JP6914025B2 - Pathfinding device, control method, program and storage medium - Google Patents

Description

The present invention relates to a technique for searching for a route.

Conventionally, in route search to a destination, a technique has been known in which a cost proportional to the distance unit price of an expressway is given to each link, and a route search is performed in consideration of the toll road toll and the required time by the Dijkstra method. .. For example, Patent Document 1 discloses a navigation device that outputs a recommended route in consideration of the balance between toll and time by searching for a route at a combined cost including a toll and a required time.

Japanese Unexamined Patent Publication No. 2011-7706

In the case of a pay-as-you-go tollhouse, by adding the cost related to the fare according to the distance to the link cost, it was possible to search the route by the Dijkstra method while reflecting the actual fare value in the search. However, since April 2016, a flat rate system that does not depend on distance will be applied mainly in the Tokyo metropolitan area, so in this case, it is necessary to determine the exact cost that reflects the rate for each link. It will be difficult. Therefore, in the flat rate system that does not depend on the distance, there is a problem that it is difficult to perform a search that accurately reflects the actual charge by using the conventional Dijkstra method.

The present invention has been made to solve the above problems, and is a route search device capable of calculating a cost that accurately reflects a toll on a toll road and preferably determining a recommended route. The main purpose is to provide.

The invention according to the claim is a route search device, which comprises a search means for searching a route and a control means for causing the search means to search for a route including a toll road based on a cost other than a toll of the route. By comparing the calculation means for calculating the tolls of the plurality of routes searched by the search means with the cost other than the toll and the combined cost which is the cost for each route calculated based on the toll. The calculation means includes a determination means for determining a recommended route, the calculation means calculates a toll according to a combination of toll road facilities including an entrance facility and an exit facility of the toll road regardless of the mileage , and the control means By extracting the on-route facilities included in the route searched by the search means and making at least one of the on-route facilities a pseudo-difficult-to-pass facility, a plurality of different combinations of on-route facilities to pass through. The search means is used to search for the route of.

Further, the invention according to the claim is a control method executed by a route search device, in which a search step for searching a route and a route including a toll road in the search step are costes other than the toll of the route. A combination of a control process for searching based on the above, a calculation process for calculating tolls for a plurality of routes searched by the search step, costs other than the tolls, and costs for each route calculated based on the tolls. It has a decision process to determine the recommended route by comparing the costs, and the calculation process is a toll toll according to the combination of toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage. Is calculated, and the control step passes by extracting the on-route facilities included in the route searched in the search step and making at least one of the on-route facilities a pseudo-difficult-to-pass facility. The search step is made to search for a plurality of routes having different combinations of facilities on the route.

Further, the invention according to the claim is a program executed by a computer, in which a search means for searching a route and a route including a toll road in the search means are searched for based on a cost other than the toll of the route. A comparison is made between the control means for causing the operation, the calculation means for calculating the tolls of the plurality of routes searched by the search means, and the combined cost, which is the cost other than the toll and the cost for each route calculated based on the toll. By doing so, the computer functions as a determination means for determining a recommended route, and the calculation means calculates a toll according to the combination of toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage. Then, the control means extracts the facilities on the route included in the route searched by the search means, and makes at least one of the facilities on the route a pseudo-difficult facility on the route to pass. Have the search means search for a plurality of routes having different combinations of facilities .

It is a schematic configuration of the navigation device common to each embodiment. An example of the data structure of the charge table is shown. It is a figure which showed the approximate solution route and the high-speed facility on the approximate solution route. It is a flowchart which shows the procedure of the route search processing which concerns on 1st Example. It is a figure which showed the approximate solution route and the high-speed facility on the approximate solution route. Show the route to compare the cost considering charges when deciding the recommended route. It is a flowchart which shows the procedure of the route search processing which concerns on 2nd Example. An example of dividing the approximate solution route into multiple stages is shown. The combination of pseudo-closed high-speed facilities that is the best route for each section is shown. The first display example of the route selection screen is shown. The route selection screen when the user selects a table of 900 yen / h by a touch panel or the like is shown. This is a second display example of the route selection screen. This is a third display example of the route selection screen. The route to be searched for in the first modification is shown. The configuration of the path search system according to the second modification is shown.

According to a preferred embodiment of the present invention, the route search device is a search means for searching a route and a control means for causing the search means to search for a route including a toll road based on a cost other than the toll of the route. By comparing the calculation means for calculating the tolls of the plurality of routes searched by the search means with the combined cost which is the cost other than the toll and the cost for each route calculated based on the toll. The calculation means includes a determination means for determining a recommended route, and the calculation means calculates a toll according to a combination of toll road facilities including an entrance facility and an exit facility of the toll road regardless of the mileage.

The path search device includes search means, control means, calculation means, and determination means. The control means causes the search means to search for a route including a toll road based on a cost other than the toll of the route. The calculation means calculates the tolls of the plurality of routes searched by the search means, respectively. At this time, the calculation means calculates the toll according to the combination of the toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage. The determining means determines the recommended route by comparing the cost other than the toll and the combined cost which is the cost for each route calculated based on the toll. Here, the "cost other than the toll" used by the determining means to calculate the combined cost is the same index as the "cost other than the toll" used by the control means when the search means searches for a route including the toll road. It may be a calculated cost, or it may be a cost calculated by a different index. Further, the "recommended route" may be a route recommended to the user and may be one route having the lowest cost, or may be a plurality of routes having the lowest cost within a predetermined order. According to this aspect, the route search device calculates and recommends a combined cost that accurately reflects the actual toll required for each route, even if the toll road includes a toll road whose toll is determined regardless of the mileage. The route can be suitably determined.

In one aspect of the route search device, the control means extracts a facility on the route included in the route searched by the search means and makes at least one of the facilities on the route a difficult-to-pass facility. The search means is made to search for a plurality of routes having different combinations of facilities on the route to be passed. According to this aspect, the route search device can suitably search for other routes that can be recommended routes in addition to the route initially searched by the search means.

In another aspect of the route search device, the control means extracts, as the facility on the route, a toll road facility whose toll is affected by the presence or absence of passage. As a result, the route search device can search for routes with various tolls, so that it is possible to preferably search for a route that can be a recommended route when compared at a combined cost including the tolls. can.

In another aspect of the route search device, the route including the toll road is divided according to the first condition, and the control means passes through each divided section divided by the dividing means. By having the search means search for a plurality of routes having different combinations of upper facilities, a facility on the route that should be a difficult-to-pass facility is determined for each of the divided sections. According to this aspect, the route search device can suitably reduce the processing load for identifying the facility on the route that should be a difficult-to-pass facility.

In another aspect of the route search device, the control means causes the search means to search for a route that does not pass through all the difficult-to-pass facilities determined for each divided section as a candidate for the recommended route. According to this aspect, the route search device can preferably search for a route that is likely to minimize the combined cost.

In another aspect of the route search device, the dividing means divides a route including the toll road based on at least one of distance, cost, or number of facilities on the route, as the first condition. According to this aspect, the route search device can determine the division section.

In another aspect of the route search device, the dividing means further divides the divided section when the number of facilities on the route in the divided section including the toll road is equal to or more than a predetermined number. According to this aspect, the route search device can preferably improve the processing efficiency by reducing the number of facilities on the route in one divided section to less than a predetermined number.

In another aspect of the route search device, the division means divides a route including the toll road into a plurality of ways by different division positions, and the control means passes through each of the plurality of ways for each division section. By determining the facility on the route that should be a difficult facility, the search means is searched for the candidate of the recommended route, and the determination means compares the combined cost of the candidate of the recommended route for each of the plurality of ways. Then, the recommended route is determined. According to this aspect, the route search device can suitably suppress the influence of the search result of the recommended route depending on the division position of the division section.

In another aspect of the route search device, the division means divides a route including the toll road into a plurality of ways by different division positions by using different values of the same index. In another aspect of the route search device, the division means divides a route including the toll road into a plurality of ways by different division positions by using different indexes. According to these aspects, the path search device can suitably divide the route into a plurality of ways by different division positions.

In another preferred embodiment of the present invention, the control method executed by the route search device is a search step for searching for a route, and the search step includes a route including a toll road other than the toll of the route. A control process for searching based on the cost of It has a determination process for determining a recommended route by comparing a certain combined cost, and the calculation process corresponds to a combination of toll road facilities including an entrance facility and an exit facility of the toll road regardless of the mileage. Calculate the toll. By executing this control method, the route search device accurately reflects the actual toll required for each route, even if it includes a toll road whose toll is fixed regardless of the mileage. The recommended route can be preferably determined.

In another preferred embodiment of the present invention, a computer-executed program for finding a route and a route including a toll road in the search means at a cost other than the toll of the route. A control means for searching based on, a calculation means for calculating tolls for a plurality of routes searched by the search means, and a combined cost which is a cost other than the toll and a cost for each route calculated based on the toll. By comparing the above, the computer is made to function as a determination means for determining a recommended route, and the calculation means is a toll according to the combination of toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage. Is calculated. By executing this program, the computer calculates a combined cost for each route that accurately reflects the actual toll required, even if it includes a toll road where the toll is fixed regardless of the mileage. , The recommended route can be preferably determined. Preferably, the program is stored on a storage medium.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Configuration example]
FIG. 1 shows a schematic configuration of a navigation device 1 to which the path search device of the present invention is applied. The navigation device 1 accurately calculates the cost according to the actual charge for each route, determines the recommended route to be presented to the user, and displays the route selection screen. As shown in FIG. 1, the navigation device 1 includes an autonomous positioning device 10, a GPS receiver 18, a system controller 20, a data storage unit 31, a communication device 38, a display unit 40, a voice output unit 50, and an input device 60.

The self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is composed of, for example, a piezoelectric element, detects the acceleration of the vehicle, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibration gyro, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative orientation data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the wheels of the vehicle.

The GPS receiver 18 receives radio waves 19 that carry downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information and the like.

The system controller 20 includes an interface 21, a CPU 22, a ROM 23, and a RAM 24, and controls the entire navigation device 1. As will be described later, the system controller 20 includes "search means", "control means", "calculation means", "determination means", "division means", "composite cost calculation means", "presentation means" and "presentation means" in the present invention. This is an example of a computer that executes a program according to the present invention.

The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. Then, vehicle speed pulse, acceleration data, relative bearing data, angular velocity data, GPS positioning data, absolute bearing data, and the like are input to the system controller 20 from these. The CPU 22 controls the entire system controller 20. The ROM 23 has a non-volatile memory (not shown) or the like in which a control program or the like for controlling the system controller 20 is stored. The RAM 24 readablely stores various data such as route data preset by the user via the input device 60, and provides a working area to the CPU 22.

The system controller 20, the data storage unit 31, the display unit 40, the audio output unit 50, and the input device 60 are connected to each other via the bus line 30.

The data storage unit 31 is composed of, for example, a storage medium such as an HDD, and stores various data used for navigation processing such as map data 32. The map data 32 includes road data represented by a link corresponding to a road and a node corresponding to a connecting portion (intersection) of the road.

Further, the data storage unit 31 stores the charge table 33. The toll table 33 is a table for specifying the toll charged when traveling on an expressway (toll road) from an interchange used as an entrance and an exit. FIG. 2 is an example of the data structure of the charge table 33. In the fare table 33 shown in FIG. 2, the entrance point, the exit point, the waypoints (waypoints 1, ...), the discount time zone (discount time zone 1, ...), And the discount rate (discount rate 1, ...) , Is associated with the charge. Here, the transit point refers to a facility such as a ticket inspection office whose fee is affected by the presence or absence of passage. Hereinafter, the entrance point, exit point, and waypoint registered in the toll table 33 are also simply referred to as "high-speed facilities". The high-speed facility is an example of the "toll road facility" in the present invention.

As described above, the toll table 33 is associated with the toll for each combination of the elements that determine the toll when using the expressway. Therefore, the system controller 20 can accurately specify the toll of the expressway when the searched route includes the expressway by referring to the toll table 33.

The configuration of the navigation device 1 will be described again with reference to FIG. The communication device 38 receives traffic jam information delivered from a VICS (registered trademark, Vehicle Information Communication System) center, traffic jam information delivered from a server device that delivers traffic jam information (not shown), and the like. The communication device 38 may receive information to be stored in the data storage unit 31 as map data 32 from a server device (not shown) based on the control of the system controller 20.

The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads the map data 32 from the data storage unit 31. The display unit 40 displays an image based on the map data 32 read from the data storage unit 31 by the system controller 20 on a display screen such as a display. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30, and a memory such as VRAM (Video RAM), and can display image information immediately. It includes a buffer memory 42 that is temporarily stored, a display control unit 43 that controls the display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44. .. The display 44 is composed of, for example, a liquid crystal display device having a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

The audio output unit 50 is output from the D / A converter 51 that performs D / A conversion of audio digital data sent from the RAM 24 or the like via the bus line 30 and the D / A converter 51 under the control of the system controller 20. It is configured to include an amplifier (AMP) 52 that amplifies the voice analog signal, and a speaker 53 that converts the amplified voice analog signal into voice and outputs it into the vehicle.

The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is arranged around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is of the touch panel type, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

[First Example]
In the first embodiment, in general, the system controller 20 considers at least one of the high-speed facilities on the provisionally searched route (also referred to as an "approximate solution route") to be a pseudo-closed road, and charges the fee. Search for routes other than the approximate solution route based on the cost that is not considered (also called "cost not considering the charge"). Then, the system controller 20 calculates a cost (also referred to as "charge consideration cost") considering the respective charges of the approximate solution route and the route other than the searched approximate solution, and the route with the lowest cost is the recommended route. Output as. The charge consideration cost is an example of the "composite cost" in the present invention.

FIG. 3A is a diagram showing an approximate solution route and a high-speed facility on the approximate solution route. In FIG. 3A, the approximate solution route overlapping the general road is shown by a broken line, and the approximate solution route overlapping the expressway is shown by a solid line. Here, the approximate solution route is a route searched by an existing route search algorithm that can be executed by Dijkstra's algorithm, and for example, by setting the required time or / and the distance as a cost (link cost) for each link. It may be the searched route. In another example, the approximate solution route may be a route searched by assuming that the mileage of the highway is proportional to the toll and setting a link cost that reflects the assumed toll for each link.

In the example of FIG. 3A, the approximate solution route passes through four high speed facilities 6A-6D, including entrance and exit ICs. In this case, the system controller 20 regards at least one of the high-speed facilities 6A to 6D as a pseudo-closed road, and searches for a route other than the approximate solution route based on the charge-unconsidered cost without considering the charge. In this case, for example, the system controller 20 uses the required time and / and the distance as an index of the cost, and calculates the integrated value of the link cost of the entire route as the cost not considering the charge. A high-speed facility that is pseudo-closed is an example of a "difficult-to-pass facility" in the present invention.

FIG. 3B shows a route that minimizes the uncharged cost when the highway facility 6B is a pseudo-closed road. In the example of FIG. 3B, the system controller 20 searches for a route that does not pass through the high-speed facility 6B. In this case, the system controller 20 sets the link cost for each link based on, for example, the required time and / and the distance, and searches for the route that minimizes the integrated value of the link cost by using the Dijkstra method or the like. Then, the system controller 20, for all the patterns of at least one and pseudo-road closures fast facility 6A-6D (2 4 ^-1 combinations), the integrated value of the above-mentioned link cost (i.e. Rate Not considering cost) is minimized Search for the route that becomes.

Further, the system controller 20 is based on the high-speed facility to be passed, the time zone to be passed, and the like for the route in which the uncharged cost is minimized for each pattern in which at least one of the high-speed facilities 6A to 6D is pseudo-closed. The toll is calculated by referring to the toll table 33. Then, the system controller 20 converts the calculated charge into a cost in the same unit as the charge-unconsidered cost by multiplying the calculated charge by a predetermined conversion rate, and adds the converted cost to the charge-unconsidered cost to charge the charge-considered cost. Is calculated. Similarly, the system controller 20 calculates the toll for the approximate solution route and calculates the toll consideration cost. Then, the system controller 20 considers the route for which the toll consideration cost is the lowest among the routes for which the toll has been calculated as the recommended route.

FIG. 3C shows the route with the lowest toll consideration cost. In this case, the system controller 20 makes the approximate solution route and other high-speed facilities pseudo-closed by the toll-considered cost of the route having the minimum toll-unconsidered cost when the high-speed facilities 6B and 6C are pseudo-closed. Judge that it is smaller than the route of the pattern to be used, and set it as the recommended route.
FIG. 4 is a flowchart showing the procedure of the route search process according to the first embodiment. In the flowchart of FIG. 4, as an example, the provisional (provisional) recommended route is referred to as the "first candidate route", the target route to be compared with the first candidate route is referred to as the "second candidate route", and the first and first candidates are used. It is an algorithm that sequentially updates the first candidate route by comparing the charge consideration costs of the two candidate routes.

First, the system controller 20 searches for an approximate solution route (step S100). Next, the system controller 20 creates a list of high-speed facilities (also referred to as “high-speed facility list”) existing on the approximate solution route (step S101). The high-speed facility existing on the approximate solution route is an example of the "route facility" in the present invention. Then, the system controller 20 calculates the charge consideration cost of the approximate solution route and sets it as the first candidate route (step S102). In this case, the system controller 20 converts the toll of the approximate solution route specified by the toll table 33 into a cost at a predetermined conversion rate after calculating the toll unconsidered cost of the approximate solution route, and adds it to the toll unconsidered cost. Therefore, the charge consideration cost of the approximate solution route is calculated.

Next, the system controller 20 selects at least one high-speed facility to be pseudo-closed from the high-speed facility list, and searches for a second candidate route that minimizes the uncharged cost (step S103). In this case, since the system controller 20 can determine the cost according to the distance, the required time, etc. for each link without considering the charge, it is possible to efficiently search for the second candidate route by the Dijkstra method. Is.

Then, the system controller 20 adds the cost according to the toll specified by referring to the toll table 33 to the toll unconsidered cost of the second candidate route searched in step S103, so that the toll of the second candidate route is charged. The consideration cost is calculated (step S104).

Then, the system controller 20 determines whether or not the charge consideration cost of the second candidate route is smaller than the charge consideration cost of the first candidate route (step S105). Then, when the charge consideration cost of the second candidate route is smaller than the charge consideration cost of the first candidate route (step S105; Yes), the system controller 20 sets the second candidate route as the first candidate route (step S106). ). On the other hand, when the charge consideration cost of the second candidate route is equal to or greater than the charge consideration cost of the first candidate route (step S105; No), it is determined that it is not necessary to replace the first candidate route, and the process proceeds to step S107.

Next, the system controller 20 determines whether or not all the patterns of the high-speed facility to be pseudo-closed have been executed (step S107). That is, the system controller 20 determines whether or not the processes of steps S103 to S106 have been executed for all the patterns of the high-speed facilities to be pseudo-closed when at least one of the high-speed facilities in the high-speed facility list is pseudo-closed.

Then, when the system controller 20 determines that all the patterns of the high-speed facility to be pseudo-closed have been executed (step S107; Yes), the system controller 20 considers that the current first candidate route is the route with the lowest charge consideration cost, and the first 1 Candidate route is output as a recommended route (step S108).

On the other hand, when the system controller 20 determines that all the patterns of the high-speed facility to be pseudo-closed are not executed (step S107; No), the process returns to step S103. Then, in step S103, the system controller 20 searches for a route for the pattern of the high-speed facility that makes the pseudo-traffic closure not executing the processes of steps S103 to S106, and sets the second candidate route. In this way, the system controller 20 repeatedly executes the processes of steps S103 to S106 until all the patterns of the high-speed facility to be pseudo-closed are executed.

Instead of outputting one route as a recommended route, the system controller 20 may output a predetermined number of routes having the lowest charge consideration cost as a recommended route. In this case, for example, the system controller 20 sets a maximum of a predetermined number of routes as the first candidate route, and if the number of the first candidate routes is less than the predetermined number, the second candidate route is not performed in step S105. Add the route to one of the first candidate routes. On the other hand, when the number of the first candidate routes is the upper limit, the system controller 20 compares the first candidate route and the second candidate route, which have the highest charge consideration cost, with the charge consideration cost of the second candidate route. When is lower, the second candidate route is set as the first candidate route instead of the compared first candidate route.

[Second Example]
In the second embodiment, the system controller 20 divides the approximate solution route into a plurality of sections, and determines a pattern of a pseudo-closed high-speed facility in which the charge consideration cost is minimized for each section. As a result, the system controller 20 preferably reduces the number of times the route search is executed, and preferably suppresses the increase in processing time even when the number of high-speed facilities on the approximate solution route is large.

FIG. 5 (A) shows an approximate solution route in which five high-speed facilities 6A to 6E exist. In this case, the pattern of fast facilities pseudo ^closures, 2 5 -1 (= 31) exists as in the case of the first embodiment, it is necessary to perform processing of step S103~S106 31 times.

FIG. 5B shows an example in which the approximate solution route is divided into three sections (sections 1 to 3) based on the distance. In this case, the system controller 20 divides the approximate solution route into sections 1 to 3 so that the distances along the routes are equal in each section, and specifies high-speed facilities belonging to each of sections 1 to 3. .. In the example of FIG. 5B, the system controller 20 recognizes that the high-speed facilities 6A and 6B exist in the section 1, the high-speed facilities 6C and 6D exist in the section 2, and the high-speed facilities 6E exist in the section 3. do.

After that, when the system controller 20 makes high-speed facilities in other sections passable for each section, the route that minimizes the uncharged cost is minimized for all patterns in which the high-speed facilities in the target section are pseudo-closed. To explore. As a result, the system controller 20 determines a high-speed facility to be pseudo-closed for each section.

FIGS. 5 (C) to 5 (E) show routes to be searched when determining a high-speed facility to be pseudo-closed for section 1. In the example of FIG. 5C, the system controller 20 is closed to the high-speed facility 6A in the section 1, and the other high-speed facilities 6B in the section 1 and the high-speed facilities 6C to 6E in the other section are passable, and the charge is not considered. Search for the route with the lowest cost. Further, in the example of FIG. 5D, the system controller 20 is closed to the high-speed facility 6B in the section 1, and the other high-speed facilities 6A in the section 1 and 6C to 6E in the other section are passable, and the charge is not considered. Search for the route with the lowest cost. Further, in the example of FIG. 5 (E), the system controller 20 closes the high-speed facilities 6A and 6B in the section 1 and allows the high-speed facilities 6C to 6E in the other sections to pass, so that the uncharged cost is minimized. To explore.

Then, the system controller 20 is charged from the route obtained by each route search of FIGS. 5 (C) to 5 (E) and the route that allows all the high-speed facilities in the section 1 shown in FIG. 5 (B) to pass. By determining the route that minimizes the consideration cost, the high-speed facility that should be pseudo-closed in section 1 is determined. For example, when the system controller 20 determines that the cost not considering the charge is minimized when the high-speed facility 6B is pseudo-closed (that is, in the case of FIG. 5D), the high-speed facility 6B is pseudo-closed in the section 1. Is the best. Similarly, the system controller 20 executes the same processing as in section 1 for sections 2 and 3 to determine a high-speed facility to be pseudo-closed in each section.

Next, the system controller 20 determines the route that minimizes the toll consideration cost based on the combination of the high-speed facilities that make the pseudo-traffic closed, which is determined for each section.

6 (A) to 6 (E) show each route in which the system controller 20 compares the toll consideration costs when determining the recommended route. Here, FIG. 6A shows an approximate solution route, and FIG. 6B shows a case where the high-speed facility (here, high-speed facility 6B) determined to be pseudo-closed in section 1 is pseudo-closed. , Indicates the route that minimizes the cost not considered. Further, FIG. 6C shows a route in which the uncharged cost is minimized when the expressway facility (here, the expressway facility 6C) determined to be pseudo-closed in section 2 is pseudo-closed. Reference numeral 6 (D) indicates a route that minimizes the uncharged cost when the expressway facility (here, the expressway facility 6E) determined to be pseudo-closed in section 3 is pseudo-closed. Further, FIG. 6 (E) shows a route in which the uncharged cost is minimized when all the high-speed facilities decided to be pseudo-closed in each section are pseudo-closed.

After that, as shown in FIGS. 6 (B) to 6 (D), if the high-speed facility decided to be pseudo-closed in a certain section is made pseudo-closed and the high-speed facility in another section is allowed to pass, the charge is not charged. The route with the lowest consideration cost is called the "best section route". Further, as shown in FIG. 6 (E), the route that minimizes the unfamiliar cost when all the high-speed facilities that are decided to be pseudo-closed in each section are pseudo-closed is called the "overall best route". ..

In this way, the system controller 20 has an approximate solution route (see FIG. 6 (A)), a section best route corresponding to each section (see FIGS. 6 (B) to (D)), and an overall best route (see FIG. 6). (See (E)) and are searched respectively. Then, the system controller 20 defines the route that minimizes the charge consideration cost among these routes as the recommended route. In this case, the system controller 20 can suitably reduce the processing load required for determining the recommended route as compared with the first embodiment. Specifically, in the case of the first embodiment, when the approximate solution route shown in FIG. 6 (A) is obtained, the route search in step S103 of FIG. 4 based on the charge consideration cost is performed by 31 (= ^25). -1) In the case of the second embodiment, the route search based on the charge consideration cost is performed 7 (= (2 ² -1) + (2 ² -1) + (2 ¹ -1)). You only have to execute it once. That is, in the case of the second embodiment, the route search based on the toll consideration cost ^{has been calculated in 3 (= 2} 2-1) ways for the section 1 (the case where both high-speed facilities are not pseudo-closed) has already been calculated. exclusion), the interval 2 3 ⁽⁼ exclusion 2 2 -1) as (both fast facility not a pseudo closed to traffic case for calculated), the section 3 1 ⁽⁼ 2 1 -1) as (fast facility The case where is not pseudo-closed is excluded because it has already been calculated).

Here, a supplementary explanation will be given regarding the method of dividing the section.

In the examples of FIGS. 5 and 6, the system controller 20 is divided into three sections, but the present invention is not limited to this, and any number of sections of 2 or 4 or more may be set. In this case, for example, the system controller 20 may be set so that the number of sections described above increases as the number of high-speed facilities in the high-speed facility list increases. In another example, the system controller 20 may be set to increase the number of sections described above as the required mileage or required time of the approximate solution route becomes longer. In these cases, the data storage unit 31 may store in advance a map or table for determining the number of sections described above.

Similarly, in the examples of FIGS. 5 and 6, the system controller 20 divides each section so that the distances of the approximate solution routes in each section are equal, but the index (scale) used to divide each section. Is not limited to distance. For example, the system controller 20 may determine the division of each section based on the cost calculated at the time of route search of the approximate solution route. In this case, the system controller 20 determines each section so that the total value of the link costs calculated at the time of route search for the approximate solution route for each section is equal for each section. This also allows the system controller 20 to preferably divide the approximate solution route. In another example, the system controller 20 may divide each section based on the number of high-speed facilities. In this case, for example, the system controller 20 determines each section so that the number of high-speed facilities belonging to each section is the same or within one difference. In this case, for example, the system controller 20 determines the high-speed facilities to belong to each section, and then sets the intermediate points (for example, intermediate points based on the distance or cost) between adjacent high-speed facilities in different sections in these sections. Determined at the boundary position of. Also with these, the system controller 20 can preferably determine the boundary position of each section.

FIG. 7 is a flowchart showing a procedure of the route search process executed by the system controller 20 in the second embodiment. In the flowchart of FIG. 7, as an example, the system controller 20 sequentially compares the charge consideration cost between the approximate solution route and the section best route of each section (see FIGS. 6B to 6D), and then the overall best. The recommended route is determined by calculating the charge consideration cost of the route (see FIG. 6 (E)). Here, when the toll consideration cost of the approximate solution route and the section best route of each section is sequentially compared, the route with the lowest toll consideration cost is tentatively set as the first candidate route.

First, the system controller 20 searches for an approximate solution route (step S200). At this time, preferably, the system controller 20 stores the integrated distance or cost from the departure point required for the section division to each high-speed facility. Next, the system controller 20 creates a high-speed facility list (step S201). Then, the system controller 20 calculates the charge consideration cost of the approximate solution route and sets it as the first candidate route (step S202). Then, the system controller 20 divides the approximate solution route by a predetermined number of sections based on the distance, cost, etc., and divides the high-speed facility into groups for each section (1 to n; n is an integer of 2 or more) (step S203). ..

Next, the system controller 20 executes a route search for all patterns of the high-speed facility to be pseudo-closed for one selected section k (k is an integer whose initial value is 1), and the cost not considering the charge is minimized. Search for a route (step S204). As a result, the system controller 20 determines the high-speed facility to be pseudo-closed in the target section k, and specifies the section best route corresponding to the section k.

Next, the system controller 20 considers the toll by adding the cost according to the toll of the expressway specified by referring to the toll table 33 to the toll unconsidered cost for the section best route searched in step S204. Calculate the cost (step S205).

Then, the system controller 20 determines whether or not the toll consideration cost of the section best route calculated in step S205 is smaller than the toll consideration cost of the first candidate route (step S206). Then, when the charge consideration cost of the section best route searched in step S204 is smaller than the charge consideration cost of the first candidate route (step S206; Yes), the system controller 20 first selects the section best route searched in step S204. Set as a candidate route (step S207). On the other hand, when the toll consideration cost of the section best route searched in step S204 is equal to or greater than the toll consideration cost of the first candidate route (step S206; No), it is determined that it is not necessary to update the first candidate route, and the process proceeds to step S208. Proceed with processing.

Next, the system controller 20 determines whether or not the processes of steps S204 to S207 have been executed for the entire section (k = 1 to n) (step S208). Then, when the system controller 20 determines that the processes of steps S204 to S207 have been executed for the entire section (step S208; Yes), the system controller 20 proceeds to the process to step S209. On the other hand, when there is a section in which the processing of steps S204 to S207 is not executed (step S208; No), the system controller 20 returns the processing to step S204. In this case, the system controller 20 adds the section index k by 1 and re-executes steps S204 to S207.

Next, in step S209, the system controller 20 minimizes the uncharged cost for the pattern (that is, the overall best pattern) in which all the high-speed facilities determined to be pseudo-closed in each section are pseudo-closed (that is, the overall best pattern). That is, the overall best route) is searched for (step S209). Then, the system controller 20 adds the cost according to the toll of the expressway on the overall best route specified by referring to the toll table 33 to the toll unconsidered cost for the overall best route searched in step S209. Then, the charge consideration cost is calculated (step S210). Then, the system controller 20 outputs the first candidate route and the overall best route, whichever has the smaller charge consideration cost, as the recommended route (step S211). As a result, the system controller 20 can accurately determine a route having a low charge consideration cost as a recommended route while suitably reducing the number of route searches.

[Third Example]
In the third embodiment, the system controller 20 makes it possible to divide the approximate solution route into multiple stages. As a result, the system controller 20 adjusts the number of high-speed facilities in the section to preferably improve the processing efficiency.

FIG. 8A shows an example in which the approximate solution route in which the high-speed facilities 6a to 6k exist is divided into two sections, section 1 and section 2. In the example of FIG. 8A, the system controller 20 has two approximate solution routes so that section 1 includes six high-speed facilities 6a to 6f and section 2 contains five high-speed facilities 6g to 6k. It is divided into. ^{In this case, there are 26} (= 64) patterns of expressways that are pseudo-closed in section 1, and ²⁵ (= 32) patterns of expressways that are pseudo-closed in section 2. When the number of sections is 2, at least 96 or more route searches are required. Therefore, in this embodiment, the system controller 20 further divides the section in which the number of high-speed facilities in the section is equal to or greater than a predetermined number (also referred to as “threshold number”). Here, it is assumed that the system controller 20 sets the number of threshold values to three.

FIG. 8B shows an example in which the section 1 is further divided into a section 1A and a section 1B, and the section 2 is further divided into a section 2A and a section 2B. In the example of FIG. 8B, in the system controller 20, since there are more than the threshold number of high-speed facilities in each of the sections 1 and 2, the number of high-speed facilities in the sections 1 and 2 is the same or one difference, respectively. It is subdivided so that it becomes. As a result, there are three high-speed facilities 6a to 6c in the section 1A, three high-speed facilities 6d to 6f in the section 1B, three high-speed facilities 6g to 6i in the section 2A, and a section 2B. There are two high-speed facilities 6j and 6k in.

Here, since the number of high-speed facilities in the section 1A, the section 1B, and the section 2A is equal to or larger than the threshold number, the system controller 20 subdivides the sections. FIG. 8C shows the relationship between each section and the high-speed facility belonging to each section when the section is further divided from the example of FIG. 8B. In the example of FIG. 8C, the system controller 20 divides the section 1A into a section 1Aa including two high-speed facilities 6a and 6b and a section 1Ab including one high-speed facility 6c. Further, the system controller 20 divides the section 1B into a section 1Ba including two high-speed facilities 6d and 6e and a section 1Bb including one high-speed facility 6f. Further, the system controller 20 divides the section 2A into a section 2Aa including two high-speed facilities 6g and 6h and a section 2Ab including one high-speed facility 6i. On the other hand, the system controller 20 does not subdivide the section 2B because the number of high-speed facilities is already less than the threshold number.

Then, when the number of high-speed facilities in all sections becomes less than the threshold number, the system controller 20 selects the section best route that minimizes the uncharged cost for all patterns of pseudo-closed high-speed facilities for each section. Search and determine high-speed facilities that should be pseudo-closed for each section.

FIG. 9A is a diagram reflecting the result of determining the high-speed facility to be pseudo-closed for each section. In the example of FIG. 9A, in the case of section 1Aa, the cost not considering the charge is minimized when the high-speed facility 6b is pseudo-closed, and in the case of section 1Ab, section 1Ba, and section 2Aa, the high-speed facility with pseudo-closed is used. If not provided, the toll unconsidered cost will be the minimum, in the case of section 1Bb, the toll unconsidered cost will be the minimum when the high-speed facility 6f is pseudo-closed, and in the case of section 2Ab, when the high-speed facility 6i is pseudo-closed. The toll unconsidered cost is the minimum, and in the case of section 2B, the toll unconsidered cost is the minimum when the high-speed facility 6k is closed to traffic.

Then, in the first example, the system controller 20 determines the recommended route by executing the flowchart of FIG. 7 of the second embodiment. In the example of FIG. 9A, the system controller 20 considers that there are seven sections and executes the flowchart of FIG. 7.

In the second example, the system controller 20 defines a high-speed facility that is determined to be pseudo-closed in the subdivided section as a high-speed facility that should be pseudo-closed in the division source section. FIG. 9B shows the subdivided sections 1Aa, section 1Ab, section 1Ba, section 1Bb, section 2Aa, and section 2Ab of the high-speed facilities that should be pseudo-closed in section 1A, section 1B, section 2A, and section 2B. An example determined based on the search result of the section best route in is shown.

In the example of FIG. 9B, the system controller 20 uses the high-speed facility determined to be pseudo-closed in the sections 1Aa and 1Ab shown in FIG. 9A as the high-speed facility to be pseudo-closed in the section 1A. It has established. Similarly, for the section 1B and the section 2A, the system controller 20 defines a high-speed facility to be pseudo-closed. After that, the system controller 20 may determine the recommended route by executing the flowchart of FIG. 7 of the second embodiment for the section 1A, the section 1B, the section 2A, and the section 2B, and further, in these sections. Based on the combination of the pseudo-closed high-speed facilities, the high-speed facilities to be pseudo-closed may be determined in the section 1 and the section 2. FIG. 9C shows that the high-speed facilities to be pseudo-closed in section 1 and section 2 are determined based on the combination of the high-speed facilities that should be pseudo-closed in each subdivided section 1A, section 1B, section 2A, and section 2B. An example is shown. In this case, the system controller 20 defines a high-speed facility to be pseudo-closed in section 1 by a combination of high-speed facilities to be pseudo-closed in sections 1A and 1B shown in FIG. 9B. Similarly for the section 2, the system controller 20 defines a high-speed facility to be pseudo-closed. After that, the system controller 20 considers that there are two sections, section 1 and section 2, and executes the flowchart of FIG. 7.

In FIGS. 8 and 9, the system controller 20 sequentially divides the approximate solution route by two divisions, but the present invention is not limited to this, and the system controller 20 may be sequentially divided by three or more divisions.

As described above, according to the third embodiment, the system controller 20 determines the necessity of subdividing the section according to the number of high-speed facilities in the section for the approximate solution route, and sets the number of high-speed facilities in the section as the threshold number. To less than. As a result, the system controller 20 can improve the processing efficiency by setting an appropriate section according to the number of high-speed facilities even when the number of high-speed facilities on the approximate solution route is large.

[Fourth Example]
In the fourth embodiment, the system controller 20 receives an input for designating the conversion rate from the charge to the cost used when calculating the charge consideration cost, and displays and outputs a recommended route reflecting the designated conversion rate. In the following, as an example, the unit of charge consideration cost shall be time.

FIG. 10 shows a first display example of the route selection screen. On the route selection screen of FIG. 10, when the system controller 20 sets the conversion rate from the charge to the cost (charge-based time cost) to 500 yen / h, 700 yen / h, and 900 yen / h, the charge consideration cost, respectively. The top four routes with low are presented as recommended routes. In FIG. 10, the system controller 20 is converted into a table 7A showing the toll-considered costs of the top four routes when the toll-to-cost conversion rate (rate) is 500 yen / h on the route selection screen. Table 7B showing the fare consideration costs of the top four routes when the rate is 700 yen / h, and table 7C showing the fare consideration costs of the top four routes when the conversion rate is 900 yen / h. , A route outline diagram 8A showing an outline of each route is displayed.

As shown in Tables 7A to 7C, by changing the conversion rate of the toll per hour, the toll consideration cost of the route using the expressway such as Route C and Route E changes. Specifically, when the conversion rate is 900 yen / h, the value of time for the charge is relatively higher than when the conversion rate is 500 yen / h, so high speeds such as route C and route E are used. The cost of considering tolls for routes that use the road has decreased, and as a result, the ranking of these routes has increased.

Further, the tables 7A to 7C can be selected, and the system controller 20 displays the outline of the route based on the charge consideration cost corresponding to the selected table in the route outline diagram 8A. In the example of FIG. 10, since the table 7A is selected, the system controller 20 displays the highest route A at the conversion rate of 500 yen / h in the thickest position, and the route B, the route C, and the route. In the order of D, the lines representing these are gradually displayed thinner. FIG. 11 shows a route selection screen when the user selects the table 7C using a touch panel or the like. In this case, the system controller 20 provides a route outline diagram 8C in which the highest route C in the selected table 7C is made the thickest, and the lines representing these are gradually thinned in the order of route A, route B, and route E. It is displayed. After that, the user sets the route by designating the route to be set by the touch panel or the like in, for example, the tables 7A to 7C or the route outline diagrams 8A and 8C.

FIG. 12 is a second display example of the route selection screen. In the example of FIG. 12, the system controller 20 has a table 7A having a conversion rate of 500 yen / h, a route outline diagram 8A showing an outline of each route in the table 7A, and a conversion rate button 26 on the route selection screen. Is displayed. Then, when the conversion rate button 26 is selected, the system controller 20 displays a balloon 27 including a plurality of conversion rate designation buttons 28 for selecting the conversion rate. The conversion rate designation button 28 is provided for each conversion rate that can be selected by the user. When the conversion rate designation button 28 indicating a conversion rate different from the currently selected conversion rate is selected, the system controller 20 is a table showing the charge consideration cost of the conversion rate corresponding to the selected conversion rate designation button 28. And the route outline diagram are displayed on the route selection screen instead of the table 7A and the route outline diagram 8A. According to this aspect, the system controller 20 can preferably display the route search result corresponding to the conversion rate specified by the user on the route selection screen.

FIG. 13 is a third display example of the route selection screen. In the example of FIG. 13, the system controller 20 displays a table 7X showing the route having the lowest charge consideration cost at each conversion rate together with the charge consideration cost. Further, the system controller 20 displays a route outline diagram 8X showing an outline of the routes listed in the table 7X together with the table 7X. According to this aspect, the system controller 20 can easily make the user grasp the route that minimizes the charge consideration cost at each conversion rate.

[Modification example]
Hereinafter, each modification suitable for the first to fourth embodiments will be described. In addition, each of these modified examples may be applied in combination to the above-described embodiment.

(Modification example 1)
In the second and third embodiments, in addition to the route search in the overall best pattern, the system controller 20 has a pattern in which the presence or absence of pseudo-passage of the high-speed facility existing at the boundary of the adjacent section is changed from the overall best pattern. Further route search may be performed.

FIG. 14A shows the overall best pattern when the approximate solution route including the high-speed facilities 6a to 6k is divided into sections 1 and 2. In the example of FIG. 14A, the high-speed facilities 6b and 6f are the high-speed facilities 6b and 6f that are pseudo-closed when the section best route is searched by executing step S204 of FIG. 7 for the section 1, and the section 2 is set. On the other hand, the high-speed facilities 6i and 6k are the high-speed facilities that are pseudo-closed when the section is the best route searched by executing step S204 in FIG. Therefore, in the example of FIG. 14A, the pattern in which the high-speed facilities 6b, 6f, 6i, and 6k are pseudo-closed is the overall best pattern.

Here, in addition to searching for the overall best route in step S209 of FIG. 7, the system controller 20 determines the presence or absence of pseudo-traffic closure of the adjacent high-speed facilities 6f and 6g at the boundary between the section 1 and the section 2 from the overall best pattern. For the changed pattern, search for the route that minimizes the uncharged cost. FIG. 14B shows a pattern in which the presence or absence of pseudo-traffic closure of the adjacent high-speed facility 6f at the boundary between section 1 and section 2 is changed from the overall best pattern, and FIG. 14C shows the boundary between section 1 and section 2. Indicates a pattern in which the presence or absence of a pseudo-traffic closure of the adjacent high-speed facility 6 g is changed from the overall best pattern. Then, the system controller 20 searches for a route having the minimum charge-unconsidered cost for the patterns corresponding to FIGS. 14 (B) and 14 (C), calculates the charge-considered cost for the searched route, and recommends the route. Determine if it can be.

In general, high-speed facilities existing near the boundary of a section are easily affected by the presence or absence of pseudo-traffic closure of high-speed facilities in other adjacent sections, so there is an error in the overall best pattern especially near the boundary of adjacent sections. It may have occurred. In consideration of the above, in this modified example, a route search is also performed for a pattern in which the presence or absence of a pseudo-traffic closure of a high-speed facility existing at the boundary of an adjacent section is changed from the overall best pattern. As a result, it is possible to efficiently search for a route that can be a candidate for a recommended route while preventing an excessive increase in the number of route searches.

(Modification 2)
The route search process executed by the navigation device 1 may be executed by the server device that communicates with the navigation device 1 via the network.

FIG. 15 shows the configuration of the path search system according to the modified example. In the example of FIG. 15, the route search system includes a navigation device 1 and a server device 3 having map data 32 and a charge table 33.

In the configuration example of FIG. 15, the navigation device 1 receives the input for designating the destination and the like, and then transmits the input information of the destination and the like and the current position information to the server device 3. After that, the server device 3 determines a recommended route with reference to the map data 32 and the toll table 33 based on the first to third embodiments, and transmits information indicating the route search result to the navigation device 1. Further, the server device 3 causes the navigation device 1 to display the route selection screen by transmitting the display information of the route selection screen described in the fourth embodiment to the navigation device 1. At this time, the navigation device 1 transmits the information regarding the conversion rate input on the route selection screen to the server device 3.

In this modification, the server device 3 is an example of the "route search device" in the present invention, and the CPU and the like of the server device 3 are the "search means", "control means", and "calculation means" in the present invention. , "Determining means", "Division means", "Composite cost calculating means", "Presentation means" and an example of a computer that executes a program in the present invention.

(Modification example 3)
In the second and third embodiments, the system controller 20 may determine a section by a plurality of division methods, calculate a route for each division method, and determine a recommended route from these calculated routes.

In this case, in the first example, the system controller 20 changes a numerical value that defines the length per section when dividing the approximate solution route by a predetermined index (distance, cost, number of high-speed facilities, etc.). By doing so, the approximate solution route is divided by different division positions. For example, when the approximate solution route is divided based on the distance, the system controller 20 determines the division position of the approximate solution route by a division method in which one section is 50 km and a division method in which one section is 60 km. In this case, the system controller 20 may divide the approximate solution route by three or more numerical values with the same index, and determine the route that minimizes the charge consideration cost from the routes searched in each case as the recommended route.

In the second example, the system controller 20 divides the approximate solution route according to different indexes, and determines the route that minimizes the charge consideration cost from the routes searched in each case as the recommended route. For example, the system controller 20 searches for a route according to the second or third embodiment, depending on whether the approximate solution route is divided into a plurality of sections based on the distance or the approximate solution route is divided into a plurality of sections based on the cost. I do. Then, the system controller 20 determines the route with the minimum charge consideration cost as the recommended route from the routes obtained by the route search in each case. The system controller 20 may divide the approximate solution route using three or more indexes, and determine the route that minimizes the charge consideration cost from the routes searched in each case as the recommended route.

According to these examples, it is possible to preferably reduce the influence of the method of dividing the approximate solution route on the result of the recommended route.

(Modification example 4)
In the first embodiment, the system controller 20 is costed by different indexes depending on the charge unconsidered cost used in the route search in step S103 of FIG. 4 and the charge unconsidered cost used when calculating the charge consideration cost in step S104. May be calculated. For example, the former may be a cost indexed by distance, and the latter may be a cost indexed by time. Similarly, in the second embodiment and the third embodiment, the system controller 20 is separated into a charge-unconsidered cost used when searching for the best section route and a charge-unconsidered cost used when calculating the charge-considered cost. The cost may be calculated by the index of.

1 Navigation device 3 Server device 10 Independent positioning device 12 GPS receiver 20 System controller 22 CPU
31 Data storage unit 38 Communication device 40 Display unit 44 Display 50 Audio output unit 60 Input device

Claims (12)

A search means to search for a route and
A control means for causing the search means to search for a route including a toll road based on a cost other than the toll of the route.
A calculation means for calculating tolls for a plurality of routes searched by the search means, and a calculation means for calculating the tolls for each of the plurality of routes.
It is provided with a determination means for determining a recommended route by comparing a cost other than the toll and a combined cost which is a cost for each route calculated based on the toll.
The calculation means calculates the toll according to the combination of the toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage.
The control means extracts the facilities on the route included in the route searched by the search means, and makes at least one of the facilities on the route a pseudo-difficult facility to pass through. A route search device that causes the search means to search for a plurality of routes having different combinations. The route search device according to claim 1, wherein the control means extracts toll road facilities whose tolls are affected by the presence or absence of passage as the facilities on the route. It has a dividing means for dividing the route including the toll road according to the first condition.
The control means should make the facility difficult to pass for each of the divided sections by causing the search means to search for a plurality of routes having different combinations of facilities on the route to be passed for each divided section divided by the divided means. The route search device according to claim 1 or 2, which determines a facility on the route. The route search device according to claim 3, wherein the control means causes the search means to search for a route that does not pass through all the difficult-to-pass facilities determined for each divided section as a candidate for the recommended route. The route search device according to claim 3 or 4, wherein the division means divides a route including the toll road based on at least one of a distance, a cost, and the number of facilities on the route as the first condition. The division means according to any one of claims 3 to 5, when the number of facilities on the route in the division section in which the route including the toll road is divided exists in a predetermined number or more, the division section is further divided. Route search device. The dividing means divides the route including the toll road into a plurality of ways according to different division positions.
The control means causes the search means to search for a candidate for the recommended route by determining a facility on the route that should be a difficult-to-pass facility for each of the plurality of ways.
The route search device according to any one of claims 3 to 6, wherein the determination means determines the recommended route by comparing the combined costs of the candidates for the recommended route for each of the plurality of ways. The route search device according to claim 7, wherein the division means divides a route including the toll road into a plurality of ways according to different division positions by using different values of the same index. The route search device according to claim 7, wherein the division means divides a route including the toll road into a plurality of ways according to different division positions by using different indexes. It is a control method executed by the pathfinding device.
The search process to search for a route and
In the search process, a control process for searching a route including a toll road based on a cost other than the toll of the route, and
A calculation process for calculating tolls for each of the plurality of routes searched by the search process, and a calculation process for calculating the tolls for each of the plurality of routes.
It has a determination step of determining a recommended route by comparing a cost other than the toll and a combined cost which is a cost for each route calculated based on the toll.
In the calculation process, the toll is calculated according to the combination of toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage.
In the control step, the on-route facilities included in the route searched in the search step are extracted, and at least one of the on-route facilities is set as a pseudo-difficult-to-pass facility. A control method for causing the search step to search for a plurality of routes having different combinations. A program that a computer runs
A search means to search for a route and
A control means for causing the search means to search for a route including a toll road based on a cost other than the toll of the route.
A calculation means for calculating tolls for a plurality of routes searched by the search means, and a calculation means for calculating the tolls for each of the plurality of routes.
By comparing the costs other than the toll and the combined cost, which is the cost for each route calculated based on the toll, the computer is made to function as a deciding means for determining the recommended route.
The calculation means calculates the toll according to the combination of the toll road facilities including the entrance facility and the exit facility of the toll road regardless of the mileage.
The control means extracts the facilities on the route included in the route searched by the search means, and makes at least one of the facilities on the route a pseudo-difficult facility to pass through. A program that causes the search means to search for a plurality of routes having different combinations. A storage medium comprising storing the program according to claim 11.

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