JP5856813B2 - Navigation system, terminal device - Google Patents

Description

  The present invention relates to a navigation system and a terminal device.

  In Patent Document 1, the map data is hierarchized into four levels from level 0 to level 3, and the route from the starting point to point A on the level 3 road and the point B on the level 3 road from the destination. A search process for searching for a route to and a route from point A to point B is described. Level 3 map data includes only major roads such as expressways and national roads, and only the level 3 road is used for the route from point A to point B.

JP 2004-286524 A

  When searching for a route from the departure point to the destination, a route that mainly uses the main road is not necessarily the optimum guide route. The route search process described in Patent Document 1 cannot always be said to give an optimum guidance route in that respect. An object of the present invention is to propose a navigation system capable of searching for an appropriate guide route while suppressing data stored during execution of a process for searching for a guide route.

A navigation system according to the present invention is a navigation system that searches for a guidance route from a departure place to a destination, and includes at least information on position information of a plurality of nodes on a road map and the frequency of passage of the nodes. Map data storage means for storing map data, transit point selection means for selecting a transit point based on the departure point, the destination, and the passing frequency, and a transit point selected by the transit point selection unit And a search means for searching for a guidance route from the departure place to the destination, and the waypoint selection means is located at a node closest to the position of the departure place and the position of the destination. A point extracting means for extracting a plurality of nodes within a predetermined area determined based on the closest node, and a plurality of nodes extracted by the point extracting means. A route point candidate extracting means for extracting one or more nodes as route point candidates having a large value of the pass frequency, and when selecting one or more route points from the one or more route point candidates, is that searching for a route to set two different node to each departure and destination to one another from a plurality of nodes that includes the position information on the map data, the node to be set to the origin and destination The number of times that each of the plurality of nodes is included in a plurality of recommended routes that have been searched is calculated in advance by changing the combination.
A terminal device according to the present invention is a terminal device that searches for a guidance route from a departure place to a destination, and includes at least information on position information of a plurality of nodes on a road map and frequency of passage of the nodes. Map data storage means for storing map data, transit point selection means for selecting a transit point based on the departure point, the destination, and the passing frequency, and a transit point selected by the transit point selection unit And a search means for searching for a guidance route from the departure place to the destination, and the waypoint selection means is located at a node closest to the position of the departure place and the position of the destination. A point extracting means for extracting a plurality of nodes in a predetermined area determined based on the closest node, and a value of the passing frequency is large from among the plurality of nodes extracted by the point extracting means Route point extracting means for extracting one or more route points as route point candidates, and when selecting one or more route points from the one or more route point candidates, the passing frequency is located in the map data. Execute two or more times by searching for a route by setting two different nodes as a starting point and a destination from among multiple nodes that contain information, by changing the combination of nodes set as the starting point and the destination. The number of times each of the plurality of nodes is included in the searched plurality of recommended routes is calculated in advance.

  According to the present invention, it is possible to search for an appropriate guide route while suppressing data stored during execution of a process for searching for a guide route.

It is an example of the block diagram which shows the whole structure of the navigation system which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of OD candidate group data. It is an example of the format of map data. It is an example of the format of map data. It is an example of the format of map data. It is an example of the flowchart regarding the process which calculates the OD candidate group data contained in the format of map data. It is an example of the flowchart regarding the process which calculates the frequency information contained in the format of map data. It is an example of the format of the data calculated in the process of the process of FIG. 8 is a specific example for explaining the processing of FIG. 7. It is an example of the flowchart regarding the process of a search determination means. It is an example of the display screen at the time of the process of a search determination means. It is an example of the flowchart regarding the process of a waypoint selection means. It is an example of the flowchart regarding the process which determines the OD candidate group of the origin side and the destination side of the process of a search determination means. It is a figure for demonstrating the process which determines OD candidate group by the side of departure in the process of a search determination means. It is an example of the flowchart regarding the process which extracts several waypoint candidates of the process of a search determination means. It is an example of the map for demonstrating the conditions selected as a stopover candidate. It is an example of the display screen at the time of the process of a waypoint selection means. It is an example of the display screen after a guidance route search. It is an example of the block diagram which shows the whole structure of a center apparatus including the navigation system which concerns on the 2nd Embodiment of this invention. It is an example of the format of the driving history data which a data storage means accumulate | stores. It is an example of the flowchart regarding the process of a waypoint frequency update means. It is a figure which shows the example of execution of a waypoint frequency update means. It is an example of the block diagram which shows the whole structure of the navigation system which concerns on the 3rd Embodiment of this invention. It is an example of the flowchart regarding the process of a route selection means. It is an example of the flowchart regarding the process of a waypoint learning means. It is an example of the screen display at the time of the process of a waypoint learning means. It is an example of the flowchart regarding the process of a waypoint learning means.

  An embodiment of a navigation system according to the present invention will be described with reference to the drawings.

-First embodiment-
FIG. 1 shows the overall configuration of the navigation system according to the first embodiment of the present invention. The navigation system 100 of FIG. 1 includes an input unit 110, a map data storage unit 120, a search determination unit 130, a waypoint selection unit 140, a display unit 150, and a search unit 160. In the following description, the navigation system 100 will be described as a car navigation system for vehicles or a terminal device for car navigation.

  The input unit 110 is a unit for inputting a starting point and a destination of a route to the navigation system 100, and includes a touch panel, a user interface such as a dial and various switches, a GPS (Global Positioning System) receiver, It is comprised with sensors for detecting the positional information of vehicles, such as an angular velocity sensor. The destination is entered via the user interface. The departure point is input via a user interface or sensors. The starting point and the destination input via the input unit 110 are provided to the waypoint selection unit 140, the display unit 150, and the search unit 160.

  A starting point input method using sensors will be described. The output signals from the sensors constituting the input means 110 are obtained by measuring the position of the vehicle, the angular velocity, and the like. The navigation system 100 can calculate vehicle position information by using a Kalman filter or dead reckoning, which are known techniques, for these output signals.

The map data storage unit 120 is a storage unit such as a hard disk or a flash memory, and stores road information, POI (Point Of Interest) information, and image data such as various icons. The road information includes road data, waypoint data, and OD candidate group data, and is provided to the waypoint selection means 140, the display means 150, and the search means 160. The POI is information regarding points such as store information. The user can search the POI of the destination from the map data using the address, category, telephone number, etc. as a key, and input the destination or the departure place via the user interface included in the input means 110. Details of the road information will be described later.

  The waypoint selection means 140 is software executed by a microprocessor (not shown) mounted on the navigation system 100, RAM, ROM, or the like. The waypoint selection unit 140 is based on the departure point and destination input by the input unit 110, and from among a plurality of OD candidate groups stored in the map data storage unit 120, OD candidates that are close to the departure point and destination. Select a group, select one or more (preferably two or more) waypoint candidates from the selected OD candidate group, and provide information about the selected waypoint candidates to the display means 150 and the search means 160 To do. Hereinafter, the waypoint candidates selected by the waypoint selection unit 140 are referred to as route point candidates.

  An OD candidate group is an aggregate when a plurality of nodes included in road data are subjected to clustering processing based on the distance between the nodes. FIG. 2 is a diagram illustrating an example of an OD candidate group. A small circle drawn with a solid line in FIG. 2 represents a node included in the road data. The four circles drawn by dotted lines in FIG. 2 are OD candidate groups obtained by the clustering process, and have OD candidate group IDs G1 to G4, respectively.

  The plurality of waypoint candidates selected by the waypoint selection unit 140 are displayed on the display unit 150 described later. The waypoint selection means 140 includes a user interface, and the user selects one or more desired waypoints from a plurality of waypoint candidates displayed on the display means 150 via the user interface. Information on the selected waypoint is provided to the search means 160.

  The display means 150 is composed of a liquid crystal display or the like and has two functions. The first function is a function for displaying the road information stored in the map data storage unit 120 and the waypoint candidates from the waypoint selection unit 140 for selecting a waypoint by the waypoint selection unit 140. . The second function is a function for inputting the road information in the map data storage unit 120 and information on the guidance route input from the search unit 160 and displaying the guidance route on the map in an overlapping manner.

  The search means 160 is constituted by a microprocessor, RAM, ROM and the like. The search means has two functions. The first function (first route search) is based on the information stored in the map data storage unit 120 and the destination and departure point provided from the input unit 110, from the departure point to the destination. The guidance route is determined by a known Dijkstra method. The second function (second route search) is further based on one or more waypoints provided from the waypoint selection means 140, from the departure point to the destination via the waypoints. The guide route is determined by a known Dijkstra method. In the first route search, information related to the guidance route is provided to the search determination unit 130 and the display unit 150. In the second route search, information on the guidance route is provided to the display unit 150.

  The search determination unit 130 is software executed by a microprocessor (not shown) mounted on the navigation system 100, RAM, ROM, or the like. The search determination unit 130 determines whether or not the route is valid based on the route input by the first route search of the search unit 160. When it is determined that the route is valid, the route is provided to the display unit 150. If it is determined that the route is not valid, the route selection unit 140 is instructed to select a route. Further, the process of determining whether or not the route is valid may be performed by the user. In this case, the search determination unit 130 includes a user interface, and the user determines whether the route is valid by looking at the route displayed on the display unit 150 via the user interface.

  Next, the road information stored in the map data storage unit 120 will be described with reference to FIGS. FIG. 3 is an example of a format of road data constituting the road information. FIG. 4 is an example of the format of the waypoint data for each OD candidate group constituting the road information. FIG. 5 is an example of a format of OD candidate group data.

  The road data shown in FIG. 3 is stored in the map data storage unit 120 in units of meshes that are map sections. A mesh is a map divided into a mesh based on latitude and longitude. The information 20 representing each mesh is composed of a mesh ID for identifying each mesh and information regarding roads related to roads included in the mesh.

  The roads included in each mesh are stored in the map data storage unit 120 in units of road links. The road link information 21 representing each road link includes a link ID for identifying each road link, information on the start point and end point of each road link, road type, and cost data.

  Each road link has a direction, and the direction and the position on the map can be specified by the information of the start point and the end point of the road link. Each of the start point and end point of the road link includes a node representing a point, and the information of the start point and end point includes a node ID for identifying the node and latitude and longitude information representing the position of the node, respectively.

  The road type is information indicating the type of road represented by each road link. For example, "0" if the road represented by the road link is an intercity expressway, "1" if it is an intracity expressway, "2" if it is a national road, "3" if it is another road, etc. Defined. Other roads are narrow streets, for example.

  The cost data is the weight of the road link used when the search unit 160 searches for a route, and represents the cost required for movement from the start point to the end point. There are various types of cost data such as statistical traffic information, link length, and travel time. In the following description, cost data is described as having a link length. When the search means 160 searches for a route using the link length as cost data, the guided route to be searched is the route having the minimum travel distance from the departure point to the destination.

  The waypoint data shown in FIG. 4 is stored in the map data storage unit 120 in units of OD candidate groups on the departure side. The OD candidate group on the departure side and the OD candidate group on the destination side will be described when the flowchart of FIG. 7 is described. The information 22 representing each OD candidate group has an OD candidate group ID for identifying each. This OD candidate group ID is the OD candidate group ID on the departure side. Further, the information 22 is configured as a set of node information 23 related to the waypoint determined by the combination of the OD candidate group on the departure side and the OD candidate group on the destination side.

  The node information 23 includes a node ID for identifying each node, the latitude and longitude of the point corresponding to each node, the intersection name of the intersection at the point corresponding to each node, and the frequency of passing through each node. It is comprised with the frequency information showing. The frequency information is data calculated in advance using road data, and is used for processing of the waypoint selection unit 140 described later.

  The OD candidate group data shown in FIG. 5 is divided into OD candidate group units and stored in the map data storage unit 120. The information 24 representing each OD candidate group is composed of an OD candidate group ID for identifying each OD candidate group and node information 25 relating to the nodes constituting the OD candidate group. The node information 25 includes a node ID for identifying each node.

  The node ID of the waypoint data in FIG. 4 and the node ID of the OD candidate group data in FIG. 5 correspond to the node ID of the road data in FIG. Therefore, the corresponding node information 23 in the waypoint data and the corresponding node information 25 in the OD candidate group data can be searched using the node ID of the road data as a key.

  A method for creating an OD candidate group included in the OD candidate group data will be described with reference to the flowchart shown in FIG. FIG. 6 shows processing executed by a manufacturer of the navigation system, a map data vendor, etc. using the server before the navigation system is shipped from the factory. The server that performs the processing in FIG. 6 searches for a combination of the map data storage unit 120, a recommended route search unit that searches for a recommended route between two nodes by a known Dijkstra method, and the node with a short distance between the nodes. And a known clustering unit that combines a plurality of clusters, and a writing unit that writes a node ID constituting the OD candidate group to the OD candidate group data stored in the map data storage unit 120 of the navigation system 100.

  In the processing of FIG. 6, the server performs route search processing for all combinations of the start node and the end node of a specific road type included in the road link information 21 of the road data, and uses the route length between the nodes. The nodes are clustered to calculate information on the OD candidate group.

  In step S001 of FIG. 6, the server selects a node of a specific road type from the start point information and the end point information of the road link information 21 of the road link included in the road data stored in the map data storage unit 120. Extract. At this time, the specific road type refers to a main road type such as an expressway or a national road. By extracting the nodes to which the main roads are connected, it is possible to improve the efficiency of the processing of FIG. This road type is determined for each mesh. After extracting the main node, the process proceeds to step S002.

  In step S002 in FIG. 6, the server clusters the main nodes using the path length between the main nodes extracted in step S001. By this clustering process, a set of nodes generated becomes an OD candidate group (for example, OD candidate groups G1 to G4 in FIG. 2). The server sets an OD candidate group ID to identify these OD candidate groups. Then, the server writes the OD candidate group ID set for the cluster and the node information 25 of the node ID constituting the cluster into the OD candidate group data of the map data storage unit 120 as the information 24 representing the OD candidate group. When the server stores the calculated OD candidate group data, the server ends the process of FIG. Further, the clustering in step S002 may be performed by using a straight line distance between main nodes instead of a path length between main nodes.

  A method for calculating the frequency information included in the waypoint data will be described with reference to the flowchart shown in FIG. FIG. 7 shows processing executed by a navigation system manufacturer or a map data vendor using a server before the navigation system is shipped from the factory. The server that performs the processing of FIG. 7 is stored in the map data storage unit 120, the recommended route search unit that searches for a recommended route between two nodes by a known Dijkstra method, and the map data storage unit 120 of the navigation system 100. Writing means for writing frequency information to the waypoint data. The writing unit uploads the frequency information to the waypoint data in the map data storage unit 120 of the navigation system 100 by wired communication, wireless communication, various recording media, or the like.

  In the processing of FIG. 7, the server performs route search processing for all combinations of nodes included in the OD candidate group information 24 of the OD candidate group data, statistically processes a plurality of routes obtained as a result of the search, Frequency information regarding each node included in the data is calculated.

  In step S80 of FIG. 7, the server has completed the processing from step S90 to step S140 for all of the OD candidate group information 24 included in the OD candidate group data stored in the map data storage unit 120. Determine whether. The process of FIG. 7 proceeds to step S150 if the determination in step S80 is affirmative, and proceeds to step S90 if a negative determination is made.

  In step S90 of FIG. 7, the server selects one OD candidate group information 24 included in the OD candidate group data stored in the map data storage unit 120 and sets it as the OD candidate group on the departure side. Further, the OD candidate group information 24 included in the OD candidate group data stored in the map data storage unit 120 is selected from one other than the OD candidate group on the departure side, and the OD candidate group on the destination side is selected. To do.

  In step S100 of FIG. 7, the server determines whether or not the processing of step S140 has been completed for all of the node information 25 included in the departure-side OD candidate group stored in the map data storage unit 120. judge. The process of FIG. 7 proceeds to step S80 if the determination in step S100 is affirmative, and proceeds to step S110 if the determination is negative.

  In step S110 of FIG. 7, the server selects one node information 25 from the departure-side OD candidate group, and uses the node ID of the selected node information 25 to determine the node information from the road link information 21 of the road link. Get information. Hereinafter, the node information extracted in step S110 is referred to as a departure-side node. The process of FIG. 7 proceeds to step S120 when the information of the starting point as the departure side node is acquired.

  In step S120 of FIG. 7, the server determines whether or not the processing of steps S130 to S140 has been completed for all the node information 25 included in the destination OD candidate group. The process of FIG. 7 returns to step S100 if step S120 is positively determined, and proceeds to step S130 if negatively determined.

  In step S130 of FIG. 7, the server selects one node information 25 from the OD candidate group on the destination side, and uses the node ID of the selected node information 25 to determine the node information from the road link information 21 of the road link. Get information. Hereinafter, the node information extracted in step S120 is referred to as a destination node. The process of FIG. 7 proceeds to step S140 when the information of the end point as the destination node is acquired.

  In step S140 in FIG. 7, the server searches the route from the node on the departure side to the node on the destination side using a known Dijkstra method or the like, and the server is provided with route information regarding the searched route. Stored in a storage area such as a RAM. The route information is stored in the format of FIG. The format of FIG. 8 includes an OD candidate group ID 45 of the OD candidate group on the departure side, an OD candidate group ID 46 of the OD candidate group on the destination side, a node ID 41 of the node on the departure side, and a node of the node on the destination side It consists of an ID 42, the number of nodes 43 included in the route, and a passing node 44 that passes between the node on the departure side and the node on the destination side. The processing in FIG. 7 returns to step S120 after the route information of the searched route is accumulated in the RAM or the like. Returning to step S120, the server acquires information on the next end point as the destination side node for the departure side node acquired in step S110. By repeating such processing, the route is searched for all combinations of the start point information and the end point information, and the route information of the searched route is accumulated.

  In step S150 of FIG. 7, the server includes the same OD candidate group ID of the departure-side OD candidate group and the same OD candidate group ID of the destination-side OD candidate group in the route information of FIG. The number of identical node IDs that appear as passing nodes is calculated for each node ID of the passing node. Then, the server uses the calculated number of node IDs as the OD candidate group ID of the departure side OD candidate group and the OD candidate group ID of the destination OD candidate group and the node ID corresponding to the waypoint data in FIG. Write to the frequency information. When the server stores the calculated number of node IDs as the frequency information of the waypoint data, the server ends the process of FIG.

  FIG. 9 is a diagram illustrating an execution example of the flowchart of FIG. Assume that the map data storage means 120 of the server stores road data and waypoint data for the map shown in FIG. In FIG. 9, two OD candidate groups are assumed, and the respective OD candidate group IDs are G5 and G6. The OD candidate group G5 includes nodes N1 and N2, and the OD candidate group G6 includes nodes N3 and N4. In the road data, road link information 21 relating to the road link L1, the road link L2, the road link L3, the road link L4, and the road link L5 is stored. The road link L1 starts from the node N1 and ends at the node N2. The road link L2 starts from the node N2 and ends at the node N3. The road link L3 starts from the node N2 and ends at the node N4. The road link L4 starts from the node N3 and ends at the node N4. The road link L5 has a node N4 as a start point and a node N1 as an end point. In the map of FIG. 9A, all road links are set as one-way roads for simplification of explanation. When the process of FIG. 7 is performed on the map of FIG. 9A, there are 4 × 3 = 12 combinations of the node on the departure side and the node on the destination side. When the OD candidate group G5 is an OD candidate group on the departure side and the OD candidate group G6 is an OD candidate group on the destination side, the nodes N1 and N2 are the nodes on the departure side, and the nodes N3 and N4 are the destinations. It becomes the node of the side. When the OD candidate group G6 is an OD candidate group on the departure side and the OD candidate group G5 is an OD candidate group on the destination side, the nodes N3 and N4 are the nodes on the departure side, and the nodes N1 and N2 are It becomes a node on the destination side. The route information of the route searched for the combination of each node is shown in FIG. In the route information shown in FIG. 9B, there are three nodes N1 as passing nodes 44. Therefore, the frequency information of the node N1 is “3”. Similarly, the frequency information of the nodes N2 to N4 is “3”, “0”, and “3”, respectively.

  Next, the process of the search determination means 130 is demonstrated using the flowchart shown in FIG. The processing of FIG. 10 is executed by the microprocessor of the navigation system 100, and starts when route information is input via the first route search of the search means 160.

  In step S301 in FIG. 10, the microprocessor determines whether the cost of the route corresponding to the input route information is equal to or less than a predetermined threshold value. This process is the same as step S2023 in FIG. If the cost of the route is equal to or less than a predetermined threshold, the microprocessor determines that an appropriate route has been calculated and affirms the process of step S301. Then, the microprocessor advances the process to step S303, provides the input route information to the display unit 150, and ends the process of FIG. On the other hand, if the cost of the path is greater than the predetermined threshold, the microprocessor determines that an appropriate path has not been calculated, makes a negative determination in step S301, and proceeds to step S302. In step S301, a negative determination may be made even when the first route search cannot calculate a route. In step S302, the microprocessor instructs the waypoint selection unit 140 to set a waypoint.

  In the flowchart of FIG. 10, the microprocessor determines the necessity of setting the waypoint by the waypoint selection unit 140, but the route is appropriate for the user via the user interface included in the search determination unit 130. By determining whether or not, the necessity of setting the waypoint may be determined. A method for determining whether or not this route is appropriate will be described with reference to FIG.

  The display unit 150 displays the starting point, the destination, and the route based on the route that is the output result of the first route search of the searching unit 160 and the starting point and the destination that are input via the input unit 110. Data for drawing a possible road map is acquired from the map data storage unit 120. Then, a screen as shown in FIG. 11 is displayed based on the acquired data. In FIG. 11, together with the road map, a departure place S, a destination G, a route K, and a window W1 asking whether this route is acceptable are displayed. The search determination unit 130 selects whether or not the route is appropriate through the user interface included in the input unit 110 from the “Yes” button and the “No” button of the window W1 displayed as shown in FIG. . When the “Yes” button in the window W1 is selected, the optimum route K is used as it is, assuming that the displayed optimum route K is appropriate. When the “No” button in the window W1 is selected, the microprocessor instructs the waypoint selection unit 140 to set a waypoint as in step S302 of FIG.

  Next, the processing of the waypoint selection unit 140 will be described with reference to the flowchart shown in FIG. The process of FIG. 12 is executed by the microprocessor of the navigation system 100 and starts when the route determination unit 130 determines that a waypoint setting is necessary.

  In step S200 of FIG. 12, the microprocessor determines the OD candidate group on the departure side and the OD candidate group on the destination side based on the position of the departure point and the destination input by the input unit 110. Detailed processing in step S200 will be described with reference to the flowchart shown in FIG. Further, an example of the processing of FIG. 13 is shown in FIG. In the description of FIG. 13, the process for determining the OD candidate group on the departure side will be described. However, the process for determining the OD candidate group on the destination side is also described in the flowchart of FIG. "Can be realized by replacing" Destination OD candidate group ".

  When the process shown in FIG. 13 is executed for the first time, the microprocessor sets the node closest to the position of the departure place input by the input means 110 as the start point (node N11 in FIG. 14), and the road data in FIG. A known Dijkstra method is executed based on the above. The Dijkstra method is a greedy algorithm that calculates the minimum cost from a node as a starting point to each node included in road data. In the Dijkstra method, a fixed set that is a set of nodes for which the minimum cost is fixed and an undefined set that is a set of nodes for which the minimum cost is not fixed are used as variables. In the example of FIG. 14, it is assumed that nodes in the dotted elliptical area A1 are included in the definite set, and nodes N12 to N14 in the solid elliptical area A2 are included in the undetermined set.

The microprocessor sets the minimum cost of the node set as the start point to zero, and sets the initial value of the minimum cost of each node to infinity for the node not set as the start point. All nodes are included in the undefined set, and the definite set is an empty set. In the Dijkstra method, the following processing is repeated until the uncertain set becomes an empty set.
(1) Search for a node with the minimum minimum cost among the nodes included in the indeterminate set.
(2) The node searched in (1) is included in the definite set.
(3) For each link starting from the node searched in (1), when the node at the end point is included in the indeterminate set, the minimum cost of the node at the end point is the cost data of the link and (1) Change to the sum of the minimum cost of the node searched in

  Hereinafter, nodes included in the definite set in (2) are referred to as definite nodes. The definite node is updated every time the node is included in the definite set in (2), and is not initially set. For example, in FIG. 14, it is assumed that the undetermined set includes only the nodes N12 to N14 in the elliptical area A2, and the minimum cost of the node N12 is the smallest among the nodes included in the undefined set. I will explain. First, the node N12 is searched in (1), and the node N12 is included in the definite set in (2). In (3), for the links L6 and L7 starting from the node N12, the end points N13 and N14 of those links are included in the undefined set, so the minimum cost of the node N13 is the minimum cost of the node N12 and the link L6. The minimum cost of the node N14 is updated to the sum of the minimum cost of the node N12 and the cost of the link L7.

  In step S2001 in FIG. 13, the microprocessor determines whether or not an OD candidate group including the confirmed node exists in the node information 25 of the OD candidate group data in FIG. The process of FIG. 13 proceeds to step S2003 when affirmative determination is made in step 2001, and proceeds to step S2002 when negative determination is made. A negative determination is also made when the process (2) has not been executed even once the process of FIG. 13 has been started.

  In step S2002 of FIG. 13, after executing the process (1), the microprocessor executes the process (2) and updates the confirmed node.

  In step S2003 of FIG. 13, the microprocessor selects the OD candidate group including the confirmed node determined to exist in the node information 25 of the OD candidate group data of FIG. 5 in step 2001 of FIG. Set to. In the example of FIG. 14, the OD candidate group including the node N12 is set as the OD candidate group on the departure side.

  In step S2004 of FIG. 13, the confirmed set and the undefined set are temporarily stored in the RAM, and the process of FIG. The data stored in step S2004 is used when there is a waypoint setting instruction from the search determining means in step S302 of FIG.

  In step S201 in FIG. 12, the microprocessor uses the IDs of the departure-side OD candidate group and destination-side OD candidate group determined in step S200 in FIG. A set of node information 23 corresponding to a combination of the corresponding departure-side OD candidate group and destination-side OD candidate group is extracted.

  Step S202 in FIG. 12 selects a waypoint to be used in the second route search of the search means 160 from the set of node information 23 extracted in step S201 in FIG. When there is only one node information 23 of the waypoint data extracted in step S201 in FIG. 12, the waypoint data is provided to the second route search of the search unit 160 as a waypoint. When there are a plurality of node information 23 of the waypoint data extracted in step S201 of FIG. 12, for example, the node having the highest frequency of the node information 23 is provided to the second route search of the search means 160 as a waypoint. Further, according to the process shown in the flowchart of FIG. 15, a route search is actually performed to select a plurality of waypoint candidates, and the waypoints are selected from the waypoint candidates via the user interface included in the input unit 110. It may be selected.

  In step S2021 in FIG. 15, the microprocessor selects a node having the largest frequency information (FIG. 4) from the nodes extracted in step 201 in FIG. 12 and the processing in steps S2022 and S2023 is not performed. Extract one. The process of FIG. 15 proceeds to step S2022 after extracting the node with the largest frequency information.

  In step S2022 of FIG. 15, the microprocessor sets the node extracted in step S2021 as a transit point, and searches for one route from the departure point to the destination via the transit point based on the Dijkstra method or the like. The processing in FIG. 15 proceeds to step S2023 after the route search using the node extracted in step S2021 as a transit point is completed.

  In step S2023 in FIG. 15, the microprocessor determines whether the cost of the route searched in step S2022 is equal to or lower than a predetermined threshold value. The threshold value may be, for example, a constant multiple (for example, 3 times) of the linear distance between the departure place and the destination. The processing in FIG. 15 proceeds to step S2024 if the cost of the route searched in step S2022 is less than or equal to a predetermined threshold, and returns to step S2021 if the cost of the route searched in step S2022 is greater than the predetermined threshold.

  In step S2024 in FIG. 15, the microprocessor selects the node extracted in step S2021 as a waypoint candidate. The process in FIG. 15 proceeds to step S2025 when the node extracted in step S2021 is selected as a waypoint candidate.

  In step S2025 of FIG. 15, the microprocessor determines whether a predetermined number (for example, three) of nodes are selected as waypoint candidates. The microprocessor ends the processing of FIG. 15 when a predetermined number of nodes are extracted, and proceeds to step S2026 when the number is less than the predetermined number.

  In step S2026 in FIG. 15, the microprocessor determines whether all the nodes extracted in step S2021 have been processed. The microprocessor ends the processing of FIG. 15 when all the nodes have been processed, and returns to step S2021 when there is a node that has not been processed yet.

  The processing from step S2021 to S2026 in FIG. 15 will be described using the example in FIG. FIG. 16 shows nodes N5 to N10 in addition to the node NS as the departure point and the node NG as the destination. In FIG. 16, the linear distance between the node NS and the node NG is 5L, the link length between the node N5 and the node N8 is 4L, and the link length of the other links in the figure is 3L. Of the nodes N5 to N10 in FIG. 16, the frequency information of the nodes N5 and N6 is larger than the other nodes. The position of the node N6 is closer to the node NG than the node N5, but the river 81 or the like is sandwiched between the node N6 and the node NG, and the node N6 cannot go directly to the node NG.

  When the node N5 is extracted in step S2021, a route from the node NS to the node NG through the node N5, the node N8, and the node N9 in this order is searched for in the step S2022. At this time, the cost of the route is 13L. In the case where the threshold value is three times the straight line distance between the departure point and the destination in step S2023, the cost “13L” of the route is not more than three times the straight line distance “5L” between the node NS and the node NG. Therefore, in step S205, the node N5 is selected as a waypoint candidate.

  When the node N6 is extracted in step S2021, a route from the node NS to the node NG through the node N6, the node NS, the node N5, the node N8, and the node N9 is searched for in the step S2022. . At this time, the cost of the route is 19L. In the case where the threshold value is three times the distance between the departure point and the destination in step S204, the route cost “19L” is greater than three times the linear distance “5L” between the node NS and the node NG. In step S2024, the node N6 is not selected as a waypoint candidate. In this way, by actually searching for a route from the departure place to the destination, it is possible not to select a route that needs to make a detour such as the node N6 as a waypoint candidate.

  Note that the microprocessor may select a plurality of waypoint candidates in descending order of the passing frequency of the node information 23 of the waypoint data shown in FIG. 4 without using the flowchart of FIG. 15.

  Next, a method for selecting a waypoint from a plurality of waypoint candidates by waypoint selection means 140 via a user interface included in input means 110 will be described with reference to FIG. FIG. 17 shows an example in which a plurality of waypoint candidates selected by the waypoint selection unit 140 are displayed on the display unit 150. Based on the waypoint candidates selected by the waypoint selection means 140 and the departure place and destination input via the input means 110, the display means 150 determines the departure place, the destination, and the waypoint candidates. Data for drawing a road map capable of displaying is acquired from the map data storage means 120 and displayed as shown in FIG. In FIG. 17, together with the road map, the departure point S and the destination G, the waypoint candidate K1 selected by the waypoint candidate selection means, the waypoint candidate K2, and the waypoint candidate K3 are displayed with icons. ing. The display positions of the waypoint candidates K1 to K3 are specified by the latitude and longitude included in the waypoint data. Icon image data and the like are acquired from the map data storage unit 120. The waypoint selection means 140 selects a waypoint via the user interface included in the input means 110 from the waypoint candidates displayed as shown in FIG. In the example of FIG. 17, the intersection names of the waypoints K1 to K3 are displayed below the map based on the waypoint data. These pieces of information may be displayed with emphasis by pop-ups or the like.

  When the waypoint is selected through the processing performed by the waypoint selection unit 140, the route from the departure point to the waypoint and the route from the waypoint to the destination are searched by the second route search of the search means 160. FIG. 18 shows the transit point selected through the process performed by the transit point selection unit 140 and the guide route passing through the transit point displayed on the display unit 150 so as to overlap each other on the map. The guide route is searched by the search means 160. In FIG. 18, in addition to the guidance route, the cost information to the destination and the information of the used waypoint are highlighted.

  The waypoint selection means 140 may select a plurality of waypoints. When a plurality of waypoints are selected, a route between the waypoints is also searched. In this case, the second route search of the search means 160 is guided by connecting the searched routes in the order of the route from the departure point to the waypoint, the route from the waypoint to the waypoint, and the route from the waypoint to the destination. Get the route.

-Second embodiment-
A navigation system according to the second embodiment of the present invention will be described. The second embodiment is greatly different from the first embodiment in that the frequency information is determined based on the travel history of the vehicle.

  FIG. 19 is a block diagram of a communication navigation system including a navigation system and a center device according to the second embodiment. A communication navigation system 500 in FIG. 19 includes a center device 200, a navigation system 300, and a communication network 400. The communication line network 400 is constituted by, for example, an Internet line or a mobile phone network.

  The center device 200 is a facility that includes a server that collects information transmitted from a plurality of vehicles and performs a process of updating waypoint data based on the collected information. The center apparatus 200 of FIG. 19 includes data collection means 210, data storage means 220, waypoint frequency update means 230, map data storage means 120, and transmission means 240.

  The data collecting unit 210 collects travel history information of a plurality of vehicles via the communication network 400 and stores it in the data storage unit 220. The vehicle travel history is data relating to a node corresponding to a point where the vehicle has passed. The vehicle from which the travel history is collected is connected to the center device 200 by a communication device (not shown). The communication device is a mobile phone, a wireless LAN module, or the like, and has a function of connecting to the communication line network 400.

  The data storage unit 220 is a storage unit such as a hard disk or a flash memory, and stores the travel history of the vehicle collected by the data collection unit 210 as travel history data. Details of the travel history data will be described later.

  The waypoint frequency update means 230 is software executed by a server. The frequency information of the waypoint data in the map data storage unit 120 is updated by using the vehicle travel history information stored in the data storage unit 220 as an input. The update timing for updating the frequency information is performed at predetermined time intervals. For example, when updating every other day at 0:00 every day, the travel history data newly collected from 0:00 of the previous day is extracted from the data storage means 220, and the map data storage means is used using the extracted travel history data. The frequency information of 120 waypoint data is updated. Further, when the version of the map data storage unit 120 becomes new due to the yearly update, the frequency information of the waypoint data is calculated using the previous data stored in the data storage unit 220.

  The transmission unit 240 is connected to the communication line network 400 by wire or wirelessly, and transmits the waypoint data updated by the waypoint frequency update unit 230 to the navigation system 300. The configuration of the data to be transmitted conforms to the waypoint data in the map data storage unit 120.

  The navigation system 300 includes input means 110, map data storage means 120, waypoint selection means 140, search determination means 130, display means 150, search means 160, and reception means 260. Of the configuration of the navigation system 300, the configuration with the same reference numerals as the navigation system 100 of the first embodiment is the same as that of the first embodiment, and the description thereof is omitted.

  The receiving unit 260 is wirelessly connected to the communication network 400 and receives the updated waypoint data transmitted by the transmitting unit 240 of the center device 200. The received waypoint data is stored in the map data storage means 120. By acquiring the latest waypoint data updated based on the traveling history of many vehicles from the center device 200, the navigation system 300 can use route point data with high reliability.

  The travel history data stored by the data storage unit 220 will be described with reference to FIG. FIG. 20 shows a format of travel history data for each vehicle, and data described in this format is transmitted from each vehicle to the center device 200. The travel history data in FIG. 20 includes a vehicle ID 121 for identifying the vehicle, the number 122 of nodes through which the vehicle has passed, the ID 123 of the node at which the vehicle has passed, and the date / time 124 through which the node ID 123 has passed. The node IDs 123 are arranged and stored in chronological order, and the node ID 123 having a new passage date and time is stored later. The travel history data is stored in units of one trip of the vehicle. The one trip is a travel history from the point where the vehicle starts with the engine running to the destination.

  Hereinafter, details of the waypoint frequency update unit 230 will be described.

  The processing of the waypoint frequency update unit 230 will be described with reference to the flowchart shown in FIG. The processing in FIG. 21 is executed by the server of the center apparatus 200 when the predetermined update timing comes.

  In step S400 of FIG. 21, the server of the center apparatus 200 extracts all the travel history data newly stored in the data storage unit 220 since the previous update timing. When the travel history data extraction process ends, the process proceeds to step S401.

  In step S401 of FIG. 21, the server of the center device 200 determines whether or not the frequency information of the waypoint data has been updated for all the travel history data extracted in step S400. The center apparatus 200 ends the process of FIG. 21 when the frequency information of the waypoint data is updated for the travel history data extracted at step S400, and proceeds to step S402 when there is unprocessed travel history data.

  In step S402 in FIG. 21, the server of the center apparatus 200 selects one travel history data from the travel history data extracted in step S400. The process of FIG. 21 proceeds to step S403 when one of the travel history data extracted in step S400 is selected.

  In step S403 of FIG. 21, the server of the center apparatus 200 searches the route data in the map data storage unit 120 using the node ID included in the travel history data selected in step S402 as a key, and passes through the corresponding node ID. It is updated by adding “1” to the value of the frequency information of the data. The process of FIG. 21 returns to step S401 when the update of the frequency information is completed.

  The process of FIG. 21 will be described using a specific example shown in FIG. In the example of FIG. 22, the frequency information of the waypoint data is updated based on the travel history data shown in FIG. The travel history data in FIG. 22A indicates that the vehicle X has passed through the three nodes of the node N1, the node N2, and the node N3. FIG. 22B shows that 1 is added to the frequency information of the node N1, the node N2, and the node N3 of the waypoint data based on the travel history data of FIG. The frequency information of the node ID “N1” before the update is “10”, whereas the frequency information of the node ID “N1” after the update is “11”. The same applies to the node IDs “N2” and “N3”. The frequency information of the node ID “N4” is not updated because it is not included in the travel history data of FIG.

-Third embodiment-
A navigation system according to the third embodiment of the present invention will be described. In the third embodiment, the first and second embodiments are such that the waypoint data of the map data is updated by learning the waypoint information input via the user interface. It is very different from the form.

  FIG. 23 is a block diagram of a navigation system according to the third embodiment. 23 includes an input unit 110, a map data storage unit 120, a search determination unit 130, a waypoint selection unit 140, a display unit 150, a search unit 160, and a waypoint learning unit 170. Among the configurations of the navigation system 400, the input unit 110, the search determination unit 130, the display unit 150, and the search unit 160 are the same as those in the navigation system 100 of the first embodiment. Since it is the same as the form, the description is omitted. The map data storage unit 120 and the waypoint selection unit 140 will be described with respect to differences from the first embodiment.

  The format of the map data storage means 120 is the same as that shown in FIGS. However, since the waypoint data is created by the waypoint learning unit 170, the node information 23 of the waypoint data in FIG. 4 is empty unless the waypoint data is added by the waypoint learning unit 170. However, the road data in FIG. 3 and the OD candidate group data in FIG. 5 are the same as those in the first embodiment.

  The waypoint selection means 140 is software executed by a microprocessor (not shown) mounted on the navigation system 600, RAM, ROM, or the like. The waypoint selection unit 140 is based on the departure point and destination input by the input unit 110, and from among a plurality of OD candidate groups stored in the map data storage unit 120, OD candidates that are close to the departure point and destination. Select a group, select one or more (preferably two or more) waypoint candidates from the selected OD candidate group, and provide information about the selected waypoint candidates to the display means 150 and the search means 160 To do. At this time, if there is no node information 23 of the corresponding OD candidate group of the route point data in the map data storage unit 120, the route point learning unit 170 is instructed to learn the route point.

  The processing of the waypoint selection unit 140 will be described with reference to the flowchart shown in FIG. The processing of FIG. 24 is executed by the microprocessor of the navigation system 600. Steps S200, S201, and S202 in FIG. 24 are the same processes as those in FIG.

  In step S203 of FIG. 24, the microprocessor stores a set of node information 23 corresponding to the combination of the OD candidate group on the departure side and the OD candidate group on the destination side in the waypoint data in the map data storage unit 120. It is determined whether or not there is. The process of FIG. 24 proceeds to step S201 if an affirmative determination is made in step S203, and proceeds to step S204 if a negative determination is made.

  In step S204 of FIG. 24, the microprocessor instructs the waypoint learning unit 170 to learn waypoint data, and uses the IDs of the departure-side OD candidate group and the destination-side OD candidate group as a waypoint. This is provided to the learning means 170 and the process is terminated.

  The waypoint learning means 170 is software executed by a microprocessor (not shown) mounted on the navigation system 600, RAM, ROM, or the like. The waypoint learning unit 170 includes a user interface, and the user writes the waypoint information input via the user interface in the waypoint data of the map data storage unit 120.

  The processing of the waypoint learning unit 170 will be described with reference to the flowchart shown in FIG. The processing of FIG. 25 is executed by the microprocessor of the navigation system 400.

  In step S500 in FIG. 25, the microprocessor causes the user to input a waypoint via the user interface, and acquires information about the waypoint. Hereinafter, the inputted information regarding the waypoint will be referred to as route point information, and a setting method thereof will be described with reference to FIG.

  FIG. 26 is an example of a screen displayed on the display unit 150 in order to allow the user to specify a stopover via the user interface. The display means 150 acquires data for drawing a road map that can display the departure place and the destination from the map data storage means 120 based on the departure place and the destination input via the input means 110, A screen as shown in FIG. 26 is displayed. In FIG. 26, a departure point S and a destination G, and a window W2 that prompts the user to set a waypoint are displayed together with a road map. When the user designates an intersection on the road map as a waypoint via the user interface, the microprocessor acquires information such as a node ID from the road data regarding the node corresponding to the designated intersection. The information such as the node ID acquired in this way becomes the transit point information.

  In step S501 of FIG. 25, the microprocessor is based on the departure-side OD candidate group ID and destination-side OD candidate group ID input from the waypoint selection unit 140, and the node ID included in the waypoint information. Thus, the node information 23 of the waypoint data in the map data storage means 120 is updated and learned. That is, the node information 23 is newly added to the waypoint data 22 corresponding to the departure-side OD candidate group ID and the destination-side OD candidate group ID input from the waypoint selection unit 140, or already stored. A predetermined value (for example, 1) is added to the frequency information of the existing node information 23. The result set by the user as a waypoint is learned as the frequency information of the waypoint data through the addition process, the addition process, and the like.

  FIG. 27 shows a detailed processing flow of learning in step S501 of FIG. In step S5011a, the microprocessor uses the destination side determined by the waypoint selection unit in the information 22 representing the OD candidate group corresponding to the OD candidate group ID on the departure side determined by the waypoint selection unit 140. It is determined whether or not there is a set of node information 23 corresponding to the OD candidate group. If a positive determination is made in step S5011a, the process proceeds to step S5011b. If a negative determination is made in step S5011a, the process proceeds to step S5013a.

In step S5011b, the microprocessor determines whether or not the node information 23 of each node ID included in the waypoint information acquired in step S500 exists in the set of node information 23 confirmed to exist in step S5011a. To do. The microprocessor performs step S5012 for node information 23 present in the set of node information 23, and performs step S5013b for node information 23 not present in the set of node information 23.

  In step S5012, the microprocessor updates the frequency information of the node information 23 whose existence has been confirmed in step S5011b. The frequency information of the node information 23 is updated by adding a predetermined value (for example, 1) to the frequency information of the node information 23, for example.

  In step S5013a, the microprocessor performs node information corresponding to the group ID of the destination-side OD candidate group determined by the waypoint selection unit 140 and each node ID included in the waypoint information acquired in step S500. 23 is added to the information 22 representing the OD candidate group corresponding to the OD candidate group ID on the departure point side determined by the waypoint selection unit 140.

  In step S5013b, the microprocessor corresponds the node information 23 of the node ID included in the waypoint information determined not to exist in step S5011b to the destination-side OD candidate group determined by the waypoint selection unit 140. The node information 23 is added to the set.

  According to each embodiment described above, the following operational effects can be obtained.

  In the navigation system 100, the navigation system 300, and the navigation system 600, based on the map data storage unit 120, the search unit 160 searches for a guidance route from the departure point to the destination via one or more waypoints. As the waypoint for searching for the guidance route, the node information 23 having a large frequency information value is selected from the node information 23 related to the nodes stored in advance as route place data in the map data storage unit 120. In the first embodiment, the second embodiment, and the third embodiment, the waypoint is selected by the search determination unit 130 and the waypoint selection unit 140. Thereby, the navigation system 100, the navigation system 300, and the navigation system 600 can search for an appropriate guidance route while suppressing the data stored during the execution of the process of searching for the guidance route. In a route search method such as the Dijkstra method, data depending on the number of nodes to be processed must be stored in a RAM or the like during the execution of the processing. The number of nodes to be processed increases as the distance between the departure point and the destination increases. As in each embodiment, if an appropriate waypoint is sandwiched between the departure point and the destination, the distance between the departure point and the waypoint and the distance from the place to the destination are the distance from the departure point to the destination. Shorter than the distance. For this reason, the number of nodes to be processed in one route search (from the departure point to the waypoint or from the waypoint to the destination) is reduced, and the amount of data stored in the RAM or the like can be reduced. Further, since a node that has been passed frequently is set as a transit point based on the result of the route search for all the nodes or the travel history, an appropriate guidance route can be reliably searched.

  In the first embodiment, as shown in FIG. 7, the frequency information is determined based on the result of route search in advance before factory shipment or the like. In the second embodiment, it is determined by the waypoint frequency update means 230 based on the travel history of the vehicle. In the third embodiment, the waypoint learning unit 170 updates the waypoint data and learns the frequency information based on the waypoint information regarding the waypoint set by the user via the user interface.

  Each embodiment described above can be modified as follows.

  The method by which the search means 160 etc. search for a route is not limited to the Dijkstra method. For example, the route may be searched using the Bellman-Ford method or the like.

  Instead of searching for a guidance route by the search means 160, the route information searched in step S2022 of FIG. 15 is stored in a RAM or the like, and the corresponding route information is read from the RAM when a waypoint is selected. It may be. Further, a method for searching for a guidance route by the search means 160 and a method for reading a route stored in the RAM may be used in combination. Which method is adopted may be determined based on whether or not two or more waypoints are selected. This is because the route searched in step S2022 is a case where one waypoint is selected, and cannot be handled when two or more routes are selected.

  The road link information 21 representing the road link from which the start point information and the end point information are acquired in steps S110 and S130 of FIG. 7 may be limited depending on the road type. For example, the road type may not be “3”. This eliminates the need to calculate a node that is connected only to a road that has a very low possibility of being included in a route such as a narrow street, so that the processing in FIG.

  The above embodiments and modifications may be implemented in any combination.

  The navigation system 100, the navigation system 300, and the navigation system 600 are not limited to those for vehicles. For example, the present invention can be used for a pedestrian navigation system or a navigation terminal device that displays a walking map on a portable terminal. In the case of the second embodiment, if the mobile terminal has GPS, it is possible to change the vehicle ID 121 to a user ID and transmit the travel history.

  Each embodiment and various modifications described above are merely examples, and the present invention is not limited to these contents as long as the features of the invention are not impaired.

DESCRIPTION OF SYMBOLS 100,300,600 Navigation system 110 Input means 120 Map data storage means 130 Search determination means 140 Via-point selection means 150 Display means 160 Search means 170 Via-point learning means 200 Center apparatus 210 Data collection means 220 Data storage means 230 Via-site frequency Updating means 240 Transmitting means 260 Receiving means 400 Communication network 500 Communication type navigation system

Claims (8)

A navigation system for searching a guidance route from a starting point to a destination,
Map data storage means for storing map data including at least information on the position information of a plurality of nodes on the road map and the frequency of passage of the nodes;
A waypoint selection means for selecting a waypoint based on the departure point, the destination, and the passing frequency;
Search means for searching for a guidance route from the departure place to the destination via the waypoint selected by the waypoint selection means,
The waypoint selection means is
Point extraction means for extracting a plurality of nodes in a predetermined area determined based on a node closest to the position of the departure place and a node closest to the position of the destination;
A route point candidate extraction unit that extracts one or more nodes as a route point candidate from the plurality of nodes extracted by the point extraction unit;
When selecting one or more waypoints from the one or more waypoint candidates, the passing frequency is determined such that two different nodes from among a plurality of nodes whose position information is included in the map data are set as departure points. The number of times the search for a route with a destination set is performed multiple times by changing the combination of nodes set for the start point and the destination, and each of the plurality of nodes is included in the searched multiple recommended routes Is calculated in advance,
A navigation system characterized by that. The navigation system according to claim 1,
Further comprising a waypoint candidate display means for displaying one or more waypoint candidates extracted by the waypoint candidate extraction means on the screen;
The navigation system according to claim 1, wherein the waypoint selection means selects one or more waypoints from the waypoint candidates displayed on the screen by the waypoint candidate display means. The navigation system according to claim 1 or 2,
The navigation system is characterized in that the passing frequency is updated based on the number of times a plurality of nodes whose position information is included in the map data is passed by a vehicle. The navigation system according to any one of claims 1 to 3,
The passing frequency is obtained by learning a result set by a user as a waypoint from among a plurality of nodes whose position information is included in the map data when searching for a guidance route from the departure place to the destination. A navigation system characterized by being calculated. A terminal device that searches for a guidance route from a departure place to a destination,
Map data storage means for storing map data including at least information on the position information of a plurality of nodes on the road map and the frequency of passage of the nodes;
A waypoint selection means for selecting a waypoint based on the departure point, the destination, and the passing frequency;
Search means for searching for a guidance route from the departure place to the destination via the waypoint selected by the waypoint selection means,
The waypoint selection means is
Point extraction means for extracting a plurality of nodes in a predetermined area determined based on a node closest to the position of the departure place and a node closest to the position of the destination;
A route point candidate extraction unit that extracts one or more nodes as a route point candidate from the plurality of nodes extracted by the point extraction unit;
When selecting one or more waypoints from the one or more waypoint candidates, the passing frequency is determined such that two different nodes from among a plurality of nodes whose position information is included in the map data are set as departure points. The number of times the search for a route with a destination set is performed multiple times by changing the combination of nodes set for the start point and the destination, and each of the plurality of nodes is included in the searched multiple recommended routes Is calculated in advance,
A terminal device characterized by that. The terminal device according to claim 5,
Further comprising a waypoint candidate display means for displaying one or more waypoint candidates extracted by the waypoint candidate extraction means on the screen;
The terminal device is characterized in that the waypoint selection means selects one or more waypoints from waypoint candidates displayed on the screen by the waypoint candidate display means. In the terminal device according to claim 5 or 6,
The terminal frequency is updated based on the number of times a plurality of nodes whose position information is included in the map data is passed by a vehicle. The terminal device according to any one of claims 5 to 7,
The passing frequency is obtained by learning a result set by a user as a waypoint from among a plurality of nodes whose position information is included in the map data when searching for a guidance route from the departure place to the destination. A terminal device characterized by being calculated.

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