JP5576161B2 - Route search device - Google Patents

Description

  In the present invention, the connection state of a road is modeled as a network of links and nodes, and the optimal facility entrance / exit is searched using map information in which each entrance / exit of a facility having a plurality of entrances / exits is connected to the network. The present invention relates to a route search apparatus capable of performing the above.

  2. Description of the Related Art Conventionally, a technique for guiding an optimum entrance / exit when a facility having a plurality of entrances / exits becomes a destination or a departure place has been proposed. In particular, a route search device that uses electronic map data in which the internal structure of a facility is schematically represented by in-facility nodes and in-facility links, and the entrance / exit nodes representing a plurality of entrances / exits of the facility and links representing external walkways are connected. Is known (see, for example, Patent Document 1). By using such electronic map data, when the departure point and destination are input from the condition input unit, the route search unit determines whether the departure point is outside the facility and the destination is within the facility. If the destination is outside the facility or if the departure and destination are in different facilities, the route will be routed using the nodes and links in the facility along with the normal nodes and links. Perform a search. At this time, since the route through the entrance / exit node of the facility is searched, the optimum entrance / exit can be guided to the user.

JP 2003-148983 A

However, the conventional route search device relies on electronic map data in which most of its functions extend to the internal structure of the facility as an in-facility node, an in-facility link, and an entrance / exit node. Electronic map data must be updated frequently. In addition, since a huge amount of data processing is required even inside the facility, a large-capacity electronic map data storage unit, a high-speed route search engine, etc. are necessary as a route search device, which is an expensive and large-scale device. It has a configuration. Moreover, it is common for the number of entrance / exit nodes provided in one facility to be double digits due to the large scale of the facility. In such a case, it is necessary to enable a large number of search branches when searching for a route, and the processing requires a large memory space.
In addition, the conventional route search apparatus is intended to guide the entrance / exit that is the shortest route to the in-facility node. However, the inside of the facility is adjusted to a temperature that is easy to spend without being affected by wind and snow, and the inside movement can be smoothly and safely moved without an intersection. For this reason, in a facility having a plurality of entrances / exits, it is required to exit from an entrance / exit as close to the destination as possible or enter from an entrance / exit as close as possible. The conventional route search apparatus cannot consider such a general usage method.
An object of this invention is to provide the route search apparatus which can solve said subject.

In order to solve the above-mentioned problems, the present invention uses a map information in which a road connection state is modeled as a network of links and nodes and each entrance of a facility having a plurality of entrances is connected to the network. A route search device that performs a route search using a facility having a plurality of gateways as a departure point and / or a destination, and nodes at both ends of one link to which two or more of the plurality of gateways are connected Representative node extraction means for extracting a plurality of nodes including the node, node selection route search means for performing route search by setting the node extracted by the representative node extraction means as a temporary departure point and / or destination, a node has been selected as the optimum route by the node selected route searching means, based on a relationship between the plurality of entrance, the plurality of and out It is characterized in that it comprises a facility entrance determination means for determining one of the doorway as the starting point and / or destination of the facility, the one of.
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.

According to the route search device of the present invention, even in a facility having a large number of gateways, a plurality of nodes including both nodes of one link to which two or more of the gateways are connected by the representative node extraction unit . A node is extracted, a route search is performed by setting the extracted node as a temporary departure point and / or destination , and based on the relationship between the node selected as the optimum route and the plurality of gateways, One of the plurality of entrances is determined as a facility departure point and / or destination. For this reason, a route search can be efficiently performed even with a limited number of search branches, and traffic inside the facility can be prioritized.
Also, the facility entrance determining unit is optimally provided with a distance comparing unit that determines one doorway from separation distance between those said selected node and a plurality of entrances. According to such a separation distance comparison unit, the travel distance outside the facility can be further shortened.
Also, the facility entrance determination means, it is useful with a transverse comparison unit for determining one of the doorway from the presence or absence of crossing the intersection when guidance to the best route from the intersection of those said selected node represents. According to such a crossing comparison unit, the number of crossings at the intersection outside the facility can be minimized.
Furthermore, it is also useful that the representative node extracting unit includes a representative node storage unit that extracts and stores in advance a plurality of gateways and nodes at both ends of the link connecting the gateways for each facility. Since the representative node storage unit stores the relationship between a plurality of gateways and nodes, the node extraction process can be omitted, the apparatus configuration can be simplified, and the processing speed can be increased.

It is a block diagram which shows the structure of the route search apparatus of a present Example. It is a flowchart which shows the process which the navigation system of a present Example performs a route search. It is a flowchart which shows the process which the navigation system of a present Example performs a route search. It is a flowchart which shows the process which the navigation system of a present Example performs a route search. It is a flowchart which shows the process which the navigation system of a present Example performs a route search. It is a figure which shows the guidance image of a present Example. It is a figure explaining the crossing of the road corresponding to the link connected to the selected node.

  Hereinafter, embodiments embodying the present invention will be described.

FIG. 1 is a block diagram showing the configuration of the navigation system of this embodiment.
The navigation system 1 in the present embodiment is a PND (Personal Navigation Device) including a map information storage device 11, a route search device 12, a guidance control device 13, a display device 14, and an input device 15, and of course as a vehicle navigation device. It is also used as a pedestrian navigation terminal.

  The map information storage device 11 is an external storage device such as a flash memory, a hard disk, a DVD, or a Blu-ray disc. The route search device 12 and the guidance control device 13 are small computers including an internal storage device such as a ROM and a RAM in which computer programs and processing conditions are stored in advance, a CPU that executes the computer program, and the like. The display device 14 is an LCD (Liquid Crystal Display) or the like, and is a device that displays an image. The input device 15 is a touch panel provided on the image display surface of the display device 14.

  The map information stored in the map information storage device 11 includes network data having links associated with arrival points for facilities, and polylines and polygons for generating administrative boundaries, road maps, house plans, etc. This is map information including drawing data such as the above data.

  The route search device 12 has a plurality of predetermined functions that are realized by executing a computer program in order to obtain an optimum route, and includes units corresponding to the respective functions. Specifically, map information acquisition means 121, spot setting means 122, facility inside / outside determination means 123, multiple entrance / exit confirmation means 124, representative node extraction means 125, node selection route search means 126, facility entrance / exit determination means 127, and two points Inter-path search means 128 is provided.

  The map information acquisition unit 121 accesses the map information storage device 11 to acquire the map information stored in the map information storage device 11 and stores the map information in an internal storage device (not shown) of the route search device 12. Have

  The point setting means 122 has a function of determining designated points corresponding to the departure point and the destination based on the user designation input by the user operating the input device 15.

  The facility inside / outside determination means 123 extracts a designated point existing in the facility area, determines the facility designated by the extracted designated point as a starting point and a destination, and determines whether there are a plurality of entrances / exits in the facility. It has a function to judge. In addition, when the designated point does not exist within the facility area, the facility inside / outside determination unit 123 draws the designated point into the nearest link, and determines the drawn point as a departure point or destination according to the user's designation. It also has a function to do.

  The representative node extraction unit 125 is a node for route search for selecting an optimum route to be connected to a facility, and has a function of extracting nodes at both ends of a link to which a plurality of gateways are connected or a node to which the node is connected. Have. The representative node extracting unit 125 extracts a plurality of gateways and nodes at both ends of a link to which the gateway is connected or connected nodes in advance for each facility and stores them as representative nodes corresponding to the facility. A node storage unit 125A is provided. Since the representative node storage unit 125A stores the relationship between a plurality of gateways and nodes, node extraction processing can be omitted, the apparatus configuration can be simplified, and the processing speed can be increased.

  The node selection route search unit 126 has a function of executing a route search by setting the representative node extracted by the representative node extraction unit 125 as a temporary departure point or destination.

  The facility entrance / exit determination means 127 has a function of determining the entrance / exit connected to the representative node selected as the optimum route by the node selection route search means 126 as the departure point and / or destination of the facility.

  According to the route search device 12 of the present embodiment, even in a facility having a large number of entrances / exits, the representative node extraction unit 125 extracts nodes at both ends of a link to which a plurality of entrances / exits are connected or connected nodes. The route search is executed by setting the extracted node as a temporary departure point and / or destination, and the entrance / exit connected to the node selected as the optimum route is set as the departure point and / or destination of the facility. Determine as. For this reason, a route search can be efficiently performed even with a limited number of search branches, and traffic inside the facility can be prioritized.

Moreover, the facility entrance / exit determination means 127 includes a separation distance comparison unit 127A, a crossing comparison unit 127B, and an in-facility route comparison unit 127C.
When there are a plurality of gateways connected to the representative node selected as the optimum route by the node selection route searching means 126, the separation distance comparison unit 127A determines one distance from the separation distance between the selected representative node and the plurality of gateways. It has a function to determine the entrance. According to such a separation distance comparison unit 127A, the travel distance outside the facility can be further shortened.

  When there are a plurality of entrances connected to the selected representative node, the crossing comparison unit 127B determines one entrance based on whether or not the intersection crosses when guiding the optimum route from the intersection represented by the selected representative node. It has a function to do. According to such a crossing comparison unit 127B, the number of crossings at the intersection outside the facility can be minimized.

  The in-facility route comparison unit 127C has a function of determining a point on a link or node in the facility as a starting point or a destination and selecting an optimal route in the facility when there are links and nodes in the facility. doing.

  The point-to-point route search means 128 has a function of executing a normal route search from the departure point to the destination.

  The guidance control device 13 generates a guidance map image based on the route determined by the route search device 12, displays the guidance map image on the display device 14, and executes a process of guiding the user according to the progress status of the PND. The guidance control device 13 has a function of controlling the operation of the entire navigation system 1.

  Next, a process in which the navigation system 1 of the present embodiment searches for a route based on a user input will be described. 2-5 is a flowchart which shows the process in which the navigation system 1 of a present Example performs a route search.

  The processing of the present embodiment is processing when the facility has a plurality of entrances only at the departure point. FIG. 6 is a diagram illustrating a guide image according to the present embodiment. An underground mall UT is connected to a road corresponding to a network composed of links and nodes via a plurality of entrances D1 to D10.

  First, as shown in FIG. 2, the route search device 12 sets designated points corresponding to the departure point and the destination based on the user designation input by the point designation unit 122 by the operation of the input device 15. The determination process is executed (step S101). In the present embodiment, a case will be described in which an underground city UT is designated as a departure place by a user and a building BL is designated as a destination.

  When step S101 ends, the route search device 12 performs a process of determining whether or not the designated point corresponding to the departure place exists in the facility by the facility inside / outside determination unit 123 (step S102). Specifically, if the designated point is inside the shape polygon drawing the facility, it is determined that the designated point exists in the facility, and if the designated point is outside the shape polygon drawing the facility, It is determined that the designated point does not exist in the facility. When it is determined in step S102 that the designated point corresponding to the departure place exists in the facility (step S102: Yes), the route search device 12 uses the facility inside / outside determination means 123 to determine the facility where the designated point exists. Is determined (step S103). In the present embodiment, since the designated point designates a facility existing in the underground mall UT, the underground mall UT is determined as the departure place.

  When step S103 is completed, the route search device 12 performs a process of determining whether or not there are a plurality of entrances / exits at the facility where the designated point corresponding to the departure place exists by the plurality of entrance / exit confirmation means 124 (step S104). . When the route search device 12 determines in step S104 that there are a plurality of entrances / exits at the facility where the designated point corresponding to the departure point exists (step S104: Yes), the representative node extraction unit 125 uses the optimum to connect to the facility. A process of extracting a node for route search for selecting a route is executed (step S105). Specifically, the route search device 12 uses the representative node storage unit 125A of the representative node extraction unit 125 to connect a plurality of gateways for each facility and nodes at both ends of the link to which the gateway is connected or connected nodes. Are previously extracted and stored as representative nodes. In the present embodiment, as shown in FIG. 6, since there are a plurality of entrances D1 to D10 in the underground shopping street UT, the route search device 12 connects the links L1 and L1 connected to all the entrances D1 to D10 of the underground shopping street UT. Nodes N1 to N5 that are nodes at both ends of L2, L3, and L5 are stored as representative nodes N1 to N5.

  When step S105 ends, the route search device 12 proceeds to step S107.

  If the route search device 12 determines in step S104 that there are not a plurality of entrances / exits at the facility where the designated point corresponding to the departure point exists (step S104: No), the route search device 12 proceeds to step S107.

  When it is determined in step S102 that the designated point corresponding to the departure place does not exist in the facility (step S102: No), the route search device 12 determines whether the designated point not extracted as the designated point where the facility exists is inside or outside the facility. The determination unit 123 performs a process of drawing in the nearest link and determining the drawn point as a departure point in accordance with the user's designation (step S106).

  When step S106 ends, the route search device 12 proceeds to step S107.

  As shown in FIG. 3, in step S107, the route search device 12 executes a process of determining whether or not the designated point corresponding to the destination exists in the facility by the facility inside / outside determination unit 123 (step S107). ). If the route search device 12 determines in step S107 that the designated point corresponding to the destination exists in the facility (step S107: Yes), the facility inside / outside determination means 123 determines the facility in which the designated point exists as the destination. Is determined (step S108). In this embodiment, since the building BL where the designated point exists is a facility in which the arrival point PA is associated with the link, the arrival point PA is determined as a substitute destination at the time of step S108. The

  When step S108 is completed, the route search apparatus 12 executes a process of determining whether or not there are a plurality of entrances / exits at the facility where the designated point corresponding to the destination exists by the plurality of entrance / exit confirmation means 124 (step S109). . When the route search device 12 determines in step S109 that there are a plurality of entrances / exits at the facility where the designated point corresponding to the departure place exists (step S109: Yes), the representative node extraction unit 125 uses the optimum to connect to the facility. A process of extracting a representative node for route search for selecting a route is executed (step S110). Specifically, the same process as the process of step S105 described above is performed. That is, the route search device 12 previously extracts a plurality of entrances and nodes at both ends of the link to which the entrance is connected or connected nodes by the representative node storage unit 125A of the representative node extraction unit 125 in advance. And stored as a representative node.

  When step S110 ends, the route search apparatus 12 proceeds to step S201.

  If the route search device 12 determines in step S109 that there are not a plurality of entrances / exits at the facility where the designated point corresponding to the destination exists (step S109: No), the route search device 12 proceeds to step S201.

  When the route search device 12 determines in step S107 that the designated point corresponding to the destination does not exist in the facility (step S107: No), the route search device 12 uses the designated point that is not extracted as the designated point where the facility exists. The determination means 123 executes a process of drawing in the nearest link and determining the drawn point as a destination according to the user's designation (step S111).

  When step S111 ends, the route search device 12 proceeds to step S201.

  When a series of processes (steps S101 to S111) such as a process for determining a departure and destination for a path search and a process for extracting a representative node are completed, the path search device 12 proceeds to step S201.

  As shown in FIG. 4, in step S <b> 201, the route search device 12 performs a process of determining whether the facility entrance / exit exists at either the departure point or the destination by the facility inside / outside determination unit 123 ( Step S201). When it is determined in step S201 that there is no facility entrance at either the departure point or the destination (step S201: No), the route search device 12 uses the point-to-point route search means 128 to determine the destination from the destination. A route search to reach the ground is performed, and a process for selecting an optimum route is executed (step S202).

  When step S202 ends, the optimum route from the departure point to the destination is completed, and the navigation system 1 ends the route search. When the route search is completed, the navigation system 1 causes the guidance control device 13 to display a guidance map image on the display device 14 and executes a process of guiding the user according to the progress status of the PND.

  If it is determined in step S201 that there is a facility entrance at either the departure point or the destination (step S201: Yes), the route search device 12 uses the node selection route search means 126 to determine the facility where the representative node exists. The process of determining whether or not is only the departure side is executed (step S203). In step S201, the presence or absence of a facility entrance at either the departure point or the destination indicates that a representative node has been extracted in step S104.

  In step S203, when it is determined that the facility where the representative node exists is only on the departure side (step S203: Yes), the route search device 12 uses the node selection route search means 126 to deal with the facility on the departure side. A representative node to be set is set as a temporary departure point, a route search from the departure point to the destination is performed for all the representative nodes, and a process of selecting an optimum route is executed (step S204). In this embodiment, as a result of performing route search by setting the representative nodes N1 to N5 corresponding to the facility on the departure side as a temporary departure point, the optimum route GL1 having the node N2 as a temporary departure point is selected. The

  When step S204 is completed, the route search device 12 uses the facility entrance determination unit 127 to perform processing for determining the entrance / exit connected to the representative node selected as the optimum route by the node selection route search unit 126 as the departure point of the facility. Execute (Step S205). In the present embodiment, the underground city UT of the departure place has a plurality of entrances D1 to D10 connected to the selected representative node N2, and the respective entrances D1 to D10 are determined as the departure places of the underground shopping street UT.

  When step S205 is completed, the route search apparatus 12 performs a process of determining one entrance from a plurality of departure points of the underground shopping street UT by the facility entrance determination means 127 (step S206). The processing in step S206 includes processing by the separation distance comparison unit 127A and processing by the crossing comparison unit 127B. The processing by the separation distance comparison unit 127A calculates separation distances between the selected node and the plurality of entrances / exits. Further, the process by the crossing comparison unit 127B calculates whether or not the intersection has been crossed when guiding from the intersection represented by the selected node to the optimum route.

  Whether or not the intersection is crossed by the crossing comparison unit 127B is calculated by determining whether or not each of the roads corresponding to the link connected to the selected node is crossed. When crossing a road from a doorway to an optimum route in route search, the road crossing is determined based on whether the position of the PND on the selected link is on the right side of the road, assuming the PND traveling direction. Follow the link while determining if it is located at. Thereby, when the right and left turn at the intersection, the position of the PND changes from the right side to the left side, or the case where the position changes from the left side to the right side, it can be calculated as a road crossing. In addition, when the link to be connected first from the entrance / exit is selected, it is assumed that it is located on the left of the link when turning left assuming the traveling direction of the PND, and is located on the right of the link when turning right. As described above, in this embodiment, it is possible to determine whether or not a pedestrian has crossed the road even if the map information does not have link data corresponding to a pedestrian-only passage maintained on the side of the roadway. it can. Further, since the determination of road crossing is limited to roads corresponding to links connected to the selected node, it is only necessary to determine the presence or absence of road crossing, so the load of the determination process is small.

  In the present embodiment, the calculation is performed by determining whether or not to cross each of the roads corresponding to the links L1 to L4 connected to the selected node N2. However, since it is not determined whether the optimal route GL1 is located on the right side or the left side with respect to the traveling direction, the link L4 included in the optimal route GL1 is not a target of crossing determination. Several examples of road crossing related to the entrance and exit will be described with reference to FIG. FIG. 7 is a diagram illustrating the crossing of the road corresponding to the links L1 to L4 connected to the selected node N2. When guiding from the entrance D2 to the route GL1, no road crossing occurs. A road crossing corresponding to the link L1 occurs as a road crossing during the guidance from the entrance D4 to the route GL1. When guiding from the entrance D7 to the route GL1, the crossing of the road corresponding to the link L2 occurs. Then, no road crossing occurs during the guidance from the entrance D5 to the route GL1. The same determination can be made for the crossing of the road relating to the entrances other than the entrances D2, D4, D5, and D7 shown in FIG.

  In step S206, the route search device 12 performs a process of determining an optimal entrance / exit by calculating the cost from the entrance / exit to the selected representative node using both the separation distance and the presence / absence of intersection crossing. To do. In the present embodiment, the entrance / exit D5 that does not cross the link links L1 to L4 connected to the selected node N2 and shortens the separation distance from the selected node N2 is determined as the optimum entrance / exit.

  When step S206 ends, the optimum route GL2-GL1 from the departure point to the destination is completed, and the navigation system 1 ends the route search. When the route search is completed, the navigation system 1 causes the guidance control device 13 to display a guidance map image on the display device 14 and performs processing for guiding the user using the determined route. In this embodiment, the position of the PND is superimposed on the guidance image shown in FIG. 6, and the user is guided by heading up according to the traveling direction of the PND.

  In step S203, when it is determined that the facility where the representative node exists is not only the departure side (step S203: No), the route search device 12 proceeds to step S301.

  As shown in FIG. 5, in step S301, the route search device 12 uses the node selection route search means 126 to execute processing for determining whether the facility where the representative node exists is only on the destination side (step S301). S301). If it is determined in step S301 that the facility where the representative node exists is only on the destination side (step S301: Yes), the route search device 12 uses the node selection route search means 126 to handle the facility on the departure side. A representative node to be set is set as a temporary destination, a route search from the departure point to the destination is performed for all the representative nodes, and an optimum route is selected (step S302).

  When step S302 ends, the route search device 12 performs a process of determining, by the facility entrance / exit determination unit 127, the entrance / exit connected to the representative node selected as the optimum route by the node selection route search unit 126 as the destination of the facility. Execute (Step S303).

  When step S303 ends, the route search apparatus 12 executes a process of determining one entrance from a plurality of destinations by the facility entrance determination means 127 (step S304). The processing in step S304 includes processing by the separation distance comparison unit 127A and processing by the crossing comparison unit 127B, as in the processing in step S206.

  When step S304 ends, the optimum route from the departure point to the destination is completed, and the navigation system 1 ends the route search. When the route search is completed, the navigation system 1 causes the guidance control device 13 to display a guidance map image on the display device 14 and executes a process of guiding the user according to the progress status of the PND.

  In step S301, when it is determined that the facility where the representative node exists is not only the departure side (step S301: No), the route search device 12 proceeds to step S305.

  In step S305 and subsequent steps, processing is executed when there are facility entrances at both the departure point and the destination. In step S305, the route search device 12 uses the node selection route search means 126 to set the representative node corresponding to the facility on the departure side as a temporary departure point and the representative node corresponding to the facility on the destination side as a temporary destination. The route search from the departure point to the destination is set for all combinations of the temporary departure point and the temporary destination, and the process of selecting the optimum route is executed (step S305).

  When step S305 is completed, the route search apparatus 12 determines the entrance / exit connected to the representative node selected as the optimum route by the node selection route search means 126 by the facility entrance / exit determination means 127 as the departure point and destination of the facility. The process which performs is performed (step S306).

  When step S306 ends, the route search apparatus 12 uses the facility entrance determination unit 127 to determine one entrance from a plurality of departure points and to execute a process of determining one entrance from a plurality of destinations (step S307). ). The processing in step S307 includes processing by the separation distance comparison unit 127A and processing by the crossing comparison unit 127B, as in the processing in steps S206 and S304.

  When step S307 ends, the optimum route from the departure point to the destination is completed, and the navigation system 1 ends the route search. When the route search is completed, the navigation system 1 causes the guidance control device 13 to display a guidance map image on the display device 14 and executes a process of guiding the user according to the progress status of the PND.

<Other examples>
In addition, this invention is not limited to the form of the above-mentioned Example, A various change and improvement are possible in the range which does not deviate from the summary of this invention. For example, the above-mentioned embodiment does not consider the route in the facility, but if there is a link and a node in the facility of the acquired map information, the point in the facility is determined as the starting point or the destination. Also good. In this case, the facility passage comparison unit 127C provided in the facility entrance / exit determination means 127 calculates the distance of the passage through the facility for each entrance and exit, and the calculated distance is set as the separation distance for each entrance calculated by the separation distance comparison unit 127A. By adding, one entrance / exit can be determined from a plurality of entrances / exits of the facility.

  Further, according to the above-described embodiment, the crossing comparison unit 127B determines whether or not to cross each of the roads corresponding to the links L1 to L4 connected to the selected representative node. The number of roads to be judged may be increased. For example, in the example of the guide map shown in FIG. 6, it may be determined whether or not the roads corresponding to the links L1 to L5 connected to the representative nodes N1 to N5 are crossed. According to the crossing comparison unit 127B like this, for example, in the example of the guide map shown in FIG. 6, it is determined whether or not the roads corresponding to the links L6 and L7 are crossed. Even when the number of entrances / exits is large or the number of roads connected to the entrance / exit of the facility is large, one entrance / exit can be appropriately determined.

DESCRIPTION OF SYMBOLS 12 ... Route search apparatus 125 ... Representative node extraction means 126 ... Node selection route search means 127 ... Facility entrance / exit determination means

Claims (4)

The road connection state is modeled as a network of links and nodes, and map information in which each entrance of a facility having a plurality of entrances is connected to the network, and the facility having the plurality of entrances and exits A route search device that performs a route search as a destination,
Representative node extraction means for extracting a plurality of nodes including nodes at both ends of one link to which two or more of the plurality of gateways are connected;
Node selection route search means for executing a route search by setting the node extracted by the representative node extraction means as a temporary departure point and / or destination;
Based on the relationship between the node selected as the optimum route by the node selection route search means and the plurality of entrances, one entrance among the plurality of entrances is determined as the starting point and / or destination of the facility. Facility entrance and exit determination means;
A route search apparatus comprising: The route search device according to claim 1,
The facility entrance determination means, route search device, characterized in that it comprises a distance comparing unit that determines one doorway from separation distance between said selected node and said plurality of entrance. The route search device according to claim 1 or 2,
The facility entrance determination means, route search device, characterized in that it comprises a transverse comparison unit for determining one of the doorway from the presence or absence of crossing the intersection when guidance to the best route from the intersection of the selected node represents. The route search device according to any one of claims 1 to 3,
The representative node extraction means, the route search the previously extracted the ends node of the link in which a plurality of entrance and the entrance is connected to each facility, characterized in that it comprises the representative node storage unit for storing apparatus.