of a destination point by a user's operation, specifies the current location of the car using a position specifying technology such as GPS (Global Positioning System), and is stored in a storage device such as an optical disk or a hard disk. The optimum route from the current location to the destination location is searched based on the map data. Thereafter, as the vehicle travels, the route is guided to the driver while sequentially identifying the position of the vehicle.

  The map data used by such a navigation device for route search is configured to include nodes indicating road intersections, branch points, toll gates, etc., and links that are routes connecting the nodes. Yes. Each link is provided with a link ID, which is information for identifying the link, a link length, a road type such as a national road or a prefectural road, road width, information indicating charge or free, information indicating traffic regulation, and the like. Each node is given the number of links connected to the node, a link ID, information indicating traffic restrictions between the links, and the like. The navigation device uses the information of each node and each link of the map data as described above to calculate a road cost that is a value indicating the ease of passing the road based on the length or type of the road. Search for an appropriate route by connecting links so that the sum is minimized.

By the way, in the navigation device, it is possible to set a condition for either searching for a route giving priority to a toll road or searching for a route giving priority to a free road as a condition for performing a route search. ing. For example, if you want to shorten the time as much as possible, you can search for routes that preferentially use toll roads such as expressways, and if you want to make it as cheap as possible, you can search for routes that preferentially use free roads. it can. Patent Document 1 discloses a technique for determining whether the current location of an automobile is a specific road such as an expressway or a general road, and searching for a route according to the determined result.
JP 2003-99890 A

  By the way, some toll roads have free sections that can be passed without paying tolls. This free section occurs when there is an entrance to the free road and an exit to the free road in the middle of the toll road, and there is no toll gate between the entrance and exit. However, the conventional navigation device also uses a toll road that is not selected as a route for a free section of a toll road when conditions for prioritizing the free road are set based on information given to a link corresponding to the free section. It is determined that the link is. Therefore, even if the route including the free section of the toll road is an appropriate route, if a condition that gives priority to the free road is set, a route that bypasses the free section is selected as an appropriate route. Normally, the purpose of setting conditions that give priority to free roads is not to bypass toll roads, but to avoid paying tolls for toll roads. There is a possibility of selecting another route even though there is a proper route.

  The present invention has been made in view of such circumstances, and the object of the present invention is to search for a route that can select an appropriate route that meets the user's purpose of avoiding payment of tolls. A method, a route search device, and a navigation device are provided.

In the route search method according to the first invention, a plurality of nodes indicating each of a plurality of points, a plurality of links indicating roads connecting the nodes, and a road corresponding to each link is a toll road or a free road When searching for a route from a departure point to a destination point consisting of a plurality of continuous links based on map data including road information indicating the above, a selection step of selecting one link, and the map data A toll road determination step for determining whether a road corresponding to the link selected in the selection step is a toll road or a free road based on road information, and a road corresponding to the link in the toll road determination step If is it is determined that the free road, the route searching method comprising determining that said link is candidate of links constituting the route, If the road corresponding to the link in the serial toll road determining step is determined to be a toll road, on the basis of the map data, the road corresponding to the link, enters from the free road without passing through the toll booth And a free section determination step for determining whether or not a free section is allowed to exit to a free road, and when the road corresponding to the link is determined to be a free section of a toll road, link further seen contains and determining that the candidate of the links constituting the route, characterized by searching for a route from a link that is a candidate of the links constituting the route.

  In the route search method according to the second aspect of the present invention, the plurality of nodes included in the map data include a node indicating a toll gate of a toll road, and the free section determination step is based on the map data, Determining whether the node at the end of the link selected in the selection step is a toll gate node indicating a toll gate of a toll road; and if it is determined that the node is a toll gate node, A step of determining that the corresponding road is not a free section of a toll road, and if it is determined that the node is not a toll gate node, based on the map data, the node enters or exits the node A step of determining whether or not another link indicating a free road capable of leaving is connected; and determining that another link indicating the free road is connected to the node. If the node is defined as a free node having the possibility of a free section, and the nodes at both ends of the link selected by the selection means are both defined as free nodes, Determining that the road corresponding to the link is a free section of a toll road.

The route search device according to the third invention is a plurality of nodes indicating each of a plurality of points, a plurality of links indicating roads connecting the nodes, and a road corresponding to each link is a toll road or a free road Storage means for storing map data including road information indicating such information, and search means for searching for a route from a departure point to a destination point, which is composed of a plurality of continuous links, based on the map data stored in the storage means. The search means includes a selection means for selecting one link, and a road corresponding to the link selected by the selection means based on the road information included in the map data is a toll road or a free road And a toll road judging means for judging whether the road corresponding to the link is a free road by the toll road judging means. In the route search device and a determining means that the candidate of click, the search means, when the road corresponding to the link by the toll road determination means determines that the toll road, the map data Free section determination means for determining whether or not the road corresponding to the link is a free section that allows entry to and exit from a free road without going through a toll gate ; , by the free zone determining means, when the road corresponding to the link is determined to be a free section of the toll road, a means for determining that the candidate links the links constituting the route, the route And a means for searching for a route from a link that is a candidate for the link to be configured.

  In the route search device according to a fourth aspect of the present invention, the plurality of nodes included in the map data includes a node indicating a toll gate of a toll road, and the free section determination means is based on the map data, Means for determining whether or not the node at the end of the link selected by the selection means is a toll gate node indicating a toll gate of a toll road, and if it is determined that the node is a toll gate node, Means for determining that the corresponding road is not a free section of a toll road, and if it is determined that the node is not a toll gate node, based on the map data, Means for determining whether or not another link indicating a free road capable of leaving is connected, and when it is determined that another link indicating the free road is connected to the node, the node The road corresponding to the link is defined as a free node having the possibility of a free section and a node corresponding to the link selected by the selection means is defined as a free node. And a means for determining that it is a free section of a toll road.

  In the route search device according to a fifth aspect of the present invention, the free section determination means is connected to a node at the end of the link selected by the selection means with another link indicating a free road that can enter or leave the node. If it is determined that it is not, means for determining whether another link that has already been determined to be a free section is connected to the node, and determination that the node is already a free section And a means for defining that the node is a free node when it is determined that the other link is connected.

  In the route search device according to the sixth invention, the free section determining means determines that another link that has already been determined to be a free section is not connected to the node at the end of the link selected by the selecting means. The other end of the other link connected to the node, another link indicating a free road that can be entered or exited, or another link that has already been determined to be a free section Is connected to the other end node and another link indicating the free road or another link already determined to be a free section. If it is determined, the information processing apparatus further includes means for defining that the node at the end of the link selected by the selection means is a free node.

  In the route search device according to a seventh aspect of the present invention, the free section determination means is determined to be another link indicating a free road that can enter or leave, or a free section, to the node at the other end. If it is determined that no other link is connected, the end of the link connected to the end node of the link selected by the selection means via another link and another node that is not the toll gate node. A means for determining whether or not another link indicating a free road that can enter or leave the node or another link that has already been determined to be a free section is connected to the node, and the selection means selects A link to the end node of the link connected to the end node of the link via another link and another node that is not the toll gate node, or another link indicating the free road or an already free zone And a means for defining that the node at the end of the link selected by the selection means is a free node when it is determined that another link that is determined to be connected is connected. And

  A navigation device according to an eighth aspect includes the route search device according to any one of the third to seventh aspects, and means for guiding a route searched by the route search device.

  In the first, third and eighth inventions, when searching for an appropriate route from the starting point to the destination point with priority on a free road that is not a toll road, even if the link is a toll road, If it is a link indicating a free section of a toll road, it can be used as a link constituting a route from a departure point to a destination point.

  In the second and fourth inventions, if any of the nodes at both ends of the link is a toll gate node, the road corresponding to the link is not a free section. If another link indicating a free road that can enter or leave is connected to the node at the end of the link, this node is defined as a free node with the possibility of a free section, and both ends of the link When both of the nodes are free nodes, it is determined that the road corresponding to the link is a free section.

  In the fifth invention, even if the node is not connected to a link of a free road, if the node is connected to a link indicating a road that has already been determined to be a free section, the node is a free node. It prescribes that there is.

  In the sixth invention, even if the node is not directly connected to the link of the free road or free section, the link of the free road or free section to the node at the other end of the other link connected to the node Is connected, it is defined that the node is a free node.

  In the seventh invention, even if a free road or a link of a free section is not connected to the node at the end of the link directly connected to the node, the node is not another link or other toll gate node When a free road or a link of a free section is connected to a node at the end of a link connected via a node, the node is defined as a free node.

  In the first, third and eighth inventions, when searching for a route under conditions that give priority to free roads, it is possible to search for routes via free sections of toll roads. While satisfying the user's purpose of avoiding payment, it is possible to search for a more appropriate route than before.

  In the second and fourth inventions, a node is defined as a free node when the node at the end of the link is connected to a link indicating a free road, and the link is free when the nodes at both ends are free nodes By determining that the link is a section link, the free section can be easily determined.

  In the fifth invention, by defining a node connected to another free section as a free node, it is possible to determine a free section that is free by passing through another free section. .

  In the sixth and seventh inventions, a node connected to a link indicating a free section or a link indicating a free road via another link is defined as a free node, thereby corresponding to a specific other link. The present invention has an excellent effect, such as being able to determine a free section that is free by passing through a road.

Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof.
FIG. 1 is a block diagram showing the internal configuration of the route search apparatus of the present invention. The route search apparatus 1 of the present invention is installed in an automobile and is configured to search for an appropriate route to a destination point while specifying the current location of the automobile. The route search device 1 has a function of guiding the current location of the vehicle and the searched route to the driver, and is configured to function as the navigation device of the present invention. The route search apparatus 1 includes a processing unit 11 including a CPU for performing calculation, a RAM for storing temporary information associated with the calculation, a ROM for storing a processing program for causing the CPU to perform route search processing, and the like. . The processing unit 11 is configured to function as search means according to the present invention by performing processing for specifying the current location of the vehicle and processing for searching for an appropriate route to the destination location. Further, the processing unit 11 is configured to control connected devices to be described later.

  An operation unit 12 is connected to the processing unit 11, and when the user operates the operation unit 12, the processing unit 11 is configured to receive information necessary for route search such as designation of a destination point. . The processing unit 11 is connected to a display unit 13 such as a liquid crystal display and a voice output unit 14 that outputs voice for route guidance. The processing unit 11 is configured to cause the display unit 13 to display the map, the current location of the car on the map, and the route, and to output the voice for route guidance according to the current location and the route to the audio output unit 14. ing.

  The processing unit 11 is connected to a GPS antenna 15 that receives radio waves from a GPS satellite and a vehicle speed pulse detection unit 16 that detects a vehicle speed pulse of the automobile. The processing unit 11 is configured to perform processing for identifying the current location of the vehicle based on the radio wave received from the GPS satellite 15 and the vehicle speed pulse detected by the vehicle speed pulse detection unit 16.

  The processing unit 11 is connected to a storage unit 17 made of a hard disk or a nonvolatile semiconductor memory. The storage unit (storage means) 17 stores map data 17a, and the processing unit 11 displays a map using the map data 17a stored in the storage unit 17 on the display unit 13, and also displays the map data 17a. Based on this, a process for searching for an appropriate route to the destination point is performed. The map data 17a is not stored in the storage unit 17, but is recorded in an optical disk such as a CD-ROM or DVD-ROM, or is received from the outside of the route search device 1 as needed. Also good.

  The map data 17a stored in the storage unit 17 includes nodes indicating road intersections, branch points, and the like, and links that are routes connecting the nodes. The node also includes a node indicating a toll gate on the toll road. A link corresponds to a road connecting points corresponding to nodes. Each link also includes link ID, link length, road type, road type such as national or prefectural road, road width, road information indicating whether it is a toll road or a free road, and traffic restrictions. Attribute information such as information to be shown is given. Each node is given attribute information such as the number of links connected to the node, a link ID, and information indicating traffic regulation between the links.

  The route search device 1 is configured to be able to perform a process of searching for a route with priority on a toll road during a route search and a process of searching for a route with priority on a free road. When the user operates the operation unit 12, the processing unit 11 accepts a priority instruction for giving priority to the toll road or the toll road, and sets conditions for giving priority to the toll road or the toll road. To do. The processing unit 11 normally calculates a road cost that is a value indicating the ease of passing the road based on the length or type of the road, and links to the destination point so that the total road cost is minimized. Search for the appropriate route. At this time, when the condition for prioritizing the toll road is set, the processing unit 11 can select the link corresponding to the toll road as the link constituting the route.

  Further, in the present invention, the route search device 1 is configured to be able to search for a route using a free section of a toll road when performing a process of searching for a route under conditions that give priority to a free road. Yes. FIG. 2 is a schematic diagram schematically showing a route searched by the route search device 1 of the present invention with priority on a free road. FIG. 2A shows a conventional route giving priority to a free road, and FIG. 2B shows a route according to the present invention when giving priority to a free road. In the figure, free road links are indicated by single lines, toll road links are indicated by double lines, nodes corresponding to toll road toll gates are indicated by white circles, and nodes corresponding to normal intersections are indicated by black circles. Show. A conventional route when priority is given to a free road, as shown by an arrow in FIG. 2A, is a route that passes only through a free road without passing through a toll road. The link L1 in the figure is a toll road link, but the nodes N1 and N2 at both ends are not toll gates indicating a toll gate, and both the nodes N1 and N2 at both ends can enter and exit. Free road links are connected. Therefore, the road corresponding to the link L1 is a free section of the toll road. When the free road is given priority, the route according to the present invention is shorter than the conventional route by passing through the link L1 of the free section as shown by the arrow in FIG.

  Next, processing performed by the route search device 1 of the present invention when searching for a route with priority on a free road will be described. The processing unit 11 receives the designation of the destination point, identifies the current location of the car, selects a link candidate that constitutes a route from the current location to the destination location, and calculates the road cost of the selected link. A process for searching for a route from the current point (departure point) to the destination point is performed by finally selecting a link that minimizes the total road cost. When the processing unit 11 performs a process of selecting a link that is a candidate for a link that configures a route, the processing unit 11 performs a link determination process that determines whether the selected link is eligible as a link that configures the route. The processing unit 11 again selects a link determined to be eligible in the link determination process as a link candidate constituting the route, and the link determined to be inappropriate in the link determination processing is a link constituting the route. To exclude from the candidates.

  Next, the link determination process performed by the processing unit 11 will be described. FIG. 3 is a flowchart illustrating the procedure of the link determination process performed by the processing unit 11. The processing unit 11 determines whether or not the road information included in the attribute information given to the selected link indicates a toll road in the map data 17a stored in the storage unit 17 (S11). . When the road information indicates a free road (S11: NO), the processing unit 11 determines that the selected link is eligible as a link candidate that forms a route from the current point to the destination point (S15). The link determination process ends.

  If the road information indicates a toll road in step S11 (S11: YES), the processing unit 11 next determines whether the road corresponding to the selected link is a toll road free section. A section check process subroutine is executed (S12). Next, the processing unit 11 determines whether or not it is determined to be a free section in the free section check process of step S12 (S13). When it is determined that it is a free section (S13: YES), the processing unit 11 determines that the selected link is eligible as a link candidate that forms a route from the current location to the destination location (S15), The link determination process is terminated. When it is determined that the section is not a free section (S13: NO), the processing unit 11 determines that the selected link is not suitable as a link candidate constituting a route from the current point to the destination point (S14), The link determination process is terminated.

  Next, the free section check process subroutine of step S12 will be described. FIG. 4 is a flowchart showing a processing procedure of a subroutine of free section check processing. The processing unit 11 selects the node at the starting point of the selected link (S21), investigates the selected node, and indicates that the toll node connected to the toll gate or the road corresponding to the link is a free section. A free node check processing subroutine for defining a node as one of the free nodes having the possibility is executed (S22). Next, the processing unit 11 determines whether or not the start node is defined as a free node in the free node check process in step S22 (S23). When it is defined that the starting node is a toll node (S23: NO), the processing unit 11 determines that the road corresponding to the selected link is not a toll road free section (S29). The check process subroutine is terminated, and the process returns to the link determination process.

  If it is defined in step S23 that the starting node is a free node (S23: YES), the processing unit 11 selects the end node of the selected link (S24), and the free node is the same as in step S22. A check processing subroutine is executed (S25). Next, the processing unit 11 determines whether or not the end node is defined as a free node in the free node check process in step S25 (S26). When it is defined that the end node is a toll node (S26: NO), the processing unit 11 determines that the road corresponding to the selected link is not a toll road free section (S29), and the toll section The check process subroutine is terminated, and the process returns to the link determination process. When it is defined that the end node is a free node (S26: YES), the processing unit 11 determines that the road corresponding to the selected link is a toll road free section (S27). Next, the processing unit 11 stores the selected link in the internal RAM as a free section link (S28), ends the free section check processing subroutine, and returns the processing to the link determination processing.

  Next, a subroutine for the free node check process will be described. FIG. 5 is a flowchart showing a processing procedure of a subroutine of free node check processing. The processing unit 11 determines whether or not the selected node is a toll gate node indicating a toll gate (S301). If the selected node is a toll gate node (S301: YES), the processing unit 11 defines that the selected node is a pay node (S302), and ends the current free node check processing subroutine. Return the processing to the upper routine.

  If the node selected in step S301 is not a toll gate node (S301: NO), the processing unit 11 connects a link indicating a free road that can be entered or exited to the selected node based on the map data 17a. It is determined whether it has been performed (S303). When a link indicating a free road is connected to the selected node (S303: YES), the processing unit 11 defines that the selected node is a free node (S304), and a current free node check processing subroutine. To return to the upper routine.

  When the link indicating the free road is not connected to the node in step S303 (S303: NO), the processing unit 11 links the other free section stored in the RAM inside the processing unit 11 to the selected node. It is determined whether or not is connected (S305). When the link of another free section is connected to the selected node (S305: YES), the processing unit 11 defines that the selected node is a free node (S304), and the current free node check process The subroutine is terminated and the process returns to the upper routine.

  When the link of the other free section is not connected to the node in step S305 (S305: NO), the processing unit 11 selects one link among one or a plurality of links connected to the selected node. (S306). Next, the processing unit 11 selects the node at the other end of the selected link (S307). Next, the processing unit 11 executes a recursion process of a subroutine of a free node check process so as to define the selected node as either a free node or a paid node (S308).

  Next, the processing unit 11 determines whether or not the node selected in step S307 is defined as a free node in the free node check process in step S308 (S309). If the node selected in step S307 is defined as a free node (S309: YES), the processing unit 11 defines that the node to be defined in the current subroutine is a free node (S304). ), The current free node check subroutine is terminated, and the process returns to the upper routine. If the node selected in step S307 is defined as a paid node (S309: NO), other links that have not yet been subjected to the free node check process for the other node are defined in the current subroutine. It is determined whether or not it is still connected to the target node (S310). If another link is connected (S310: YES), the processing unit 11 returns the process to step S306, and selects one link that has not yet been subjected to the free node check process for the other node. To do. If another link that has not yet been subjected to the free node check process is no longer connected to the other node (S310: NO), the processing unit 11 determines which node is the target to be defined in the current subroutine. It is defined that the node is a pay node (S302), the current free node check processing subroutine is terminated, and the processing is returned to the upper routine.

  By executing the free node check processing subroutine including the recursive processing as described above, all nodes can be defined as pay nodes or free nodes. The free node specified here is the node directly connected to the link of the free section or the link indicating the free road, and the node at the other end of the other connected link is the link of the free section or the free road. The node connected to the link shown and the node at the end of the link connected via another link and other nodes that are not tollgate nodes are connected to the link of the free section or the link showing the free road With nodes. In addition, in order to shorten calculation time, the form which performs the process which restrict | limited the repetition frequency of the recursive process may be sufficient.

  As described in detail above, in the present invention, when searching for a route under conditions that give priority to a free road, it is possible to search for a route via a free section of a toll road, thus avoiding payment of a toll. While satisfying the user's purpose to do, it is possible to search for a more appropriate route than before.

  Further, in the present invention, a node is defined as a free node when the end node of the link is connected to a link indicating a free road, and the link is a free section link when both end nodes are free nodes. By determining that it is, the free section can be easily determined. In the present invention, by defining a node connected to another free section as a free node, it is possible to determine a free section that is free by passing through another free section. . Furthermore, in the present invention, a node connected to a link indicating a free section or a link indicating a free road via another link is defined as a free node, thereby passing through a road corresponding to a specific other link. Thus, it is possible to determine a free section that is free by passing.

  Note that, in the present embodiment, the route search device 1 shows a form in which processing is always performed so that a free section of a toll road can be used when searching for a route under conditions that give priority to a free road. However, a configuration in which the setting between a condition for using a free section of a toll road and a condition for not using a toll road even in a free section may be switched by an operation from a user.

  Further, in the present embodiment, the form in which the current point of the car is used as the starting point of the route to be searched is shown, but the present invention is not limited to this.

It is a block diagram which shows the internal structure of the route search apparatus of this invention. It is a schematic diagram which shows typically the path | route which the path | route search apparatus of this invention searched with priority on the free road. It is a flowchart which shows the procedure of the link determination process which a process part performs. It is a flowchart which shows the process sequence of the subroutine of a free area check process. It is a flowchart which shows the process sequence of the subroutine of a free node check process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Route search apparatus 11 Processing part (search means)
17 Storage unit (storage means)
17a Map data

Claims (8)

Map data including a plurality of nodes indicating each of a plurality of points, a plurality of links indicating roads connecting the nodes, and road information indicating whether the road corresponding to each link is a toll road or a free road Based on this, when searching for the route from the starting point to the destination point consisting of a series of links,
Based on the selection step for selecting one link and the road information included in the map data, it is determined whether the road corresponding to the link selected in the selection step is a toll road or a free road. route including a road determining step, if the road corresponding to the link in the organic charge road determining step is determined to be free road, and determining that the link is candidate of links constituting the route In the search method,
If it is determined in the toll road determination step that the road corresponding to the link is a toll road, the road corresponding to the link enters from the free road without going through the toll gate based on the map data. And a free section determination step for determining whether the section is a free section that allows exit to a free road ,
If road corresponding to the link is determined to be a free section of the toll road, further saw including a determining that said link is candidate of links constituting the route,
A route search method characterized in that a route is searched from links that are candidates for links constituting the route. The plurality of nodes included in the map data includes a node indicating a toll gate of a toll road,
The free section determination step includes
Determining whether the node at the end of the link selected in the selection step is a toll gate node indicating a toll gate of a toll road, based on the map data;
Determining that the road corresponding to the link is not a free section of a toll road if the node is determined to be a toll gate node;
When it is determined that the node is not a toll gate node, based on the map data, whether or not another link indicating a free road that can enter or leave the node is connected to the node Determining whether or not
If it is determined that another link indicating the free road is connected to the node, the node is defined as a free node having a possibility of a free section;
Determining that a road corresponding to the link is a free section of a toll road when both nodes of the link selected by the selection means are defined as free nodes. The route search method according to claim 1. Map data including a plurality of nodes indicating each of a plurality of points, a plurality of links indicating roads connecting the nodes, and road information indicating whether the road corresponding to each link is a toll road or a free road Storage means for storing, and search means for searching for a route from a starting point to a destination point composed of a plurality of continuous links based on map data stored in the storing means,
The search means is a selection means for selecting one link, and a road corresponding to the link selected by the selection means based on the road information included in the map data is a toll road or a free road a toll road determining means for determining whether, if a road corresponding to the link by said organic charge road determining means is determined to be free road, it is determined that the link is candidate of links constituting the route A route search apparatus having means for:
The search means includes
If the road corresponding to the link is determined to be a toll road by the toll road determining means, the road corresponding to the link enters from the free road without going through the toll gate based on the map data. And free section determination means for determining whether or not the free section is capable of leaving the free road ,
By the free zone determining means, when the road corresponding to the link is determined to be a free section of the toll road, a means for determining that the candidate links the links constituting the route,
A route search device further comprising means for searching for a route from a link that is a candidate for a link constituting the route. The plurality of nodes included in the map data includes a node indicating a toll gate of a toll road,
The free section judging means is:
Means for determining whether a node at the end of the link selected by the selection means is a toll gate node indicating a toll gate of a toll road based on the map data;
Means for determining that the road corresponding to the link is not a free section of a toll road if the node is determined to be a toll gate node;
When it is determined that the node is not a toll gate node, based on the map data, whether or not another link indicating a free road that can enter or leave the node is connected to the node Means for determining whether or not
If it is determined that another link indicating the free road is connected to the node, means for defining the node as a free node having a possibility of a free section;
And a means for determining that a road corresponding to the link is a free section of a toll road when both nodes of the link selected by the selection means are defined as free nodes. The route search device according to claim 3. The free section judging means is:
If it is determined that another link indicating a free road that can enter or leave the node is not connected to the node at the end of the link selected by the selection means, the free section is already connected to the node. Means for determining whether another link determined to be connected is connected;
The apparatus further comprising: means for determining that the node is a free node when it is determined that another link that has already been determined to be a free section is connected to the node. 4. The route search device according to 4. The free section judging means is:
When it is determined that another link that has already been determined to be a free section is not connected to the node at the end of the link selected by the selection means, the other end of the other link that is connected to the node A means for determining whether or not another link indicating a free road that can be entered or exited or a further link that has already been determined to be a free section is connected to the node of
If it is determined that another link indicating the free road or another link that has already been determined to be a free section is connected to the node at the other end, the link selected by the selection means The route search device according to claim 5, further comprising: a unit that defines that the end node is a free node. The free section judging means is:
If it is determined that no other link indicating a free road that can be entered or exited or another link that has already been determined to be a free section is not connected to the node at the other end Still other links that indicate free roads that can enter or leave the end nodes of links that are connected via other links and other nodes that are not tollgate nodes to the end node of the link selected by the means Or means for determining whether another link that has already been determined to be a free section is connected;
Still another link indicating the toll road or already free to the end node of the link connected to the end node of the link selected by the selecting means via another link and another node that is not the toll gate node If it is determined that another link that is determined to be a section is connected, the selection means further includes means for defining that the node at the end of the link selected is a free node. The route search device according to claim 6, characterized in that:   A navigation device comprising: the route search device according to claim 3; and means for guiding a route searched by the route search device.

Images