JP5451428B2 - Data structure of navigation device and network data - Google Patents

Description

  The present invention relates to a navigation device that performs guidance according to the progress of a moving body, and a data structure of network data used for processing guided by a computer.

2. Description of the Related Art Conventionally, navigation apparatuses that output and guide guidance information about the progress of a moving body have been widely used.
A general navigation apparatus acquires network data composed of links and nodes, and specifies the current position of a moving object. Then, guidance information related to the progress of the moving body is generated according to the relationship between the position of the passage corresponding to the link and the current position, and the generated guidance information is notified to the user.
The guidance information is a guidance screen displayed on a display such as an LCD, for example, and is displayed by superimposing a current position mark and a guidance route image on a map image. There is also known a navigation device for pedestrians that controls a guidance screen called heading up to indicate the traveling direction of a moving body on a map (see, for example, Patent Document 1).
According to the above navigation device, by controlling the guidance screen so that the moving direction of the moving body is on the upper side of the display, the feature existing in the actual landscape is changed to the feature on the map shown on the guidance screen. Since it becomes easy to respond | correspond, even if the guidance screen changes according to a movement of a moving body, it is easy to grasp | ascertain the progress of a moving body.
There is also known a vehicle-mounted navigation device that generates geographical information about the front in the traveling direction as the guidance information and outputs the information by voice (see, for example, Patent Document 2). Such a vehicle-mounted navigation device generates and outputs voice guidance information such as “Go ahead 40 meters and turn left at the end”.

JP 2009-294328 A JP 2005-265491 A

However, the conventional navigation device cannot sufficiently provide guidance according to the progress situation related to the pedestrian path in the intersection.
For example, in a pedestrian passage in an intersection, a plurality of short-distance links such as a short-distance pedestrian crossing are often continuous while greatly changing the angle. For this reason, if it is a navigation device for pedestrians in the above-mentioned prior art, by passing the pedestrian's passage in the intersection by controlling the heading up and indicating the traveling direction of the moving body on the map The guidance screen is frequently large and repeats clockwise and counterclockwise rotation. Therefore, the navigation device for pedestrians has a problem in that it is difficult to see the guidance screen and it is difficult to grasp the progress of the moving body in the heading-up control in the intersection.
In addition, the vehicle-mounted navigation device according to the prior art uses information on the intersection node included in the network data of the roadway as the information on the intersection, and therefore does not match the notice that should be noted for pedestrians in the intersection. There was a problem.
An object of the present invention is to provide a navigation device and a data structure of network data that can provide more appropriate guidance to a user at each intersection.

In order to solve the above-mentioned problem, the navigation device of the present invention is a network data composed of links and nodes, and a plurality of links for pedestrians representing pedestrian paths in the same intersection are the same. Map data acquisition unit for acquiring map data including network data including information for recognizing as a group, a position specifying unit for specifying the current position of the moving object, and a position on the passage corresponding to the link included in the group When the relation between the current position and the current position is determined to meet a predetermined condition, a guidance control unit that generates guidance information regarding the progress of the moving body according to the condition, and notifies the user of the guidance information It is characterized by providing the guide part to do.
Note that the above-described features do not enumerate all the features of the present invention, and a configuration (or method) including these as main parts can also be an invention.

  The navigation device of the present invention acquires network data including information for recognizing a plurality of links for pedestrians representing pedestrian paths in the same intersection as the same group, and includes the links included in the group. When it is determined that the relationship between the position of the corresponding passage and the current position meets a predetermined condition, guidance information regarding the progress of the moving object is generated according to the condition. That is, according to the navigation device of the present invention, pedestrian paths in the same intersection are regarded as a group, and guidance information relating to the progress of the moving object is generated according to the relationship between this group and the current position of the moving object. As a result, the guidance information to be notified to the user indicates the progress status of the associated pedestrians in the entire intersection for each intersection, so that more appropriate guidance can be provided to the user.

It is a block diagram which shows an example of a structure of embodiment of the navigation apparatus of this invention. It is a flowchart at the time of starting of the navigation apparatus of this invention. It is a flowchart of the example of the 1st process of the navigation apparatus of this invention. It is a flowchart of the example of the 1st process of the navigation apparatus of this invention. It is a figure which shows arrangement | positioning of the map data near an intersection of the example of the 1st process of the navigation apparatus of this invention, and network data. It is a figure which shows the guidance image of the example of the 1st process of the navigation apparatus of this invention. It is a figure which shows the guidance image of the example of the 1st process of the navigation apparatus of this invention. It is a figure which shows the guidance image of the example of the 1st process of the navigation apparatus of this invention. It is a figure which shows the guidance image of the example of the 1st process of the navigation apparatus of this invention. It is a flowchart of the example of the 2nd process of the navigation apparatus of this invention. It is a figure which shows the guidance image of the example of the 2nd process of the navigation apparatus of this invention.

Hereinafter, embodiments embodying the present invention will be described.
FIG. 1 is a block diagram showing an example of a configuration of an embodiment of a navigation device of the present invention. The navigation device 1 in this example is a PND (Personal Navigation Device) that a pedestrian can carry and carry, and includes a map data storage unit 11, a guide unit 14, a calculator 13, and an input device 12.

  The computer 13 is a small computer including an internal storage device such as a ROM and a RAM in which computer programs, processing conditions, and the like are stored in advance, and a CPU that executes the computer programs. The map data storage unit 11 is an external storage device such as a DVD, a Blu-ray disc, a hard disk, or a flash memory, and stores map data including map drawing data and network data. The guide unit 14 includes a display screen 142 and a sound output device 141. The display screen 142 is a device that displays an image such as an LCD. On the display screen 142, for example, a guide image in which a current position mark and a guide route image are superimposed on a map image near the current position of the navigation device 1 is displayed. The acoustic output device 141 is a speaker, and a situation in front of the traveling direction is notified by a guidance voice. The input device 12 is an input device, and in this example, a touch panel provided on the display screen 142 of the guide unit 14 is employed.

  The computer 13 in the navigation apparatus 1 of the present example has a plurality of predetermined functions realized by executing a computer program, and includes units corresponding to the respective functions. Specifically, the computer 13 includes a map data acquisition unit 131 that acquires map data, a route setting unit 132 that sets a recommended route, a position detection unit 133 that detects the position of the navigation device 1 based on the data of the positioning sensor, A position specifying unit 134 for specifying the current position of the navigation device 1 on the network based on the detected position, a direction calculating unit 135 for calculating the traveling direction of the navigation device 1, and a guide for generating guide information such as guide images and guide voices. A control unit 136 is provided.

  The map data acquired by the map data acquisition unit 131 includes map drawing data, network data, and the like. The map drawing data includes data for drawing points, lines, and planes constituting a map such as administrative boundaries, roads, and building polygons prepared for each scale. The network data includes data such as links and nodes used for route search and recommended route display, and is used to generate guidance information related to the progress of the moving body and notify the user.

  In addition, the network data used by the navigation device 1 of the present example includes pedestrian link data representing a pedestrian path. The pedestrian link data includes information for recognizing a plurality of pedestrian links representing a pedestrian passage in the same intersection as the same group. Specifically, this information is information for recognizing these links as one group when links for short pedestrians having a predetermined distance or less including a pedestrian crossing continue.

  The pedestrian crossing often intersects the pedestrian's general passage at right angles, so the direction of travel of the pedestrian changes suddenly, and the scenery seen from the pedestrian changes. In addition, a pedestrian crossing is a place where a pedestrian suddenly enters a field of view for a driver of a vehicle traveling on a roadway. Therefore, the navigation device 1 in this example satisfies the condition that is met when the guidance control unit 136 determines that the relationship between the position on the passage corresponding to the link included in the group and the current position meets a predetermined condition. Accordingly, guidance information regarding the progress of the moving body is generated. Therefore, according to the navigation device 1 in this example, the pedestrian passages in the same intersection are regarded as a group, and guidance information relating to the progress of the moving body is generated according to the relationship between the group and the current position of the moving body. As a result, the guidance information to be notified to the user indicates the progress status of the associated pedestrians in the entire intersection for each intersection, so that more appropriate guidance can be provided to the user.

  In some cases, two intersections are adjacent to each other to form a complicated intersection. In such a case, when the intersections are close, they are treated as one intersection, and when the intersections are separated, they are treated as two intersections. That is, by treating two intersections as one intersection when viewed from the user, it is possible to more realistically understand the entire associated pedestrian path in the intersection. Whether or not the intersections are close is determined by whether or not the length of the link connecting the link groups of the pedestrian's passages in each intersection is equal to or less than a set distance threshold. The threshold used for the determination is set according to the length of the crosswalk link in both intersections.

  Next, the process which the navigation apparatus 1 of this invention guides according to a progress condition is demonstrated.

FIG. 2 is a flowchart at the time of starting the navigation apparatus 1 of the present invention.
When the navigation device 1 is activated, the computer 13 first detects the geographical location where the navigation device 1 currently exists based on the positioning data output by a position sensor (not shown) separately mounted by the position detection unit 133. A process for detecting a correct position is executed (step S101). The positioning sensor mounted on the navigation device 1 is a GPS receiver, and the position detector 133 detects the position based on the received GPS information. When step S101 ends, the computer 13 executes processing for acquiring network data and map drawing data in a predetermined range including the detected position by the map data acquisition unit 131 (step S102). When step S102 is completed, the computer 13 causes the guidance control unit 136 to execute a process of generating a guidance image in which the current position mark is superimposed on the map image centered on the detected position (step S103). A process of outputting and displaying the image on the display screen 142 of the guide unit 14 is executed (step S104). When step S <b> 104 is completed, the computer 13 is in a state of accepting a user operation related to the function of the navigation device 1.

<Example of First Process of Navigation Device>
The navigation device 1 in the first processing example is not connected to an external power supply, and is activated by the power supplied from the internal power supply. When the navigation device 1 is activated in this state, the navigation device 1 is automatically activated in the pedestrian navigation mode.
3 and 4 are flowcharts of an example of the first process of the navigation device 1 of the present invention. The navigation device 1 in the first processing example provides a route setting function for setting a recommended route to the destination and guidance according to the progress of the navigation device 1 that is a moving body based on the recommended route to the user. It has a route guidance function. The computer 13 sets the departure point and the destination by the route setting unit 132 based on the designation by the user on the touch panel as the input device 12 after the step S104 is completed (step S201). Then, a process of calculating the shortest distance path among the paths configured by the pedestrian path from the departure place to the destination by a known Dijkstra method or the like and setting it as a recommended route is executed (step S202). When step S202 is completed, the computer 13 causes the guidance control unit 136 to execute a process of generating a guidance image in which a recommended route image and a current position mark are superimposed on a map image centered on the detected position (step S203). . Subsequently, the computer 13 executes a process of outputting and displaying the guide image on the display screen 142 of the guide unit 14 (step S204).

  When step S204 is completed, the computer 13 performs processing for specifying the current position of the navigation device 1 to the corresponding position on the link in the network data based on the detected position by the position specifying unit 134 (step S205). . This process is so-called map matching, and is executed at regular intervals.

  When step S205 is completed, the calculator 13 performs a process of determining whether or not the current position is near the destination by the guidance control unit 136 (step S206). In the example of the first process, when the distance between the current position and the destination is within a predetermined threshold, it is determined that the current position is near the destination. When the calculator 13 determines in step S206 that the current position is near the destination (step S206: Yes), the guidance control unit 136 generates guidance information by guidance voice indicating the end of guidance, and the guidance unit 14 The sound output device 141 notifies the user, and thereafter, the guidance process is terminated according to the progress status.

  On the other hand, when the calculator 13 determines in step S206 that the current position is not near the destination (step S206: No), the guidance control unit 136 determines whether or not the current position is approaching the intersection. Execute (Step S207). FIG. 5 is a diagram showing the arrangement of map data and network data near the intersection. At the intersection shown in FIG. 5, the roadway ST1 and the roadway ST2 intersect, and there are buildings BL at the four corners. Moreover, the general link (WK1-WK8) corresponding to the channel | path for pedestrians is arrange | positioned in the position corresponded to both sides of roadway ST1, ST2. The links GL1 to GL8 in the intersection are links for a plurality of pedestrians in the same group (hereinafter referred to as an in-intersection link group) GL that represents a passage of pedestrians in the same intersection. The nodes ND1 to ND8 are nodes that connect the links GL1 to GL8 of the intra-intersection link group GL. Since network data is used for processing such as route search, it is not displayed on the guidance screen as a general rule.

  In step S207, when it is determined that the distance between the position of the passage corresponding to any link included in the intra-intersection link group GL and the current position is equal to or less than a preset threshold, the current position approaches the intersection. Judge that When the calculator 13 determines in step S207 that the current position is not approaching the intersection (step S207: No), the guidance control unit 136 sets the current position specified on the link for the guidance image to the center of the guidance image. In addition to the setting, a process of setting the destination side of the link corresponding to the current position as the guide direction is executed (step S208). When step S208 ends, the computer 13 returns to the process of step S203, generates a guide image based on the setting by the process of step S207, and executes the processes after step S204.

  On the other hand, when the calculator 13 determines in step S207 that the current position is approaching the intersection (step S207: Yes), the guidance control unit 136 causes the position on the corresponding path on the link in the intra-intersection link group GL. A process for determining whether or not the current position is present is executed (step S301). When the computer 13 determines in step S301 that the current position does not exist at a position on the corresponding path on the link in the intra-intersection link group GL (step S301: No), the guidance control unit 136 causes the image to be displayed. Is set to the intersection, and the guidance direction is set to the destination side of the link corresponding to the current position (step S302). When step S302 is completed, the computer 13 returns to the process of step S203, generates a guide image based on the setting by the process of step S302, and executes the processes after step S204. When the user carrying the navigation device 1 moves and proceeds along the recommended route WK1-GL1-GL2-GL3-WK4, the map identifying process in step S205 is executed by the position specifying unit 134 at regular intervals.

  6 to 9 are diagrams illustrating guide images of an example of the first process. When the computer 13 executes the above-described processing of step S302 to step S203 to step S204, the current position PP is specified on the display screen 142 as shown in FIG. A guide image on the destination side of the link WK1 is displayed. In FIG. 6, the current position PP exists on the link WK1 of the general path of the pedestrian before the intersection in the recommended route WK1-GL1-GL2-GL3-WK4. In the example of the first processing, the guidance direction is directed to the upper side of the display screen 142 (upper side in FIG. 6). The destination is on the link ahead of the link WK4 and is not displayed on the display screen 142.

  Next, the movement of the navigation device 1 further proceeds from the corresponding position on the link WK1 shown in FIG. 6, and the computer 13 moves to the position on the corresponding path on the link in the intra-intersection link group GL in step S301. A case where it is determined that the current position PP exists (step S301: Yes) will be described. In this case, the computer 13 uses the guidance control unit 136 to first enter and exit directions with respect to the row of links in the intra-intersection link group GL including the link where the current position PP exists with the center of the image as the intersection. The process which calculates | requires the angle which is made is performed. Next, a process of obtaining the progress rate of the navigation device 1 with respect to the distance of the section of the link row in the intra-intersection link group GL included in the recommended route is executed. And the process which sets the direction which rotated the approach direction by the angle corresponding to the advancing rate of the navigation apparatus 1 on the basis of the angle which the approach direction and the escape direction make is set as a guide direction. The computer 13 executes these three processes as a series of processes (step S303). When step S303 ends, the computer 13 returns to the process of step S203, generates a guide image based on the setting by the process of step S303, and repeats the processes after step S204.

  When the computer 13 executes the above-described processing of step S303 to step S203 to step S204, as shown in FIG. 7, a guide image in which the guide direction is set according to the progress rate with the center of the image as an intersection is displayed. . In FIG. 7, the current position PP exists on the link GL1 in the intra-intersection link group GL in the recommended route WK1-GL1-GL2-GL3-WK4. Further, in FIG. 7, the progress rate of the navigation device 1 with respect to the distance of the section GL1-GL2-GL3 of the link row in the intra-intersection link group GL included in the recommended route WK1-GL1-GL2-GL3-WK4 Is 1/3. Accordingly, an angle (in the example of FIG. 7) corresponding to the distance progression rate based on the angle formed by the approach direction of the approach link WK1 to the intersection and the exit direction of the exit link WK4 (90 ° in the example of FIG. 7). 30 °), the direction of rotation in the counterclockwise direction around the intersection is set as the guide direction. The rotation direction is determined by the traveling direction along the recommended route on the link in the intra-intersection link group GL.

  When the movement of the navigation device 1 further proceeds from the corresponding position on the link GL1 shown in FIG. 7 and the computer 13 executes the processing of step S303 to step S203 to step S204, a guidance image as shown in FIG. 8 is displayed. Is done. In FIG. 8, the current position PP exists on the link GL3 in the intra-intersection link group GL in the recommended route WK1-GL1-GL2-GL3-WK4. Moreover, in FIG. 8, the progress ratio of the navigation device 1 with respect to the distance of the section GL1-GL2-GL3 of the link row in the intra-intersection link group GL included in the recommended route WK1-GL1-GL2-GL3-WK4 Is 2/3, an angle (60 in the example of FIG. 8) corresponding to the travel rate based on the angle (90 °) formed by the approach direction of the approach link WK1 to the intersection and the exit direction of the exit link WK4. The direction that is rotated counterclockwise around the intersection is set as the guide direction.

  Then, when the movement of the navigation device 1 further proceeds from the position shown in FIG. 8 and the current position PP of the navigation device 1 is located outside the intersection, the calculator 13 performs the processing of step S302-step S203-step S204. Run. Then, as shown in FIG. 9, a guide image is displayed in which the center of the image is the intersection and the guide direction is the destination side of the link where the current position PP is specified. In FIG. 9, the current position PP exists on the link WK4 of the general path of the pedestrian before the intersection in the recommended route WK1-GL1-GL2-GL3-WK4. For the current position not shown in FIGS. 6 to 9, a guide image is generated as needed in response to the occurrence of the map matching process in step S <b> 205. That is, the guide image is updated smoothly.

  As described above, according to the first processing example of the navigation device 1 of the present invention, the progress rate of the navigation device 1 with respect to the distance of the section of the link row in the intra-intersection link group GL included in the recommended route. By setting the direction in which the approach direction is rotated by an angle corresponding to the guide direction, when exiting from the approach to the row of links in the in-intersection link group GL when passing the pedestrian's passage in the intersection Since the user rotates at a speed at which the user can sufficiently grasp the contents shown in the guidance image, more appropriate guidance can be given to the user.

<Example of Second Processing of Navigation Device>
About the example of the 2nd processing, only a different point from the example of the 1st processing mentioned above is explained, and the duplicate explanation is omitted about the same component using the same reference mark.
The navigation device 1 in the second processing example is in a state of being mounted on a dedicated stand in the vehicle and connected to an in-vehicle battery as an external power source, and is activated by a power source supplied from the external power source. When the navigation device 1 is activated in this state, it is automatically activated in the in-vehicle navigation mode.

  FIG. 10 is a flowchart of an example of the second process of the navigation device 1 of the present invention. The navigation device 1 in the second processing example has a route guidance function that provides guidance to the user according to the progress of the moving body (vehicle) on which the navigation device 1 is mounted. First, the computer 13 uses the position specifying unit 134 to specify the current position of the navigation device 1 to the corresponding position on the roadway link in the network data based on the detected position from the state where step S104 is completed. Processing is executed (step S401).

  When step S401 ends, the computer 13 executes processing for determining whether or not the current position of the navigation device 1 is approaching the intersection by the guidance control unit 136 (step S402). FIG. 11 is a diagram showing a guidance image of the second processing example of the navigation device 1 of the present invention. In the basic setting, the map is displayed in a wider range than the pedestrian navigation mode. The intersection shown in FIG. 11 is an intersection ahead of the current position DP of the navigation device 1. Links CR1 to CR4 are roadway links. Links WK1 and WK2 are general links for pedestrians, and are arranged on both sides of the roadway link CR1 where the current position DP of the navigation device 1 exists. The links GL1 to GL8 in the intersection are links for a plurality of pedestrians in the in-intersection link group GL.

  In step S402, the navigation device 1 is heading for a path corresponding to any link included in the intra-intersection link group GL, and the position of the path corresponding to any link included in the intra-intersection link group GL. And the current position DP of the navigation device 1 is determined to be less than or equal to a preset threshold value, it is determined that the current position DP of the navigation device 1 is approaching the intersection. Whether the vehicle is heading toward the passage is determined based on the traveling direction obtained from the past movement locus by the direction calculation unit 135. The journey is obtained from the length of the link section between the current position DP of the navigation device 1 and the intersection. The threshold is set according to the attribute of the link for which the current position DP of the navigation device 1 is specified. When the computer 13 determines in step S402 that the current position DP of the navigation device 1 is not approaching the intersection (step S402: No), the computer 13 proceeds to step S405. The calculator 13 sets the current position DP specified on the link by the guidance control unit 136 slightly below the center of the guide image, and sets the destination side of the link for which the current position DP is specified as the guidance direction. To do. Then, the computer 13 causes the guidance control unit 136 to execute a process for generating a guidance image based on these settings (step S405), and subsequently outputs and displays the guidance image on the display screen 142 of the guidance unit 14. Processing is executed (step S406).

  When the calculator 13 determines in step S402 that the current position DP of the navigation device 1 is approaching the intersection (step S402: Yes), the guidance control unit 136 uses the guidance voice indicating that the intersection is approaching. The process which produces | generates guidance information is performed (step S403), and the process which outputs a guidance audio | voice to the acoustic output device 141 of the guidance part 14 and makes it alert | report is performed continuously (step S404). If the threshold value in step S402 is set to 50 m, for example, guidance information “There is an intersection with a pedestrian crossing ahead 50 m” is generated and notified by voice.

  As described above, according to the second processing example of the navigation device 1 of the present invention, in the in-vehicle navigation device 1, the intersection using both the roadway link and the passage link in the intersection link group GL. It is possible to grasp the positional relationship with the pedestrian's passage including the pedestrian crossing CW near the intersection that requires the most attention as a car driver as a user by determining that the vehicle is approaching As a result, it is possible to provide more appropriate guidance to the user. This guidance is more appropriate guidance than judging from the distance between the current position DP and the intersection node NR.

  When step S404 ends, the computer 13 executes steps S405 to S406 described above. Note that the processes in steps S401 to S406 are executed each time the map matching process in step S401, which is executed at regular intervals, occurs.

<Other examples>
In addition, this invention is not limited to the example of above-mentioned embodiment, A various change and improvement are possible in the range which does not deviate from the summary of this invention. For example, in the example of the embodiment described above, the navigation device 1 is a PND, but it can also be used in an in-vehicle navigation system, a mobile phone, and a personal computer with a GPS receiver.

  Moreover, in the example of embodiment mentioned above, a moving body is not restricted to what actually moves on the ground. An avatar that moves as a virtual moving body within the display screen of the navigation simulator can also be used as the moving body of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus 11 ... Map data memory | storage part 12 ... Input device 13 ... Calculator 131 ... Map data acquisition part 132 ... Path | route setting part 134 ... Position specification part 136 ... Guidance control part 14 ... Guidance part

Claims (6)

Map data including network data including links and nodes, and including network data including information for recognizing a plurality of links for pedestrians representing pedestrian paths in the same intersection as the same group A map data acquisition unit for acquiring
A position specifying unit for specifying the current position of the moving object;
When it is determined that the relationship between the position on the passage corresponding to the link included in the group and the current position meets a predetermined condition, guide information regarding the progress of the moving object is generated according to the condition. A guidance control unit,
A navigation device comprising a guide unit that notifies the user of the guide information. The navigation device according to claim 1,
A route setting unit for setting a recommended route of the moving body to the destination based on the network data;
The position specifying unit specifies the current position as a corresponding position on the link,
When the guidance control unit determines that the current position exists at a position on a corresponding path on a link in the group included in the recommended route, the guidance control unit determines a link of the link in the group including the link. The approach direction is rotated by an angle corresponding to the travel rate of the moving body with respect to the distance of the section of the link row included in the recommended route, based on the angle formed by the entry direction and the exit direction with respect to the row. A navigation device, wherein the guidance information is set as a guidance direction and the guidance information based on the set guidance direction is generated. The navigation device according to claim 1,
The guidance control unit is configured such that the moving body is heading toward a passage corresponding to any link included in the group, and a position of the passage corresponding to any link included in the group and the current position. The navigation apparatus generates the guidance information indicating that the vehicle is approaching the intersection when it is determined that the distance or the route is less than or equal to a preset threshold value. A data structure of network data for causing a computer to generate guidance information on the progress of a moving object and to notify a user,
It is composed of links and nodes, and includes information for recognizing a plurality of links for pedestrians that represent pedestrian paths in the same intersection as the same group,
When the computer determines that the relationship between the position of the intersection link row and the current position of the moving body meets a predetermined condition, the group information is generated according to the matching condition. Data structure of network data used for processing. A data structure of network data according to claim 4,
The network data is used for setting a recommended route by the computer,
The group information is:
The computer that specified the current position of the moving body at a corresponding position on the link,
When it is determined that the current position exists at a corresponding position on a link in the group included in the recommended route, an approach direction and an exit direction with respect to a row of links in the group including the link are determined. The direction in which the approach direction is rotated at an angle corresponding to the degree of progress of the moving body in the section of the link row included in the recommended route based on the angle formed is set as a guide direction,
A network data structure used for processing for generating the guidance information based on the set guidance direction. The network data structure according to claim 4,
The information on the group indicates that the computer is moving toward a path corresponding to any link included in the group and the path corresponding to any link included in the group. The structure of the network data data used for the process which produces | generates the said guidance information which shows that it is approaching the said intersection, when it is judged that the distance or route of a position and the said present position is below a preset threshold value.