JP4696377B2 - Navigation device, route generation method, storage medium - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a navigation device, a route generation method, and a storage medium.
[0002]
[Prior art]
In recent years, navigation devices that can determine their own position and moving speed in real time using a GPS (Global Positioning System) satellite with an orbit in the sky are being mounted on mobile objects such as automobiles or portable. It has begun to spread widely.
In the navigation device, a map is displayed on a monitor based on the digitized map data. In particular, a navigation device mounted on a moving body has a function of guiding a course direction based on a route set by a user.
When the user sets a route, at least a starting point and a destination are specified. The navigation device searches for and generates an optimum route connecting the two points of the designated starting point and destination, and presents it to the user as a recommended route.
Data used for route search includes, for example, node data and link data used for map matching processing and the like. The node data are arranged at intervals along the route. Further, the link data is a straight line segment connecting the nodes before and after each other. Using this node and link data, a route that connects, for example, the two points of the starting point and the destination with the shortest distance is calculated, and a recommended route is derived.
[0003]
In order to execute route search efficiently in a short time, the nodes are actually arranged only at road junctions (intersections) and representative points. That is, the data for executing the route search is limited, and not all roads and places cover the nodes. Therefore, conventionally, when a node does not exist at a set departure point or destination, a route search is performed by substituting a point where a nearby node exists as a temporary departure point or temporary destination.
The data for executing the route search, that is, the node and the link are not displayed on the map on the monitor, but the user can easily recognize that the node does not exist at the set departure point particularly on the departure point side. it can. Normally, when a route is set, the user starts from the current position at that time or a place where the user is known. For this reason, if the designated departure place is different from the departure place in the recommended route displayed on the map, this can be easily recognized. In this case, the user can appropriately take measures such as moving to the departure place on the recommended route or changing the setting of the departure place.
[0004]
[Problems to be solved by the invention]
However, the following problems exist on the destination side. In other words, when a route search is performed by replacing a point where a node exists at an actual destination and a nearby node exists as a temporary destination, the user must select the temporary destination as the actual destination. The recommended route is traced in a state where it is erroneously recognized. For example, when facilities such as golf courses, amusement parks, and zoos with vast sites are set as destinations, the cursor is positioned near the center of the site of the facilities on the map displayed on the display screen It is thought that the destination is often set by. When the target facility exists in the list held by the navigation device, the user may determine the facility as the destination from this list. In such a case, the center of the facility may be set as the destination on the map data.
In these cases, if a node does not exist at the designated destination, a nearby node is set as a destination on the recommended route, but the point of this node is not necessarily close to the facility entrance. As a result, if the set destination is on the opposite side of the entrance, especially in a very large facility, after reaching the destination of the recommended route, there is a large time loss to reach the correct entrance. In some cases, it was not convenient for the user.
The present invention has been made based on such a technical problem, and an object thereof is to provide a highly convenient navigation device, a route generation method, and the like.
[0005]
[Means for Solving the Problems]
For this purpose, the navigation device of the present invention is characterized in that a point where the input point data near the destination exists is set as a destination and information on the set destination is output. That is, in the navigation device of the present invention, when the departure point and the destination are input by the input unit, the point data search unit retrieves the point data of the departure point and the destination from the point data stored in the data storage unit. Search for. As a result, the destination setting means sets the point where the input point data near the destination exists as the destination. The destination information output means outputs the information on the destination set by the destination setting means, and the recommended route generation means outputs between the departure place and the destination set by the destination setting means. Search for routes and generate recommended routes. Here, as the point data, for example, there is a node used in map matching processing, route calculation, and the like. When this node is used as point data, it is not necessary to prepare new data for searching point data. Further, as the destination information, the positional relationship between the input destination and the point where the nearby point data set as the destination exists, for example, the distance and direction can be considered. The navigation device of the present invention can be used for mounting a mobile object such as an automobile or for carrying. For example, the navigation device of the present invention can be applied to a car navigation device, a PDA (Personal Digital Assistant), a mobile phone, a notebook personal computer, etc., and further, the present invention can be applied as a route search information providing service on the Internet. It is also possible to use this navigation device.
[0006]
Map data may be stored in the navigation device of the present invention, and a recommended route may be displayed on a map based on the map data. As a result, the user can visually recognize the route that the user follows.
In addition, if there is no point data at the set destination and the point where the point data near the destination exists is set as the destination, the destination is in line with the user's intention Not exclusively. In such a case, the user can also request the navigation device to set another point as the destination.
[0007]
Furthermore, the present invention provides a navigation device that outputs warning information when a point that is a predetermined distance or more away from a designated designated destination is selected as a set destination. That is, when there is no node at the designated destination designated from the outside, the destination substitution means selects the point where the point data near the designated destination exists as the set destination, and the distance calculation means The distance to the set destination is calculated, and the warning information output means outputs warning information when the distance is larger than the specified value. As warning information, for example, a message to the user that the specified destination and the set destination are more than a specified value can be considered. When this warning information is output, information regarding the positional relationship between the designated destination designated by the user and the set destination selected by the navigation device may be output. Information on the positional relationship includes information such as direction and distance. These pieces of information may be output so as to be visible on a display unit such as a monitor, or may be output by sound. Moreover, you may use a display and an audio | voice output together. In the navigation device of the present invention, the user can set a specified value, which is a value that is a criterion for outputting the warning information.
[0008]
In the route generation method of the present invention, when it is determined that there is no point data in the designated destination, one or more points where the neighboring point data exists are selected as the destination candidates, and the destination candidates are selected. Output information about the ground. As the information regarding the destination candidate place, a positional relationship between the designated destination place and the point where the nearby point data is selected as the destination candidate place in response thereto, for example, a distance, a direction, or the like can be considered. Then, a route from the departure place is generated using the designated destination candidate place as the destination. When designating the destination candidate place as the destination place, the user can also specify the destination candidate place by himself / herself based on the output information about the destination candidate place. Therefore, even when the point data does not exist at the destination designated by the user, a route taking into account the user's intention is generated. It should be noted that outputting information related to the positional relationship between the destination specified by the user and the candidate destination is convenient when the user specifies the destination from the candidate destinations. Here, the information regarding the positional relationship includes information such as direction and distance. Based on these pieces of information, the user can image the traveling direction and the moving distance after arrival at the route-guided point at an early stage.
[0009]
The present invention can also be understood as a storage medium storing a program that causes a computer to execute the following processing. That is, a point where point data in the vicinity of the destination set by the user exists is set as a temporary destination, information on the temporary destination is output, and the distance between the destination and the temporary destination is larger than a specified value. Sometimes warning information is output.
[0010]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.
FIG. 1 is a block diagram for explaining the overall configuration of the navigation device according to the present embodiment.
As shown in FIG. 1, the navigation apparatus according to the present embodiment has a CD (Compact Disc) -ROM (Read Only Memory), a DVD (Digital Versatile Disc) -ROM, etc. in which map data of a predetermined wide area is stored. Operation of a disk drive 11 equipped with a recording disk (map data storage means), a display unit 12 including a monitor such as a liquid crystal display for displaying a map, a speaker 13 for outputting guidance sound, a remote controller and a control panel Unit 14, a positioning block 15 for positioning the own vehicle position (own position), and a control block 16 for controlling the entire apparatus.
[0011]
The positioning block 15 includes a GPS antenna 21 that receives a signal transmitted from a GPS satellite, a GPS positioning unit (positioning means) 22 that performs positioning based on a signal obtained from the GPS antenna 21, and a vehicle in which the navigation device is mounted ( A vehicle speed sensor 23 for detecting the vehicle speed of the moving body), a gyro sensor 24 for detecting the rotational displacement of the vehicle, and a positioning for correcting the positioning result in the GPS positioning unit 22 based on detection values obtained by the vehicle speed sensor 23 and the gyro sensor 24. A correction unit 25 is provided.
[0012]
The control block 16 includes a CPU 30 that controls the entire system and arithmetic processing, a main memory 31 as an internal storage device including a DRAM (Dynamic Random Access Memory), and a ROM 32 that stores a predetermined program for operating the navigation device. , A storage control unit 33 that controls the disk drive 11, a display control unit 34 that controls drawing on the display unit 12, an audio control unit 35 that controls audio output from the speaker 13, and input signals from the operation unit 14. The input control unit 36 to be controlled, the map matching control unit 37 for performing a so-called map matching process for matching the own vehicle position measured by the positioning block 15 with the road on the map displayed on the display unit 12, and the user set A route setting control unit 38 for calculating a recommended route based on the starting point and the destination is provided. Yes.
[0013]
As shown in FIG. 4A, the navigation device uses links LK and nodes (points for route calculation) corresponding to the road R existing on the map M as data used in map matching processing, route calculation, and the like. Data) Control data called N is used. This control data is stored in association with map data on a recording disk as display position setting means. The link LK is a straight line segment obtained by dividing the road R along the length direction. The node N is a point located at a connection point between two links LK that are adjacent to each other, and is arranged at an appropriate interval. As an actual data form, the position (latitude / longitude) of each node N is stored in a recording disk as a database, and the data representing the position of each link LK is the position of two nodes N that are adjacent to each other. It is obtained by calculation based on this.
For convenience of explanation, the node N is appropriately shown in the figure, but actually, the node N is not displayed on the display unit 12. Therefore, the user cannot recognize whether or not the node N exists at the departure point S and the destination G set by the user.
[0014]
In the map matching control unit 37, based on the same map matching processing program as used conventionally, the vehicle position determined by the positioning block 15 is displayed on the link LK as control data, that is, on the road R. The process which correct | amends to the position of is performed.
[0015]
As shown in FIG. 4A, the route setting control unit 38 sets a recommended route that connects the starting point S and the destination G arbitrarily set by the user.
FIG. 2 shows the configuration of the route setting control unit 38. The route setting control unit 38 includes a node searching unit (point data searching unit) 39, a destination setting unit (destination setting unit, destination substitution unit, destination information output unit, positional relationship information output unit) 40, distance calculation unit. (Distance calculation means) 41, specified value setting section (specified value setting means) 42, distance determination section 43, warning section (warning information output means, destination change request means) 44, route search execution section (recommended route generation means, (Recommended route output means) 45.
The node search unit 39 searches for the node N of the departure point S and the destination G.
For example, as shown in FIG. 7, the destination setting unit 40 searches for a point where a nearby node N exists when the node N does not exist at the destination (designated destination) G set by the user, The point is set as a temporary destination (set destination, candidate destination) TG, and information on the set temporary destination TG (information on destination, information on temporary destination, information on positional relationship, information on candidate destination) Information).
The distance calculation unit 41 calculates the distance L between the actual destination G and the temporary destination TG. The specified value setting unit 42 holds a specified value K as an upper limit of the distance L between the actual destination G and the temporary destination TG, and the distance determination unit 43 compares the distance L with the specified value K. I do.
The warning unit 44 outputs warning information to the user by, for example, display or voice when the distance L is greater than the specified value K. The warning unit 44 requests the destination setting unit 40 to search again when the user who has received the warning information wishes to change the temporary destination TG set for the actual destination G. Then, a point where another node N exists is set as the temporary destination TG. When the user accepts the set temporary destination TG, the temporary destination TG is updated (substitute) as a new destination G and set.
The route search execution unit 45 searches for a route between the departure point S and the destination G (or temporary destination TG) set by the user, generates a recommended route, and outputs it.
[0016]
FIG. 3 shows a flow of processing when the route setting control unit 38 performs route search.
First, the specified value K is set by the specified value setting unit 42 (step S101). The specified value K can be a value (default value) that the navigation device has as an initial value or a value set by the user. For example, the user can appropriately set the specified value K such that K = 100 m, K = 200 m, etc. In the present embodiment, the following description will be made assuming that K = 200 m. .
Next, as shown to Fig.4 (a), a user sets the departure place S and the destination G on the map M displayed on the display part 12 (step S102). The starting point S and the destination G can be set, for example, by the user placing a cursor at a specific point on the map M displayed on the display unit 12 and performing a predetermined operation on the operation unit 14. . After the input control unit 36 accepts the setting of the departure point S and the destination G by the user, the process proceeds to step S103.
[0017]
Subsequently, the node search unit 39 searches for the node N of the destination G set by the user using the control data (step S103). In step S104, it is determined whether or not the node N exists at the destination G. judge. As a result, when the node N exists at the destination G, the process proceeds to step S111.
In step S111, the route search execution unit 45 calculates an optimal route based on the set conditions such as the shortest distance and the shortest time using the node N and the link LK which are control data. Then, as shown in FIG. 4B, the recommended route is displayed on the map M (step S112). That is, when the node N exists at the destination G, the conventional route search is executed. When the recommended route is displayed on the map M, the distance between the departure point S and the destination G can be displayed on the display unit 12.
[0018]
Next, processing when the node N does not exist at the destination G, which is a characteristic part of the present invention, will be described.
As shown in FIG. 5, it is assumed that the user sets a departure point S and a destination G1 (◯ × Golf course) on a map M displayed on the display unit 12 (step S102). Here, it is assumed that the entrance of the golf course is at the position shown in FIG. Then, when setting the destination G1, it is assumed that the user has set the destination G1 by placing the cursor at a point approximately in the center of the golf course. After the input control unit 36 receives the setting of the departure point S and the destination G1 by the user, the process proceeds to step S103.
[0019]
Subsequently, the node search unit 39 searches for the node N of the destination G1, and determines whether or not the node N exists at the destination G1 (steps S103 and S104). As a result, it is assumed that the node N does not exist at the destination G1 (see FIG. 6). In this case, the process proceeds to step S105. In step S105, the destination setting unit 40 searches for a point where the node N near the destination G1 exists, that is, the temporary destination TG. Here, it is assumed that the destination setting unit 40 searches for a point where the nodes N (a), N (b), N (c), and N (d) exist as candidates for the temporary destination TG.
Next, in step S106, the distance calculation unit 41 calculates the distance between the temporary destination TG and the destination G1. As a result of the distance calculation unit 41 calculating the distances La to Ld between the four temporary destinations TG and the destination G1, it is assumed that Ld>Lb>Lc> La and La is the shortest (see FIG. 6). In this case, the point A where the node N (a) exists is selected as the temporary destination TG (step S107). In step S107, when one temporary destination TG is selected from a plurality of temporary destinations TG, whether the temporary destination TG is located on the main road as well as the distance between the temporary destination TG and the destination G1. Whether or not can be determined as appropriate. Further, when there are a plurality of temporary destinations TG, they may be presented to the user so that the user can select one temporary destination TG.
[0020]
In step S108, the destination setting unit 40 notifies the user that the point A (node N (a)) has been selected as the temporary destination TG. At that time, the distance between the point A and the destination G1 and the direction of the destination G1 viewed from the point A are displayed on the notification screen (A) on the display unit 12 (see FIG. 7). Thereby, the user can easily recognize the route guidance to a place that is not the actual destination G1, and the positional relationship between the place and the actual destination G1. Then, after arriving at the point A, it is possible to preliminarily image how much distance and in what direction the destination G1 is reached.
In FIG. 7, the notification screen (A) is displayed on a part of the display unit 12 so that the user can see the map M together with the notification screen (A). Can also be displayed. In FIG. 7, the direction of the destination G1 viewed from the point A is displayed on the map M, but may be displayed on the notification screen (A).
[0021]
In step S101, a specified value K is set in advance. Based on the specified value K and the distance L between the actual destination G1 and the temporary destination TG (point A) calculated in step S106, the distance determination unit 43 determines whether or not the distance L is greater than the specified value K. Is determined (step S109). If the distance L is smaller than the specified value K, the point A as the temporary destination TG is determined as the destination (step S110), and the process proceeds to step S111. On the other hand, if the distance L is greater than the specified value K, the process proceeds to step S113. Thereby, it is possible to prevent the user from being route-guided to a point far from the specified value K.
[0022]
Here, it is assumed that the set specified value K is 200 m, and the distance L between the actual destination G1 and the point A selected as the temporary destination TG is 500 m. In this case, since the distance L is greater than the specified value K, the warning unit 44 outputs warning information to the user (step S113). As a warning mode, for example, as shown in the warning screen (B) of FIG. 8, a content such as “The distance between the point A and the destination G1 is about 500 m. Please check the destination setting.” can do. Along with this warning, an announcement such as “There is a possibility that the destination may not be set correctly” can be played on the speaker 13. In FIG. 8, the direction of the destination G1 viewed from the point A is displayed on the map M, but may be displayed on the warning screen (B).
[0023]
After the warning or at the same time as the warning, the warning unit 44 outputs information prompting input of whether or not to change the destination G1. Upon receiving this output, a setting confirmation screen (C) is displayed on the display unit 12, and the user confirms the setting of the destination G1 (step S114). Here, when the user determines that the point A may be the destination, the user can select “setting OK” on the setting confirmation screen (C) (step S115). Thereby, the point A searched as the temporary destination TG is determined as the destination (step S110). In response to this confirmation signal, the route search execution unit 45 executes route search, and outputs a recommended route to the departure point S and the temporary destination TG set as the destination (step S111). Then, a recommended route is displayed on the map M (step S112).
[0024]
In addition, as a result of confirming the setting of the destination G1 in step S115, it is assumed that the user notices that there is an entrance to the golf course in the southeast of the destination G1. In that case, the user can select “reset” on the setting confirmation screen (C). For example, as shown in FIG. 9, the user can move the cursor to the vicinity of the entrance of the golf course on the map and set a new destination G2 (step S116). After the input control unit 36 receives the setting of the destination G2 by the user, the process returns to step S103.
[0025]
Subsequently, the node search unit 39 determines whether or not the node N exists at the destination G2 newly set by the user (step S104). When the node N does not exist at the destination G2, the destination setting unit 40 searches for a point where the node N near the destination G2 exists (step S105). As a result, it is assumed that the node N (b) exists at the B point in the vicinity of the destination G2. Next, in step S106, the distance calculation unit 41 calculates the distance between the point B and the destination G2, and the destination setting unit 40 selects the point B as the temporary destination TG (step S107). In subsequent step S108, the destination setting unit 40 notifies the user that the point B has been selected as the temporary destination TG. At that time, as shown in FIG. 9, the distance between the point B and the destination G2 is displayed on the notification screen (A). Further, the direction of the destination G2 viewed from the point B or the direction of the B point viewed from the destination G2 is displayed on the display unit 12 or the notification screen (A).
[0026]
In step S109, the distance determination unit 43 compares the distance L between the destination G2 and the point B with the specified value K. Here, it is assumed that the distance L between the destination G2 and the point B is L = 50 m. In this case, since the distance L is smaller than the specified value K, the point B is determined as the destination without warning (step S110). At this time, an announcement such as “I will guide you to point B” can be played on the speaker 13. Alternatively, as shown in FIG. 9, when notifying the user of the distance between the point B and the destination G2, a message such as “I will guide you to the point B” is displayed on the notification screen (A). May be displayed. As long as the node N does not exist at the reset destination G2, and the temporary destination TG is not determined as the destination by the user, the process returns to step S116 and the above processing is repeated.
When the point B is determined as the destination, in response to the determination signal, the route search execution unit 45 executes a route search and outputs a recommended route (step S111). Then, a recommended route is displayed on the map M (step S112). As a result, as shown in FIG. 9, the user is guided to a point near the entrance of the golf course, which is the destination set by the user.
[0027]
According to the navigation device as described above, even when the node N does not exist at the destination G set by the user, the user easily recognizes the place where the user is route-guided and the position information of the place. be able to. In addition, when a point farther than the specified value K is selected as the temporary destination TG, the user receives a warning and can appropriately change the setting of the destination G. As a result, it is possible to prevent the route from being guided to a place farther than the set specified value K. Therefore, as a result of route search, the selected temporary destination TG is a point opposite to the entrance of the facility having a vast site such as a golf course, and is correct after reaching the temporary destination TG of the recommended route. Inconveniences such as a large time loss for reaching the entrance can be avoided, and the convenience of the navigation device can be improved.
[0028]
In the above-described embodiment, a notification that the temporary destination TG has been selected, a warning information output, and a destination setting confirmation request are displayed on the display unit 12, and a voice notification is also possible. Although shown, it is of course possible to notify only by voice. Moreover, in the said embodiment, although the destination setting part 40 selected one temporary destination TG based on the result of the distance calculation by the distance calculation part 41, as mentioned above, on the basis of conditions other than distance It is also possible to select one temporary destination TG. In this case, after selecting the temporary destination TG, the distance between the temporary destination TG and the actual destination G can be calculated. For the temporary destination TG determined as the destination, a history is created, and when the user sets the same place as the destination G again, the point where the history is created is set as the temporary destination TG. You may make it search preferentially.
[0029]
Moreover, the program of the process which the route setting control part 38 performs as shown in the said embodiment can also be made into the form of the following storage media and a program transmission apparatus.
That is, as a storage medium, the above-described program may be stored in a storage medium such as a CD-ROM, a DVD, various memories including a semiconductor memory, and a hard disk so that a computer device such as a navigation device can read the program.
[0030]
As the program transmission device, a CD-ROM, a DVD, various memories including a semiconductor memory, a hard disk or the like storing the program as described above, and the program is read from the storage means and executed. The transmission device may be provided with a transmission means for transmitting the program via a connector or a network such as the Internet or a LAN. Such a program transmission apparatus is suitable when a program for performing the above-described processing is installed in a navigation apparatus or the like.
In addition to this, as long as it does not depart from the gist of the present invention, the configuration described in the above embodiment can be selected or changed to another configuration as appropriate.
[0031]
【The invention's effect】
As described above, according to the present invention, it is possible to provide a highly convenient navigation device, route generation method, and the like.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a navigation device in the present embodiment.
FIG. 2 is a diagram illustrating a configuration of a route setting control unit.
FIG. 3 is a diagram showing a flow of processing when a route search is performed in a route setting control unit.
FIG. 4 is a diagram illustrating an example of a route generated between a node and a link, and a start point to a destination.
FIG. 5 is a diagram showing a state in which a user designates a departure place and a destination on the screen displayed on the display unit.
FIG. 6 is a diagram showing points where nearby nodes exist for a destination designated by a user.
FIG. 7 is a diagram showing a state in which information on the positional relationship between a point selected as a temporary destination and a destination designated by a user is displayed.
FIG. 8 is a diagram illustrating a state in which information for confirming setting of a temporary destination is displayed to a user.
FIG. 9 is a diagram showing a state in which information on the positional relationship with the temporary destination is displayed when the user designates another destination.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 12 ... Display part, 15 ... Positioning block, 22 ... GPS positioning part (positioning means), 37 ... Map matching control part, 38 ... Route setting control part, 39 ... Node search part (point data search means), 40 ... Destination Setting unit (destination setting means, destination substitution means, destination information output means, positional relationship information output means), 41 ... distance calculation section (distance calculation means), 42 ... specified value setting section (specified value setting means), 43 ... distance determination unit, 44 ... warning unit (warning information output unit, destination change request unit), 45 ... route search execution unit (recommended route generation unit, recommended route output unit), (A) ... notification screen, (B) ) ... Warning screen, (C) ... Setting confirmation screen, G ... Destination, K ... Specified value, LK ... Link, M ... Map, N ... Node (point data for route calculation), R ... Road, S ... Departure TG, temporary destination

Claims (8)

A navigation device that executes route guidance based on a self-position that is measured based on signals transmitted from a plurality of GPS satellites and a set route,
A point data search means for searching for point data of a designated destination designated from outside,
A destination substitution means for selecting a point where point data in the vicinity of the designated destination exist as a set destination of the set route when no point data exists at the designated destination;
Distance calculating means for calculating a distance between the designated destination and the set destination;
Warning information output means for outputting warning information when a distance between the designated destination and the set destination is greater than a predetermined specified value;
A navigation device comprising: Outputs information including the direction of the designated destination seen from the set destination, or the direction of the set destination seen from the designated destination and the distance between the designated destination and the set destination The navigation apparatus according to claim 1, further comprising a positional relationship information output unit. The destination substitution means selects a plurality of points where point data in the vicinity of the designated destination exists as candidates for the set destination of the set route,
  The distance calculation means calculates distances between the designated destinations for a plurality of setting destination candidates selected by the destination substitution means,
  The destination substitution means selects one designated destination candidate with the shortest distance calculated by the distance calculation means as the set destination,
  The warning information output means changes the designated destination together with the warning information when a distance between the set destination selected by the destination substitution means and the designated destination is larger than a predetermined specified value. Output information prompting you to enter or not,
  The navigation device according to claim 1 or 2. An operation in which the user confirms the set destination selected by the destination substitution unit without changing the information according to the information prompting the user to input whether or not to change the designated destination. When performing the above, further comprising a route search execution means for searching for a set route to the set destination,
  The navigation device according to claim 3. When the user changes the set destination selected by the destination substitution means in response to the information prompting the user to input whether or not to change the designated destination, the destination is selected. The place replacement means selects a plurality of points where the point data near the designated destination after the change exists as candidates for the set destination of the set route,
  The distance calculation means calculates distances between the designated destinations for a plurality of setting destination candidates selected by the destination substitution means,
  The destination substitution means selects one designated destination candidate with the shortest distance calculated by the distance calculation means as the set destination,
  The warning information output means changes the designated destination together with the warning information when a distance between the set destination selected by the destination substitution means and the designated destination is larger than a predetermined specified value. Output information prompting you to enter or not
  The route search execution means determines the set destination selected by the user by the destination substitution means according to the information prompting the input whether or not to change the designated destination output by the warning information output means. When the operation to confirm without changing is performed, the set route to the set destination is searched.
  The navigation device according to claim 4. The navigation apparatus according to claim 1 , further comprising a specified value setting unit that sets the specified value.   A route generation method for executing route guidance based on a self-position measured based on signals transmitted from a plurality of GPS satellites and a set route,
  A point data search step for searching for point data of a designated destination designated from outside,
  A destination substitution step of selecting a point where point data in the vicinity of the designated destination exist as a set destination of the set route when no point data exists at the designated destination;
  A distance calculating step for calculating a distance between the designated destination and the set destination;
  When the distance between the set destination selected in the destination substitution step and the designated destination is larger than a predetermined specified value, the user is prompted to input whether or not to change the designated destination together with warning information. A warning information output step for outputting information;
  An operation in which the user confirms the set destination selected in the destination substitution step without changing the information according to the information prompting the user whether to change the designated destination output in the warning information output step. A route search execution step for searching for a set route to the set destination,
including,
  Route generation method.   A storage medium in which a program for executing route guidance based on a self-position and a set route determined based on signals transmitted from a plurality of GPS satellites,
  A point data search function that searches for point data of a specified destination specified from outside,
  A destination substitution function for selecting a point where point data in the vicinity of the designated destination exist as a set destination of the set route when no point data exists at the designated destination;
  A distance calculation function for calculating a distance between the designated destination and the set destination;
  A warning information output function for outputting warning information when a distance between the designated destination and the set destination is larger than a predetermined specified value;
A computer-readable storage medium having recorded thereon a program for causing the computer to realize the above.

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