JP4434148B2 - Navigation device and route search method thereof - Google Patents

Description

  The present invention relates to a navigation device, and more particularly, to a navigation device that performs route setting that avoids a specific area only in a specific time zone and a route search method thereof.

  2. Description of the Related Art In recent years, navigation devices that are mounted on vehicles and that display vehicle positions detected by GPS (Global Positioning System) etc. on a map screen and search for routes to destinations have become widespread. Yes. In the route search in this navigation device, a travel route from a departure place to a destination is searched using a Dijkstra method or a method based thereon using a road map stored in a map database.

  In the Dijkstra method, a road map is used in which intersections and turning points of roads are defined as nodes, roads between the nodes are defined as links, and the links are connected. Then, the link cost is calculated using the link information between the links, the link information for each link, and the link information such as traffic restrictions, and the link connection that minimizes the calculated route cost. To set the route to the destination.

  Since the route is set by the connection of the link that minimizes the route cost, the route cost of the corresponding link is set high for the intersection, road, and region that the user wants to avoid. By doing so, it is possible to search for a route that bypasses the avoidance area (see, for example, Patent Document 1).

However, there is a case where it is desired to avoid only a certain time period as a way of avoiding it. For example, when it is desired to avoid a specific intersection or railroad crossing only in the morning rush hours, it is necessary to avoid only a specific time zone that is crowded around a specific facility. Such a route search when there is an avoidance region to be avoided only in the specific time zone cannot be performed by the method of setting the route cost constantly high as described above.
Japanese Patent Laid-Open No. 11-83519

  The present invention has been made to solve such problems of the prior art, and the problem is that a route search method capable of searching for a route to a destination while avoiding a specific region only in a specific time zone. And a navigation device using the route search method.

The invention according to claim 1 for solving the above-mentioned problem is a navigation device provided with route search means for searching for a travel route to a specified destination for setting an avoidance region for avoiding travel. The avoidance area setting means and an avoidance time zone setting means for setting an avoidance time zone of the avoidance area set by the avoidance area setting means, the route search means initially set the avoidance area A route search is performed on the assumption that the route is not detected, and the travel route searched by the route search passes through the avoidance area set by the avoidance area setting means in the avoidance time period set by the avoidance time zone setting means. whether determined, if it is determined not to pass is determined as the travel route searched the travel route, the route search when determining to pass again in the impassable handling the avoidance area A navigation device, wherein the Nau.

According to the navigation device having such a configuration, an intersection, a road, or the like that is crowded only during a specific time zone such as a rush hour can be set as an avoidance area at any time, and a travel route that avoids the avoidance area can be obtained. . In addition, it is possible to obtain a travel route that avoids the avoidance area in the avoidance time zone with a relatively small calculation amount.

According to a second aspect of the present invention, in the navigation device according to the first aspect, the avoidance area setting means can set a plurality of avoidance areas, and the avoidance time zone setting means is set for each set avoidance area. An avoidance time zone can be set, and the route search means sets the avoidance time zone for any avoidance area set by the avoidance area setting means as a travel route searched for as an avoidance area not set. When it is determined that the vehicle does not pass during the corresponding avoidance time zone set by the setting means, the travel route is determined as the searched travel route, and when it is determined that the vehicle passes, the bypassed avoidance region is treated as prohibited from passing. The route search is performed again .
In this way, if a plurality of avoidance areas and respective avoidance time zones can be set at any time, it is possible to obtain a travel route that avoids only the crowded time zones.

According to a third aspect of the present invention, in the navigation device of the second aspect , when a plurality of the avoidance areas are set and an avoidance time zone for each avoidance area is set, the route search means includes: The second route search is repeatedly executed until a travel route that does not pass through any of the set avoidance regions in the avoidance time zone is searched.
According to the navigation device that performs such a route search, it is possible to obtain a travel route that avoids all of the plurality of avoidance areas in the avoidance time zone with a relatively small amount of calculation.

In the invention according to claim 4 , the avoidance time zone can be set by combining at least one of the elements including date, day of the week, and time by the avoidance time zone setting means. This makes it possible to set a detailed time zone that specifies weekdays, weekends, specific days (as an example, holidays), etc., and it is possible to obtain a travel route that matches the user's living conditions.

The invention according to claim 5 is a route search method for searching a travel route of a vehicle to a destination, wherein a first step of setting an avoidance region to avoid travel before the route search, A second step that receives the setting of the avoidance time zone of the avoidance area, and when the avoidance area and the avoidance time zone are set, the route search is first performed assuming that the avoidance area is not set, and the next It is determined whether or not to pass the avoidance area in which the travel route searched by the route search is set in the avoidance time zone, and if it is determined not to pass, the travel route is determined as the searched travel route, If it is determined that the vehicle passes , the route search method is characterized in that the avoidance area is prohibited from passing and the route search is performed again .
Such a route search method has the same effect as that of the first aspect of the invention.

According to a sixth aspect of the present invention, in the route search method according to the fifth aspect , a plurality of avoidance areas can be set in the first step, and in the first step in the first step. The avoidance time zone can be set for each set avoidance region , and the travel route searched for the route not assuming the avoidance region is set in any of the set avoidance regions. When it is determined that the vehicle does not pass through the belt, the travel route is determined as the searched travel route, and when it is determined that the vehicle passes, the route is avoided and the route search is performed again. To do.
Such a route search method has the same effect as that of the second aspect of the invention.

According to a seventh aspect of the present invention, in the route search method according to the sixth aspect , when a plurality of avoidance areas are set and an avoidance time zone for each avoidance area is set, the route search means The re-route search is repeatedly performed until a travel route that does not pass through any of the set avoidance regions in the avoidance time zone is searched.
Such route search method, the same effect as the invention described in claim 3.

In the invention according to claim 8 , the avoidance time zone can be set by combining at least one of the elements including date, day of the week, and time in the second step.
Such a route search method has the same effect as that of the fourth aspect of the invention.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a navigation device according to the embodiment. The navigation device 1 includes a control circuit 2, a GPS receiver 3, a distance sensor 4, a vehicle body direction sensor 5, an operation switch group 6, a display device 8, an audio output device 9, and a magnetic disk device (hereinafter referred to as HDD) 10. Configured.

  The control circuit 2 has a function of controlling the overall operation of the navigation device 1 and is mainly composed of a microcomputer. Inside the CPU 11, a RAM 12, a ROM 13, a bus line (not shown) for connecting them, an I / O Provided with interface, power supply, etc.

  The GPS receiver 3 receives radio waves from a plurality of GPS artificial satellites, calculates the current position of the vehicle, and transmits it to the control circuit 2. The distance sensor 4 is a sensor that measures the travel distance, and measures the travel distance by counting the number of rotations of the front wheel, for example. The vehicle body orientation sensor 5 includes a gyroscope, a geomagnetic sensor, and the like, and detects the vehicle body orientation. The measured values of the distance sensor 4 and the vehicle body direction sensor 5 are used not only for correcting the current position coordinates calculated by the GPS receiver 3 but also for guiding the route to the destination.

  The operation switch group 6 is used to input commands and data to the control circuit 2 and includes, for example, a touch switch and a remote control switch formed on a color liquid crystal display. The display device 8 is for displaying a road map, the current position of the vehicle, a recommended route to the destination, route guidance, and the like, and is constituted by a color liquid crystal display, for example. The voice output device 9 is used to change the output information from the control circuit 2 to an artificial voice and transmit it to the driver, and is used for route guidance to a destination.

  In the HDD 10, map data including a road map and programs necessary for exhibiting various functions of the navigation device 1 are stored in advance. In this program, a program for executing a general navigation function in addition to a program for exhibiting a function peculiar to the present invention to be described later, for example, a position coordinate calculated by the GPS receiver 3, a distance sensor 4, a vehicle body Function to correct with detection value of direction sensor 5 etc., Map matching processing function to determine the current position of the vehicle by positioning the corrected position coordinates on the map, from the current position to the destination upon receiving designation of destination and waypoint A program for executing a route search function for searching the route, a route guidance function for displaying and guiding a travel route according to the route search result on a map screen, and the like are included.

  In addition to the above devices, the navigation device 1 includes an acceleration sensor for detecting acceleration in the vertical / front / rear / left / right directions of the vehicle, a vehicle body tilt angle sensor for detecting a vehicle body tilt angle, a VICS (Vehicle Information & A communication device for receiving road traffic information from the Communication System is installed if necessary.

  Next, the route search method of the present invention under such a configuration will be described with reference to FIGS. FIG. 2 shows a flow of route search performed by the control circuit 2. In the first step S1, the user receives designation of an avoidance area to avoid traveling and an avoidance time zone. Note that the pointing mark outside the frame indicates that the user's operation is received (the same applies hereinafter).

  The designation of the avoidance area and the avoidance time zone is received by displaying the avoidance area setting screen 20 as illustrated in FIG. In the screen, the road map 21 in the map data stored in the HDD 10 is displayed. The user operates the scroll button 22, the enlargement button 23, and the reduction button 24 provided on the screen to display the desired portion of the road map on the screen, and designates the avoidance area 25 thereon (first step).

  The avoidance area may be specified by a rectangular range as shown on the screen by a cursor operation, or may be specified by a polygon connecting a number of points input by the cursor. In addition, the avoidance region may be specified by a point or a line segment in addition to the range having such an area. Point designation is used, for example, when it is desired to avoid only the passage of the intersection A in the figure, and line designation is used, for example, when it is desired to avoid only the road section connecting the intersections A and B in the figure. The point is specified by specifying the vicinity of the point with the cursor. The line segment is specified by specifying the vicinity of both end points with the cursor.

  If the avoidance area is designated in this way, the avoidance time zone is set in the avoidance time zone input field 26 (second step). Then, the avoidance area confirmation button 27 is pressed. A plurality of avoidance areas can be specified, and an avoidance time zone is set for each avoidance area. FIG. 3 shows a case where an avoidance time zone is set for the avoidance area every day from 7:30 to 9:00, but this avoidance time zone includes the date (year / month / day, month / day), day of the week, It can be set by arbitrarily combining at least one of the time elements.

  Specifically, for the avoidance area set near the crowded area of the office, the avoidance area set near the shopping center from 7:00 to 8:00 on weekdays (that is, Monday to Friday) where traffic jams due to commuting 10:00 to 17:00 on Saturdays and Sundays crowded with shoppers, and the entire day of January 1 crowded with first-time visitors to the avoidance area set near the shrine A detailed avoidance time zone that matches the situation can be set.

  Furthermore, a date, a day of the week, and a time can be set for a plurality of days, a plurality of days of the week, and a plurality of time widths, respectively. For example, weekdays from 7:00 to 8:00, and from 17:00 to 18:00, January 1st, 2nd and 3rd all day, 1st of every month 7:00 to 8:00 Etc. can also be set. Similarly, you can set holidays, the last working day of each month, and so on. These settings are displayed in the avoidance time zone input field 26.

  Each time the avoidance area determination button 27 is pressed, the control circuit 2 reads the specified avoidance area and its avoidance time zone and stores them in the HDD 10 (step S2). When storing the avoidance area, the position of the boundary line surrounding the avoidance area is stored, and the road section included in the avoidance area is also stored. The storage of road sections included in this avoidance area will be described with reference to FIG.

  The road map used for route search is a road map configured by defining intersections, turning points, dead ends, etc. of each road as nodes and links (road sections) between the nodes, and connecting the links. is there. The road map 21 shown in FIG. 3 is stored in the map data as a combination of nodes and links as shown in FIG. The intersections of the line segments in the figure are nodes, and N1 to N10 are node numbers given to some of the nodes. Intersection A corresponds to node N8, intersection B corresponds to node N4, and intersection C corresponds to node N5. A line segment connecting each node is a link, and L1 to L10 are link numbers given to some of the links. The road section connecting the intersections A and B corresponds to the link L6, the road section connecting the intersections B and C to the link L4, and the road section connecting the intersections C and A to the link L7.

  In order to store the position of the boundary line surrounding the avoidance area, the coordinates of the corners of the polygon that defines the boundary may be stored. In the case of the avoidance area 25 illustrated in FIGS. 3 and 4, the coordinates of the four corners, a, b, c, and d of the avoidance area 25 in FIG. 4 may be stored.

  On the other hand, for the links included in the avoidance area, a link that intersects the boundary line around the avoidance area and a link in which at least one end (node) is located on the boundary line are stored. As for a link in which the entire link including both ends is included inside the avoidance area, such a link may not be referred to when searching for a route, as will be described later, and may be omitted. Therefore, for the avoidance area 25 illustrated in FIGS. 3 and 4, seven links L1, L2, L3, L5, L8, L9, and L10 indicated by dotted lines in FIG. 5 are stored. The storage of the links L4, L6, and L7 may be omitted.

  The link included in the avoidance area is specified as follows. That is, for each node included in the road map, the position coordinates (latitude, longitude) and the number of the link connected to the node are stored as node attribute data. As for the link, the node numbers at both ends, the link shape (the length of the road section, the width of the road, the direction, the degree of bending, the gradient, etc.), the road type, the traffic regulation, etc. are stored as link attribute data. Since the avoidance area has already been specified by the designation, a node existing inside or on the boundary line of the avoidance area is specified with reference to the node attribute data. Next, the link included in the avoidance area is specified by referring to the link attribute data from the specified node.

  When the avoidance area is designated by a point, for example, when one point near the intersection A in the road map 21 of FIG. 3 is designated as the avoidance area by the cursor, the node closest to the point designated by the cursor is selected. The node attribute data is searched for, and the node is identified as the node N8 representing the intersection A. The node N8 is treated as an avoidance area. As links included in the avoidance area in this case, five links L6 to L10 connected to the node N8 indicated by a dotted line in FIG. 6 are stored.

  When the avoidance area is designated by a line segment, for example, when the road section (link N6) between the intersections A and B in the road map 21 in FIG. 3 is designated, the link N6 indicated by the dotted line in FIG. The seven links L1, L3, L4, L7, L8, L9, and L10 connected to the nodes N4 and N8 at both ends are stored.

  When the boundary line position of the avoidance area, the link (road section) included in the avoidance area, and the avoidance time zone are thus stored, the process proceeds to the next step S3. In step S3, designation of the departure place, departure time, and destination is received by the user. The operation switch group 6 and the display device 8 are used for designation. The method of specifying these items is the same as the conventional method. The starting point and the destination may be specified by the name of the facility or the telephone number, or by a method of specifying the position on the map displayed on the screen of the display device 8 with a cursor. If no departure place is designated, the current position of the vehicle is taken as the departure place. If no departure time is designated, the current time is taken as the departure time.

  If the designation of the destination is finished, the process proceeds to step S4. In step S4, a route search to the destination is performed. Hereinafter, the case where the road map is as shown in FIG. 8 and the route search from the departure point S to the destination D is performed will be described as an example. The avoidance area 25 and the avoidance area 30 are designated as the avoidance area, the avoidance time zone of the avoidance area 25 is 7:30 to 8:30, and the avoidance time period of the avoidance area 30 is 7:45 to Assume that it is specified at 8:45.

In the route search in step S4, the route search is executed by ignoring the two avoidance areas, that is, assuming that no avoidance area is set. As a route search method, the same Dijkstra method as that used in the past or a method equivalent thereto is used, and a route connected with a link having a minimum route cost calculated based on link information is set as a search route.
In the case of the example of FIG. 8 as a result of such route search, the travel route 40 having the shortest distance from the departure point S to the destination D through the nodes N20 and N21 as shown by a thick line in FIG. Explored. If the travel route is calculated, the process proceeds to step S5.

  In step S5, it is determined whether or not the calculated travel route 40 passes through the set avoidance area. Whether or not to pass through the avoidance area can be determined by whether or not any link belonging to the avoidance area stored in step S2 is included in the calculated travel route 40. If none of the avoidance areas pass, the process proceeds to step S8, and the route obtained in step S4 is determined as the travel route.

  In the example of FIG. 9, the obtained travel route 40 passes through the avoidance area 25. Accordingly, in this case, the process proceeds to step S6, where it is determined whether or not the passage time zone from entering the avoidance area 25 to exiting overlaps with the avoidance time zone of the avoidance area 25 from 7:30 to 8:30. judge. The passing time zone can be calculated from the time required to enter the avoidance area 25, the time required to exit, and the departure time. The required time is calculated from the length of each link, the road type of each link, and the average traveling speed according to the speed regulation.

  Even if the travel route passes through the avoidance area, there is no problem if the passing time zone does not overlap with the avoidance time zone of the avoidance zone. In that case, the process proceeds to step S8, and the route obtained in step S4 is determined as the travel route. In the example of FIG. 9, it is assumed that the passage time zone of the avoidance area 25 by the travel route 40 overlaps the avoidance time zone of the avoidance area 25. In that case, the process proceeds to step S7.

  In step S7, the avoidance area 25 is prohibited from passing. Then, the process returns to step S4, and the route search calculation is executed again. In the calculation in this case, the entire avoidance area 25 is prohibited and the avoidance area 30 is allowed to pass.

  The Dijkstra method searches for a link connection that minimizes the path cost. That is, a search is performed with a low link cost for a link preferable for use as a travel route, and a high link cost for an unfavorable link such as a narrow road or a low maximum speed limit value. . Therefore, a very high route cost is added so that it is not adopted as a travel route for a prohibited link, but such a prohibited link is not adopted in the end, so such a link does not exist in the calculation by the Dijkstra method. You can treat it as something you do not.

  For this reason, when the calculation by the Dijkstra method is performed with the avoidance area 25 prohibited from passing, the links L1, L2, L3, and L5 indicated by the dotted lines in FIG. , L8, L9, and L10 may be treated as not existing. If these seven links do not exist, the links L4, L6, and L7 that are completely included in the avoidance area 25 cannot be selected as the travel route. This is the reason why it is not necessary to store the links L4, L6, and L7 as links included in the avoidance area 25 in the description of FIG.

  Returning to step S4 and performing a route search that prohibits the passage of the avoidance area 25, this time a travel route 41 from the departure point S as shown by a bold line in FIG. 10 to the destination D through the nodes N3 and N22. Is searched. If the travel route is calculated, the process proceeds to step S5 again.

  In step S5, it is determined whether or not the calculated travel route 41 passes through the set avoidance area. Whether or not to pass the avoidance area is determined by whether or not any link belonging to the avoidance area stored in step S2 is included in the travel route 41 calculated in the same manner as before. If none of the avoidance areas pass, the process proceeds to step S8, and the travel route 41 obtained in step S4 is determined as the searched travel route.

A travel route 41 in FIG. 10 passes through the avoidance area 30. Therefore, the process proceeds to step S6, and whether or not the passage time zone from entering the avoidance area 30 to leaving is overlapped with the avoidance time zone of the avoidance area 30 from 7:45 to 8:45 is the same as before. Judgment.
If the travel route 41 does not pass through the avoidance area 30, even if it passes, there is no problem if the passing time zone does not overlap with the avoidance time zone 7: 45-8: 45, which is the avoidance area 30. Step S8 Then, the travel route 41 obtained in step S4 is determined as the searched travel route.

  Assume that the passing time zone of the avoidance area 30 by the travel route 41 in FIG. 10 overlaps the avoidance time zone of the avoidance area 30. In that case, the process proceeds to step S7. In step S7, the avoidance area 30 is also prohibited from passing. Then, returning to step S4, the route search is executed again.

  In the route search in this case, both the avoidance area 25 and the avoidance area 30 are calculated as traffic prohibition. As a result of the calculation, a travel route 42 from the departure point S to the destination D via the nodes N3, N26, N27, N6, N20, and N21 is searched as indicated by a bold line in FIG. This travel route 42 does not pass through any avoidance area. Therefore, the process proceeds from step S5 to step S8, and the travel route 42 is determined as the searched route.

  When the travel route is determined in this way, the user receives a route guidance start instruction in step S9. Then, the process proceeds to step S10 to start route guidance. The method of route guidance is the same as the conventional method. That is, the position of the vehicle is detected by the GPS receiver 3, and the detected position is corrected by detection values of the distance sensor 4, the vehicle body direction sensor 5, and the like. Next, a map matching process for positioning the corrected position on the road on the map on the assumption that the vehicle is traveling on the road is performed to determine the vehicle position. The determined position is displayed on the map on the display device 8 at the same time, and at the same time, it is determined whether or not the left and right turn guidance is to be performed in contrast to the determined travel route. If it is a point to be guided, guidance is provided by the display device 8 and the voice output device 9. The vehicle is guided to the destination by repeating these processes.

  As described above, in the navigation device 1 of the present embodiment, registration of the avoidance area and the avoidance time zone is first received. In the calculation of the route search to the destination, first, the route is searched ignoring the avoidance area. It is determined whether or not the travel according to the searched route passes through the avoidance area in the avoidance time zone. If not, the searched route is determined as the travel route. When passing through the avoidance area in the avoidance time zone, the route search is executed again after prohibiting the passage of the avoidance area.

  Such a process is repeated until the traveling according to the searched route does not pass through the avoidance area in the avoidance time zone. Then, when no avoidance area passes through the avoidance time zone, the search route is determined as the travel route. Therefore, according to such a route search, it is possible to search for a travel route that does not pass through any avoidance area in the avoidance time zone. Further, according to the route search method, the calculation amount of the CPU 11 is relatively small, so that the processing time can be shortened.

  Furthermore, since an avoidance time zone can be set by combining at least one of the elements including date, day of the week, and time, an appropriate avoidance time zone that matches the user's life situation can be set, and usability is improved.

  In the above description of the embodiment, the navigation device for a vehicle has been described. However, the navigation device and the route search method of the present invention can be applied to a mobile terminal other than the vehicle.

It is a block diagram which shows the structure of the navigation apparatus which concerns on one Embodiment of this invention. It is a control flow of route search. It is an example of an avoidance area | region setting screen. It is an example of the road map represented by the connection of a node and a link. It is a figure explaining the method of storing the avoidance area when the avoidance area is specified in a range having an area. It is a figure explaining the method of storing the avoidance area when the avoidance area is designated by a point. It is a figure explaining how to memorize an avoidance area when an avoidance area is specified by a line segment. It is an example of the road map for demonstrating the route search method. It is a figure for demonstrating the relationship between the searched path | route and an avoidance area | region. It is another figure for demonstrating the relationship between the searched path | route and an avoidance area | region. It is another figure for demonstrating the relationship between the searched path | route and an avoidance area | region.

Explanation of symbols

  In the drawings, 1 is a navigation device, 2 is a control device (route search means, avoidance area setting means, avoidance time zone setting means), 3 is a GPS receiver, 8 is a display device, 9 is an audio output device, and 10 is an HDD. Show.

Claims (8)

A navigation device comprising route search means for searching for a travel route to a specified destination,
An avoidance area setting means for setting an avoidance area for avoiding traveling, and an avoidance time zone setting means for setting an avoidance time zone of the avoidance area set by the avoidance area setting means,
The route search means first performs a route search assuming that an avoidance area is not set, and then sets the avoidance area set by the avoidance area setting means as the avoidance area set by the avoidance area setting means. It is determined whether or not the vehicle travels within the avoidance time zone set by the setting means. When it is determined that the vehicle does not pass, the travel route is determined as the searched travel route, and when it is determined that the vehicle travels, the avoidance region is determined. A navigation apparatus characterized in that a route search is performed again while passing is prohibited . The navigation device according to claim 1, wherein the avoidance area setting means can set a plurality of avoidance areas, and the avoidance time zone setting means can set an avoidance time slot for each set avoidance area, The route searching means sets the avoidance area set by the avoidance time zone setting means for any of the avoidance areas set by the avoidance area setting means for the travel route searched for that the avoidance area is not set. When it is determined that the vehicle does not pass in the time zone, the travel route is determined as the searched travel route, and when it is determined that the vehicle passes, the route is avoided and the route search is performed again. A navigation device. 3. The navigation device according to claim 2 , wherein when a plurality of avoidance areas are set and an avoidance time zone for each avoidance area is set, the route search means sets any avoidance area set. A navigation device characterized in that the second route search is repeatedly executed until a travel route that does not pass in the avoidance time zone is searched . The navigation device according to any one of claims 1 to 3 , wherein the avoidance time zone setting means can set the avoidance time zone by combining at least one of the elements including date, day of the week, and time. A navigation device characterized by being configured . A route search method for searching a travel route of a vehicle to a destination, wherein a first step in which an avoidance region for avoiding travel is set before the route search and an avoidance time zone setting for the avoidance region are received. A second step,
When the avoidance area and the avoidance time zone are set, the route search is first performed assuming that the avoidance area is not set, and then the avoidance area where the travel route searched by the route search is set is avoided. It is determined whether or not the vehicle will pass in the time zone. If it is determined that the vehicle does not pass, the travel route is determined as the searched travel route. A route search method characterized by performing route search. 6. The route search method according to claim 5, wherein a plurality of avoidance areas can be set in the first step, and the avoidance time for each avoidance area set in the first step in the second step. When it is determined that a travel route that has been searched for a route that can be set and the avoidance region is not set does not pass through any of the set avoidance regions in the set avoidance time zone A route search method characterized in that the travel route is determined as a searched travel route, and when it is determined that the travel route is passed, the route search is performed again with the passing avoidance area being treated as prohibited . 7. The route search method according to claim 6, wherein when a plurality of avoidance areas are set and an avoidance time zone for each avoidance area is set, the route search means includes any set avoidance area. A route search method, wherein the route search is repeated until a travel route that does not pass in the avoidance time zone is searched. The route search method according to any one of claims 5 to 7 , wherein in the second step, the avoidance time zone can be set by combining at least one of the elements including date, day of the week, and time. route search method characterized in that there.

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