JP7049043B2 - Electronic device and route search method, route search program - Google Patents

Description

The present invention relates to an electronic device provided with a navigation device, and more particularly to a technique for searching a guidance route in consideration of the passage cost at an intersection.

A typical conventional in-vehicle navigation device detects the current position of a vehicle by using an autonomous navigation sensor or a GPS (Global Positioning System) receiver, reads out map data in the vicinity of the vehicle from a storage medium, and displays it on the screen. do. Then, by superimposing the own vehicle position mark indicating the own vehicle position on the predetermined position on the screen and displaying the display, the current position of the vehicle can be known at a glance.

An in-vehicle navigation device is usually equipped with a function (route guidance function) that guides a user to easily drive toward a destination without making a mistake on the road. According to this route guidance function, horizontal search is used to search for the optimum route (typically the route with the lowest cost) from the starting point (typically the current position of the vehicle) to the destination using map data. Automatically search by performing simulation calculations such as the method and Dyxtra method, and store the searched route as a guidance route so that the guidance route can be distinguished from other roads on the map image while driving (for example). When the color is changed, the line width is thickened), or when the vehicle approaches an intersection that should change course on the guidance route, the guide map of that intersection (on the map image) By displaying an enlarged view of the intersection, an arrow indicating the direction of travel at the intersection, the distance to the intersection, the name of the intersection, etc.), which road should be driven and in which direction the intersection should be traveled. The user can know what to do.

The cost is a numerical value of the degree of suitability as a guidance route, and is the cost related to a node (point expressed in latitude and longitude) and a link (a part connecting two nodes, that is, a part of a road). ) There are two types of costs. The cost related to the link is a coefficient determined based on certain rules according to the road type (road class) indicating whether it is a general road or an expressway, the number of lanes, the road width, etc., based on the distance (road length). It is a value (relative value) multiplied by (a coefficient with a predetermined weighting), an estimated running time of a vehicle, and the like. On the other hand, the cost related to the node is the number of directions in which other vehicles must be taken into consideration when passing through the intersection (hereinafter referred to as the accounting direction), the angle of the passing direction such as turning left or right, and the signal at the intersection. A value (relative value) is set by multiplying a coefficient (coefficient with a predetermined weighting) determined based on a certain rule, depending on the presence or absence of.

In the conventional in-vehicle navigation device, the calculation of the route to the destination is performed by using a network that abstracts the actual road on which the vehicle travels into nodes and links. The "optimal route" to the destination is the sum of the link cost for each link from the departure point to the destination and the intersection passage direction cost for each node (that is, the total to the destination). It is a link column that minimizes the traffic cost of.

The toll cost when passing through each link is calculated by, for example, the following equation (1).

Traffic cost = link cost + intersection passage cost ... (1)
Here, the link cost is a value that includes the road length and is set so that the shorter the road length between the nodes, the smaller the value. The intersection passage cost includes the number in the accounting direction, and is a value (relative value) determined based on a certain rule according to the number of directions in which other vehicles are heading when passing through the intersection. ) Is included. In the conventional technique, the total passing cost is obtained by adding the passing cost based on the above equation (1) for each link from the starting point to the destination.

As a technique related to such a route search, Patent Document 1 calculates the evaluation value of the link by using the road width coefficient and the road type coefficient corresponding to the time and the day of the week, and the time and the day of the week at the time of route setting. -The technology to set an appropriate route according to the date and time is described.

Further, in Patent Document 2, the right turn cost is reduced to a small value when there is a traffic light installed at an intersection or when the installed traffic light displays a right turn arrow signal in the route setting. A technique for setting and searching for a route that reduces the total value of toll costs is described.

JP-A-2002-148065 Japanese Patent Application Laid-Open No. 2005-321360

As described above, in the conventional in-vehicle navigation device, basically, the route that minimizes the total passage cost from the departure point to the destination is guided as a guidance route (recommended route).

Here, FIG. 1 is a diagram showing a subject of the present invention. FIG. 1A specifically shows one of the problems of the present invention, in the case where there is a road (road link 2) maintained for entering the facility between the current location and the destination. Is. In addition, G in FIG. 1A refers to a destination. Further, as such a road condition, for example, there is a rotary in front of a station. Note that the nodes X and Y indicate an intersection, and the road link 2 is a one-way street from the intersection X to the intersection Y. Further, the road link 1 is the link having the shortest road length among the links connecting the intersection X and the intersection Y.

Here, when the route from the current location to the destination is searched, two routes as shown in FIG. 1B are calculated as candidates. Route 1 is the shortest distance route between the current location and the destination through the road link 1, and route 2 is the route through the road link 2. The travel distance of the route 2 is longer than that of the route 1, but in the current navigation device, the route 2 having a long travel distance and entering the road of the facility is selected as the guidance route.

Here, the reason why the route 2 is selected will be described in detail with reference to a diagram showing a method of setting the toll cost at the intersection of FIG. FIG. 2A is a diagram schematically showing the intersection X in FIG. 1. The link A is an approach link that enters the intersection X from the current position, and the link B, the link C, and the link D are the escape links of the intersection X at the approach link A. That is, when the entry link is the link A, the escape links are the link B, the link C, and the link D. Further, the arrows S11, S12, S21, S22, S31, S32, S41, and S42 represent the accounting direction when passing through the intersection X from the approach link A. It should be noted that the number of accounting directions and the actual number of lanes are not the same, and the accounting direction is the direction in which it is necessary to consider the progress of other vehicles when passing through an intersection. Further, in the following description, the link A which is an entry link is referred to as an entry link A, the link B which is an escape link, a link C, and the link D is referred to as an escape link B, an escape link C, and an escape link D.

FIG. 2B is a diagram showing the passage costs of the escape links B, C, and D in the entry link A. In the following description, the passage cost at the escape link is referred to as the escape cost. The escape cost is set by the number in the accounting direction. For example, in the left turn direction of the escape link B, since the account direction is only S12, the escape cost 15 for one account direction is added. The value of the escape cost for one account direction may be changed depending on the embodiment. Next, since there are two accounting directions, S12 and S21, in the straight direction of the escape link C, an escape cost 30 corresponding to the two accounting directions is added. Then, in the right turn direction of the escape link D, since there are three accounting directions, S12, S21, and S42, an escape cost 45 corresponding to the three accounting directions is added.

FIG. 2C is a diagram showing a comparison of the total cost of the escape cost of the intersection from the current location to the destination at the intersection X and the link cost (cost due to the distance). First, when going straight at the intersection X (route 2), the escape cost of the intersection X is set to 30, and the link cost is set to, for example, the passage cost of 137 in consideration of the distance. The same escape cost is calculated at the intersection Y. According to the method, the escape cost is 30, and the total value of the passage cost of Route 2 is 197. Next, when turning right at the intersection X (route 1), the escape cost of the intersection X is set to 45, the link cost is set to 113, for example, in consideration of the distance, and the same escape cost is calculated at the intersection Y. According to the method, the escape cost is 45, and the total value of the passage cost of route 1 is 203. Therefore, as the guidance route, the route having the minimum passage cost is automatically selected, so that the route of route 2 having a low total passage cost is selected.

The present invention solves such a conventional problem, and provides an electronic device, a route search method, and a route guidance program capable of searching for and providing an appropriate guidance route in consideration of the escape cost of a node. With the goal.

The electronic device according to the present invention is an electronic device having a navigation function, and is a current position or an arbitrary point based on an acquisition means for acquiring map data having nodes and links and map data acquired by the acquisition means. When the route search means for searching the route from the destination to the destination, the link entering the node is the entry link, and one or more links that can escape from the node are the escape links, the link information of the escape link is acquired. The setting means that obtains from the means and sets the escape cost for each escape link, and the route search means calculates the passage cost to the destination in consideration of the escape cost set by the setting means. ..

In one embodiment, the setting means sets the escape cost according to the number of account directions that need to be considered when passing through the escape link, at least among the escape links connected to the node. Based on one link information, the escape cost is changed when it is assumed that another vehicle cannot enter the intersection from the direction of the escape link. In one embodiment, the setting means varies the escape cost for each escape link when at least one of the escape links connected to the node has one-way link information. In one embodiment, the setting means varies the escape cost for each escape link when at least one of the escape links connected to the node is information about the prohibition of passage. In one embodiment, the setting means obtains the number and / or type of lanes in the accounting direction from the acquisition means and sets the escape cost for each escape link in consideration of the number and / or type of the lanes. do. In one embodiment, the route search means further includes a determination means for determining a guided route from a plurality of searched routes, and the route search means is a link of a link set on a route from a current location to a destination. The passage cost is calculated by sequentially adding the cost and the escape cost of the escape link set in consideration of the link information in each node, and the determination means determines the route having the minimum passage cost as the guidance route. do.

The route search method according to the present invention is a route search method in an electronic device that executes a navigation function using map data having nodes and links, and is a route search method from a current position or an arbitrary point to a destination based on the map data. When the step to search the route and the link to enter the node are the entry link and one or more links that can escape from the node are the escape links, the escape cost for each escape link based on the link information of the escape link. The step of setting the data and the step of searching further include a step of calculating the toll cost to the destination in consideration of the set escape cost.

The route search program according to the present invention is a route search program in an electronic device that executes a navigation function using map data having nodes and links, and is a route search program from a current position or an arbitrary point to a destination based on the map data. When the step to search the route and the link to enter the node are the entry link and one or more links that can escape from the node are the escape links, the escape cost for each escape link based on the link information of the escape link. The step of setting the data and the step of searching further include a step of calculating the toll cost to the destination in consideration of the set escape cost.

According to the present invention, since the escape cost of each escape link is set from the link information of the escape link, the optimum route from the current location to the destination can be provided as a guidance route.

It is a figure which shows the subject of this invention. It is a figure which shows the setting method of the passage cost of an intersection in the subject of this invention. It is a block diagram which shows the structure of the navigation apparatus which concerns on embodiment of this invention. It is a figure which shows the content of the map data which concerns on embodiment of this invention. It is a figure which shows the functional structure of the path search program which concerns on embodiment of this invention. It is a flowchart explaining the operation of the navigation apparatus which concerns on embodiment of this invention. It is a figure which shows the setting method of the passage cost of the intersection which concerns on embodiment of this invention.

Next, embodiments of the present invention will be described in detail with reference to the drawings. The electronic device according to the present invention can be an in-vehicle device fixedly mounted on a moving body such as an automobile, a portable computer device that can be carried into the moving body, or the like. The electronic device of the present invention is equipped with a navigation function, but integrates other functions such as a function of playing audio / video data, a function of receiving TV / radio broadcasts, and a function of executing application software. It may be provided.

The electronic device of the present invention has a navigation function, and map data is used to execute the navigation function. This map information may use map data stored in a storage medium such as a DVD-ROM, or acquire necessary map data from a distribution site or a distribution server via a data communication means. There may be. In the following description, an in-vehicle device mounted on a vehicle will be illustrated as an example of an electronic device.

FIG. 3 is a block diagram showing a configuration of an in-vehicle device according to an embodiment of the present invention. The in-vehicle device 100 includes an input unit 110, a vehicle position detection unit 120, a communication unit 130, a voice output unit 140, a display unit 150, a storage unit 160, and a control unit 170.

The input unit 110 enables the user to input various information to the in-vehicle device. The input unit 110 includes, for example, an input key device, a voice input recognition device, a touch panel, and the like, and the user inputs menu selection operations, map scrolling, destination setting, route search instructions, and the like via the input unit 110. be able to.

The own vehicle position detection unit 120 measures the current position of the own vehicle. The own vehicle position detection unit 120 detects the own vehicle position by, for example, absolute position detection by GPS positioning and relative position detection based on an autonomous navigation sensor. The autonomous navigation sensor includes, for example, a vehicle speed sensor such as an azimuth sensor such as an angular velocity sensor or a geomagnetic sensor, or a vehicle speed pulse sensor. The location information acquisition unit 110 may acquire the vehicle location information by accessing the location information distribution site or the distribution server via the network. Communication with the network at that time is performed via the communication unit 130.

The communication unit 130 enables transmission / reception of data by wire or wirelessly with an external device, an external network, or the like. The communication unit 130 may be, for example, one in which the in-vehicle device 100 has a built-in communication function, or may be one in which a terminal having such a communication function is connected to the in-vehicle device 100. The communication unit 130 can access and acquire the vehicle location information, the map data, and detailed information about the charging facility to the distribution site (or distribution server) via the network. In addition, wired or wireless data communication using WiFi, LAN, infrared communication, telephone line, etc. is possible.

The voice output unit 140 outputs voice guidance for guiding the route calculated by the control unit, and provides voice guidance for driving support information to the driver. The display unit 150 displays a road map based on the determined guidance route based on the execution of the route search program 200. The display unit 150 includes, for example, a display device such as a liquid crystal display, an organic EL display, or a projection display, displays image data of a map, and displays a setting screen or a menu screen for user setting.

The storage unit 160 stores a program and a database necessary for executing various functions of navigation. In one embodiment, the storage unit 160 stores a map database 162, which includes map data, road data, facility data, and the like. Here, as the storage medium of the map database 162, a storage medium such as a DVD-ROM, a CD-ROM, or a hard disk may be used. Depending on the embodiment, various map information may be acquired from the outside via the communication unit 130 without using a storage medium.

Here, the contents of the data stored in the map database 162 will be described with reference to FIG. The map database 162 has a road unit representing a road network, a drawing unit representing a place name and other objects other than roads to be displayed on the map, and an intersection unit. Here, in the road unit, the road network is defined as a set of nodes and links connecting the nodes, and the road unit is provided for each link and a node table including node information provided for each node. It has a link table containing the link information. A node is always provided at a connecting point of a road such as an intersection. Nodes are also provided at points where the road type is different.

Then, each node information includes a node number that is an identifier of the corresponding node, a node attribute that represents various attributes of the corresponding node, a node coordinate that represents the position of the corresponding node, and a connection link that represents a link to connect to the corresponding node. Includes information, connection node information representing other nodes that connect to the corresponding node via a single link, and the corresponding intersection number where the intersection number of the intersection is registered if the node is a node that constitutes the intersection. ..

Further, each link information includes a link number that is an identifier of the corresponding link, a link attribute that represents various attributes such as identification of a road whose corresponding link represents a road section, and a node that is one end point of the corresponding link. The first node number representing the node number of the first node, the second node number representing the node number of the second node which is the corresponding other end point node, the traffic direction representing the direction in which the vehicle can travel on the link, Includes connection link information that represents other links that connect to that link.

Here, in the passage direction of the link information, if the link is a link representing a section of a road that can travel in the up / down direction, both directions are registered, and the link represents a section of a one-way road. In this case, information indicating which of the direction from the first node to the second node and the direction from the second node to the first node is the travelable direction is registered. It should be noted that one road that can travel in the up / down direction is regarded as a set of two roads that have each of the up / down directions as the travel direction, and a link that forms each road for each of the two roads. In this case, in the traffic direction of the link information of these links, the traveling direction of the road on which the link represents the road section is the direction from the first node to the second node and from the second node. Information indicating which of the directions toward the first node is the travelable direction is registered.

Next, the intersection unit has intersection data provided corresponding to each intersection, and each intersection data includes an intersection number which is an identification number of the intersection, an intersection attribute representing the name of the intersection, and a node constituting the intersection. The registered intersection configuration node table, the intersection connection link table in which the links connecting to the intersections are registered, the link table in the intersections in which the links in the intersections are registered, and the passage information are registered. Taking the enlarged view of the intersection X in FIG. 2A as an example, there are four links connecting to the intersection at the intersection X: link A, link B, link C, and link D.

Next, the exit link for each entry link is stored in the passage information of the intersection data. Taking the enlarged view of the intersection X in FIG. 2A as an example, when the entry link is the link A, the escape link is stored as the link B, the link C, and the link D. In one embodiment, the escape link is stored, and at the same time, the passage direction of the escape link with respect to the entry link is also stored. That is, the escape link B may be stored in the left turn direction, the escape link C may be stored in the straight direction, and the escape link D may be stored in the right turn direction.

Next, the control unit 170 includes a microcontroller or microprocessor equipped with a ROM / RAM or the like, executes a predetermined process based on the control program stored in the ROM / RAM, and operates each unit of the in-vehicle device 100. To control. The control program according to the present embodiment includes a route search program 200.

The control unit 170 executes the route search program 200. FIG. 5 is a diagram showing a functional configuration of the path search program 200 according to the embodiment of the present invention. The route search program 200 includes an intersection identification unit 202, an approach link identification unit 204, an escape link identification unit 206, a link information acquisition unit 208, an escape cost setting unit 210, a passage cost calculation unit 212, and a guidance route determination unit 214. ..

The intersection identification unit 202 identifies an intersection that may pass in the route search from the current location to the destination. The approach link identification unit 204 identifies the link entering the intersection specified by the intersection identification unit 202. The escape link identification unit 206 identifies the escape link for the approach link at the specified intersection at the intersection identification unit 202. The passing direction (left turn, straight ahead, right turn) with respect to the entry link is also identified for each escape link.

The link information acquisition unit 208 acquires the link information of the escape link identified by the escape link identification unit 206. In this embodiment, the link information is acquired from the link table stored in the map database. In some embodiments, it may be acquired from the outside via the communication unit 130. The escape cost setting unit 210 sets the escape cost for each escape link based on the link information of the escape link. In the present embodiment, when the link information of any one of the escape links is one-way in the direction of escaping the intersection, the value of the escape cost for each escape link is changed.

The toll cost calculation unit 212 calculates the sum of the costs including at least the set escape cost and the link cost to the destination. The guidance route determination unit 214 determines the route that minimizes the total passage cost as the guidance route (recommended route), and provides route guidance.

The operation of the navigation device according to the embodiment of the present invention will be described with reference to the flowchart of FIG. 6 and the figure showing the method of setting the toll cost at the intersection according to the embodiment of the present invention of FIG. 7. Note that FIG. 7 shows the same traffic conditions as in FIG. 1, and FIG. 7A is a diagram schematically showing the intersection X in FIG. 1. The link C in FIG. 7A has one-way link information in the escape direction from the intersection X. First, the destination is set according to the instruction from the user (S100). When this destination is set, the route search program 200 is started (S102). In the route search, for example, using the link data and node data stored in the map database 162, the total link cost of each link is the minimum in the continuous link from the current location or the specified point to the destination. Search for the route that becomes. In the process, first, the intersection specifying unit 202 identifies an intersection (node) on which traffic is expected (S104). Here, if the intersection is not specified (the intersection is not included in the route), the process proceeds to S114 described later. If the intersection is specified, the process proceeds to S106. In FIG. 7A, the intersection X is specified.

For the identified intersection, the entry link identification unit 204 and the entry link identification unit 206 identify the entry link and the exit link for the entry link at each intersection (S106). In FIG. 7A, the entry link is identified by the link A, and the exit link is identified by the link B, the link C, and the link D. The link information acquisition unit 208 acquires the link information of the identified escape link from the map database 162 (S108). In FIG. 7A, the link information of the link B, the link C, and the link D is acquired.

Next, the escape cost setting unit 210 determines whether or not there is an escape link having link information that matches the conditions among the escape links at the intersection (S110). The above condition is whether or not the link information indicates that another vehicle does not enter the intersection from the direction of the escape link. In the present embodiment, it is determined whether or not the traffic is one-way in the direction of escaping the intersection. That is, in FIG. 7A, there is an escape link having link information that matches the conditions when the link C is one-way among the link B, the link C, and the link D, as in the present embodiment. Is determined, and the process proceeds to S112. If there is no escape link having link information that matches the conditions among the link B, the link C, and the link D, the process proceeds to S114.

The escape cost setting unit 210 sets the escape cost according to the number in the accounting direction. The set value is set as the default and is set according to the number in the accounting direction. As shown in FIG. 2, for example, when turning left and passing through the escape link B, the escape cost to the escape link B is set to 15 because there is only one accounting direction. Since there are two account directions for going straight, the escape cost to the escape link C is set to 30, and for a right turn, the escape cost to the escape link D is set to 45 because there are three account directions. However, if there is an escape link having link information that matches the conditions in S110, the escape cost setting unit 210 changes the value of the escape cost set by default (S112).

As shown in FIG. 7A, when the escape link C is a one-way street, there is no other vehicle entering the intersection X from the escape link C, so that it is not necessary to count S42. Here, FIG. 7B is a diagram showing the passage costs of the escape links B, C, and D in the entry link A. As shown in FIG. 7 (b), the escape cost fluctuates. First, when turning left and passing through the escape link B, since S42 is not originally counted, the counting direction is one (S12) and the escape cost is set to 15. Since S42 is not originally counted for going straight, the counting direction is two (S12, S21) and the escape cost is set to 30. When turning right, there are originally three account directions (S12, S21, S42), but since S42 does not need to be accounted for and is excluded, there are two account directions (S12, S21), and the escape cost fluctuates to 30. Is set.

If there is no escape link having link information that matches the conditions, the default escape cost is set as it is (S114). The toll cost calculation unit 212 adds the cost to the destination, such as the link cost based on the distance of the road and the toll cost of other intersections, to the escape cost set in S112 or S114. , Calculate the total value of the toll cost (S116). The escape cost at the intersections X and Y is calculated by the above method, respectively. The link cost of the road link 1 and the road link 2 is determined according to the distance, and for example, the road link 1 is set to 113 and the road link 2 is set to 137.

FIG. 7C is a diagram showing the details of the toll costs for each of Route 1 and Route 2 and the total value. First, since the route 2 goes straight at the intersection X, the passing cost is 30, then the passing cost 137 is added because the route 2 travels on the road link 2, and the passing cost 30 is added because the route 2 goes straight at the intersection Y. Therefore, the total toll cost is 197. Next, Route 1 makes a right turn at the intersection X, and as described above, the account direction decreases, so that the toll cost fluctuates to 30, and then the toll cost 113 is added to travel on the road link 1, and further. A toll cost of 45 is added to go straight on at the intersection Y. Therefore, the total toll cost is 188.

Next, the guidance route determination unit 214 determines the route that minimizes the total passage cost calculated by the passage cost calculation unit 212 as the guidance route (recommended route) (S118). Comparing the total values of Route 1 and Route 2 in FIG. 7 (c), Route 1 has a smaller total traffic cost than Route 2, and there is no route candidate with a smaller value. 1 is determined as an induction route (recommended route).

According to the above embodiment, as shown in FIG. 2C, a detour route (route 2) via a road prepared for intrusion into the facility has been selected as a guidance route from the total toll cost. However, by setting the escape cost in consideration of the link information of the escape link at the intersection, as shown in FIG. 7 (c), it does not go through the road prepared for intrusion into the facility. In addition, the shortest route (route 1) to the destination will be selected as the guidance route. As a result, it becomes possible to provide the user with a route that is the shortest distance to the destination and does not enter the road such as a facility.

In the above embodiment, when one-way traffic exists in the escape link, the value of the escape cost is changed, but in one embodiment, construction work or temporary traffic regulation other than one-way traffic regulation is performed. , When information on traffic prohibition such as traffic prohibition due to an accident is acquired, the escape cost may be changed in the same manner because the vehicle does not enter from the direction of the acquired escape link. Further, the present invention is applicable even when there are a plurality of escape links satisfying the above conditions among the escape links, and the escape cost can be set in consideration of the accounting direction.

Further, in the description of this embodiment, the escape cost is set by focusing only on the number of account directions, but in one embodiment, the number of lanes of the escape link for each account direction and the number of lanes of the lane are set. The escape cost may be set in consideration of the type. For example, when S21 in FIG. 7 is composed of two lanes, a left turn lane and a straight right turn lane, the escape link C has an escape cost value considering the two lanes of S21. Under the same conditions, the escape link D is the escape cost value for one lane because the vehicle heading from the link B direction is for one lane, and the cost for other account directions is added to each escape cost. decide. In this way, by setting the escape cost in consideration of the number of lanes and the type of lane, it becomes possible to calculate a more optimal route.

In this embodiment, the route search program 200 is executed by the in-vehicle device 100 mounted on the vehicle, but the route search program 200 is not limited to this, and the communication unit 130 is connected to a server equipped with an external calculation function for information on the destination and the current location. The external server may execute the route search program 200 to receive the searched guidance route from the communication unit 130, and the in-vehicle device 100 may provide route guidance based on the received guidance route.

Further, the present invention and other techniques related to the route search may be used in combination to calculate the minimum cost route to the destination.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the specific embodiments, and various modifications and changes can be made within the scope of the gist of the invention described in the claims. It is possible.

X, Y: Intersection
S11, S12, S21, S22, S31, S32, S41, S42: Accounting direction 100: In-vehicle device 110: Input unit 120: Own vehicle position detection unit 130: Communication unit 140: Voice output unit 150: Display unit 160: Storage unit 162: Map DB
170: Control unit

Claims (8)

An electronic device with a navigation function
An acquisition method for acquiring map data with nodes and links,
A route search means for searching a route from the current position or an arbitrary point to a destination based on the map data acquired by the acquisition means, and
When the link entering the node is an entry link and one or more links that can escape from the node are escape links, the link information of the escape link is acquired from the acquisition means, and the escape cost is calculated for each escape link. Has a setting means to set
The setting means sets the escape cost according to the number of account directions that need to be considered when passing through the escape link, and another vehicle from the link information of the escape link connected to the node to the node. If there is an escape link that cannot be entered by, set the escape cost for each escape link in consideration of the escape link that the other vehicle cannot enter.
Further , the route search means is an electronic device that calculates a passage cost to a destination in consideration of the escape cost set by the setting means. The electronic device according to claim 1 , wherein the setting means changes the escape cost for each escape link when at least one link information of the escape links connected to the node is one-way. The electronic device according to claim 1 , wherein the setting means changes the escape cost for each escape link when at least one link information of the escape links connected to the node is information related to traffic prohibition. .. The route search means further includes a determination means for determining a guidance route from a plurality of searched routes, and the route search means includes a link cost of a link set on a route from a current location to a destination and each node. The passage cost is calculated by sequentially adding the escape cost of the escape link set in consideration of the link information in the above, and the determination means determines the route having the minimum passage cost as the guidance route. The electronic device according to any one of 3 . A route search method in an electronic device that executes a navigation function using map data having nodes and links.
Steps to search for a route from your current location or any point to your destination based on map data,
When the link entering the node is an entry link and one or more links that can escape from the node are escape links, there is a step of setting an escape cost for each escape link based on the link information of the escape link. death,
The setting step further sets the escape cost according to the number of account directions that need to be considered when passing through the escape link, from the link information of the escape link connected to the node to the node. If there is an escape link that other vehicles cannot enter, the step to set the escape cost for each escape link in consideration of the escape link that the other vehicle cannot enter, and
The search step further comprises a route search method including a step of calculating a passage cost to a destination in consideration of the set escape cost. The route search method according to claim 5, wherein the escape link in which another vehicle cannot enter the node includes a one-way road or a prohibited road. A route search program in an electronic device that executes a navigation function using map data having nodes and links.
Steps to search for a route from your current location or any point to your destination based on map data,
When the link entering the node is an entry link and one or more links that can escape from the node are escape links, there is a step of setting an escape cost for each escape link based on the link information of the escape link. death,
The setting step further sets the escape cost according to the number of account directions that need to be considered when passing through the escape link, from the link information of the escape link connected to the node to the node. If there is an escape link that other vehicles cannot enter, the step to set the escape cost for each escape link in consideration of the escape link that the other vehicle cannot enter, and
The search step is a route search program having a step of calculating a passage cost to a destination in consideration of the set escape cost. The route search program according to claim 7, wherein the escape link in which another vehicle cannot enter the node includes a one-way road or a prohibited road.

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