JPH08201095A - Car navigation system - Google Patents

Abstract

PURPOSE: To represent the advancing direction at a branch point on a route correctly by determining the representation of advancing direction on a route between two arbitrary points, being determined using a map data, through the use of continuity of incoming route and outgoing route and then providing a voice guidance based on a representation thus determined. CONSTITUTION: A route searching means 102 searches a route to a goal using a map data stored in a map data memory means 101. A current position calculating means 103 detects the current position based on the variation of azimuth and the moving distance. A representation determining means 104 determines a voice representation at a branch on the route based on a map data stored in a memory means 101, a route searched by the searching means 102 and a current position calculated by a calculation means 103 thus determining the representation of advancing direction based on the continuity of incoming route and outgoing route. A voice generation means 105 generates a voice guidance using a voice representation determined by the determining means 104. A map data stored in the memory means 101, a route searched by the searching means 102, a current position calculated by the calculation means 103 are presented on a display means 106.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle-mounted navigation device for guiding a route to a destination, and particularly for guiding a road to be guided at a branch point of the route by voice.

[0002]

2. Description of the Related Art For example, in a conventional route guidance device for a vehicle disclosed in Japanese Patent Laid-Open No. Hei 6-34380, a voice expression is determined according to a connecting direction of a guide road at a branch point, and the guide is the same as the guide road. If there is a road other than the road, it is changed to the voice expression of the adjacent area.
Also, at this time, it is determined whether or not a road exists in the adjacent area, and if it exists, the expression is not changed. This makes it possible to provide appropriate guidance even when a plurality of roads exist in the same direction as the guide road.

[0003]

Since the conventional route guidance device for a vehicle is constructed as described above, it is determined whether or not the expression of the adjacent area is changed according to the ratio of the width of the roads in the same area. Therefore, there is a problem that a wrong road is given at an intersection of a road with a wide width and a road with a narrow width, and an incorrect guidance is given. Further, when the main road having the same width and the connecting road to the other road are in the same direction, there is a problem that unnecessary guidance is given when going straight on the main road.

Further, since the route does not correspond to the expression when it makes a U-turn, the guidance may be uncomfortable. In addition, at an intersection composed of a separated main line or the like, one node is represented by a plurality of nodes on the data. However, since the conventional apparatus does not consider the determination at such an intersection, there is a possibility that incorrect guidance may be given. There were problems such as.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a vehicle-mounted navigation device that can correctly express the traveling direction at a branch point on a route.

[0006]

According to a first aspect of the present invention, there is provided an in-vehicle navigation device that expresses a traveling direction at a branch point on a route of two arbitrary points obtained by using map data.
The present invention is provided with an expression determining means for determining using the continuity of the inflow route and the outflow route, and a voice generating means for performing voice guidance based on the expression determined by the expression determining means.

The vehicle-mounted navigation device according to the second aspect of the present invention determines continuity based on the fact that the inflow route and the outflow route have the same road type and route number.

The vehicle-mounted navigation device according to the third aspect of the present invention determines continuity based on the fact that the width of the inflow route and the outflow route and the number of lanes are the same.

The vehicle-mounted navigation device according to the fourth aspect of the invention determines continuity based on the fact that the inflow route and the outflow route have the same link type.

The on-vehicle navigation system according to the invention of claim 5 is an expression deciding means for deciding, using a U-turn, a traveling direction expression at a branch point on the route of any two points obtained using the map data. A voice generating means for performing voice guidance based on the expression determined by the expression determining means.

In the vehicle-mounted navigation device according to the sixth aspect of the present invention, the U-turn is determined based on whether the inflow link and the outflow link are the same or relative.

According to a seventh aspect of the present invention, there is provided a vehicle-mounted navigation device that expresses a traveling direction at a branch point on an arbitrary two-point route obtained using map data when the outflow route is an intra-intersection link. , The link is searched along the traveling direction of the route, the first link other than the link within the intersection is regarded as the outflow route, and the link is searched along the reverse direction of the route when the inflow route is the link within the intersection. An expression determining means for determining the first link other than the in-intersection link as an inflow route, and a voice generating means for performing voice guidance based on the expression determined by the expression determining means.

According to an eighth aspect of the present invention, there is provided an in-vehicle navigation device that expresses a traveling direction at a branch point on an arbitrary two-point route obtained by using map data within an intersection between an inflow route and an outflow route. When a link exists and a road parallel to the outflow route exists, an expression determining unit that determines by adding a predetermined value to the outflow angle of the outflow route, and a voice guidance based on the expression determined by the expression determining unit. And a sound generating means for performing.

According to the ninth aspect of the present invention, there is no road within the predetermined judgment range for the traveling direction expression at the branch point on the route of any two points obtained using the map data. The case is provided with expression determining means for expanding and determining the range, and voice generating means for performing voice guidance based on the expression determined by the expression determining means.

[0015]

The expression determining means in the invention according to claim 1 is
By using the continuity of the inflow and outflow routes to determine the direction of travel at a branch point on any two routes determined using map data, multiple roads exist in the same direction. However, correct voice guidance can be provided.

The expression determining means in the second aspect of the present invention can correctly make the determination by determining the continuity based on the fact that the inflow route and the outflow route have the same road type and route number.

The expression determining means in the third aspect of the present invention can correctly make the determination by determining the continuity based on the fact that the width and the number of lanes of the inflow route and the outflow route are the same.

The expression determining means in the invention according to claim 4 can correctly make the determination by determining the continuity based on the fact that the link types of the inflow route and the outflow route are the same.

The expression determining means in the invention according to claim 5 determines the traveling direction expression at the branch point on the route of the arbitrary two points obtained by using the map data by using the U-turn so that the route is determined. Even if you make a U-turn, you can provide correct route guidance.

According to the sixth aspect of the invention, the expression determining means can make a correct determination by determining the U-turn based on the fact that the inflow link and the outflow link are the same or relative.

The expression determining means in the invention according to claim 7 links the expression of the traveling direction at the branch point on the route of any two points obtained by using the map data when the outflow route is an intra-intersection link. Is determined along the traveling direction of the route and the first link other than the intra-intersection link is regarded as the outflow route, and when the inflow route is the intra-intersection link, the link is searched along the reverse direction of the route. By determining the first link other than the link in the intersection as the inflow route,
It is possible to make a correct determination for a route including an intra-intersection link.

The expression determining means in the invention according to claim 8 links the expression of the traveling direction at the branch point on the route of any two points obtained using the map data to the link in the intersection between the inflow route and the outflow route. If there is a road that is parallel to the outflow route and the road is parallel to the outflow route, it can be determined correctly by adding a predetermined value to the outflow angle and determining even if there is a road parallel to the outflow route. You can

When the road does not exist within the predetermined judgment range, the expression determination means in the invention according to claim 9 expresses the traveling direction expression at the branch point on the route of any two points obtained using the map data. By extending and determining the determination range, unnecessary turn guidance can be reduced.

[0024]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a vehicle-mounted navigation device according to the present invention. In the figure, 101 is a map data storage means for storing map data including road data, 102 is a route search means for searching a route to a destination using the map data stored in the map data storage means, and 103 is, for example, A current position calculating means for detecting the current position from the amount of change in direction and the moving distance, 104 is the map data stored in the map data storing means 101, the route searched by the route searching means 102 and the current position calculating means 103. Expression determining means for determining a voice expression at the branch point using the present position and 105, a voice generating means for generating a voice for performing voice guidance using the voice expression determined by the expression determining means 104, 106. Is the map data stored in the map data storage means 101,
Display means for displaying the route searched by the route search means 102, the current position detected by the current position calculation means 103, 107 is an operation means for performing various operations, and 108 is a control means for controlling the above means. .

FIG. 2 shows the format of road data used in the vehicle-mounted navigation device of the present invention. The road data is composed of node data representing intersections, route change points, etc., and link data representing roads connecting the nodes. Has been done. Node data includes intersections, node types that indicate changes in routes, node coordinates that are represented by latitude and longitude, node turn restrictions that indicate right and left turn restrictions, U-turn restrictions, and connection links that indicate the number of links that connect to nodes. It is composed of a number, a link connection angle indicating a connection angle of a link, a link data pointer indicating an address of link data to be connected, and the like. In addition, the link data is a road type indicating a highway, a national road, etc., a link type indicating a road type such as a route number, a main line, a connecting road, a road width, a link traffic regulation indicating a regulation such as one-way traffic, and a node to which the link is connected. It is composed of a start point node pointer indicating the address of, a end point node pointer, interpolation point coordinates indicating the shape of the link, the number of interpolation points, and the like.

FIG. 3 is a flow chart for explaining the operation of determining the traveling direction expression at the branch point. FIG. 4 is a diagram for explaining the operation of right / left turn determination in step ST303 in the flowchart of FIG. 3, and 401 in FIG. 4 is an inflow link. FIG. 5 is a diagram for explaining the operation of right / left turn determination in step ST310 in the flowchart of FIG. 3, and in FIG. 5, 501 is an inflow link, 502 is an outflow link, and 503 is an out-of-route link.

Next, the operation will be described with reference to the flowchart of FIG. First, the number of outflowable links connected to the node is determined (step ST301), and if there is less than two, no guidance is given (step ST313). If there are two or more, it is judged whether or not the outflow link exists within ± θth of the inflow direction of the inflow link (step ST302). If it does not exist, it is determined whether the outflow direction is right or left of the inflow direction (step ST303), and right turn guidance (step ST304) or left turn guidance (step ST305) is performed.

In FIG. 4, if there is an outflow route in the range of + θth, it is a right turn guide, and if there is an outflow route in the range of -θth, it is a left turn guide. ± of the inflow direction of the inflow link if present
It is determined whether or not there is an out-of-route link that can flow out within θth (step ST306), and if there is no such link, no guidance is provided (step ST313). If it exists, continuous determination is performed (step ST307), and a link having continuity with the inflow link is determined. If the result of determination is that the outflow links are continuous (step ST308), there is no guidance (step ST313).

If the result of the judgment in step ST308 is NO, it is judged whether the links outside the route are continuous (step ST309).
Branch to 303. If the out-of-route link is continuous, it is determined whether the outflow link is the right or left of the out-of-route link (step S
T310), right turn guidance (step ST311) or left turn guidance (step ST312). In FIG. 5, if the out-of-route link 503 is continuous, the outflow link 502 is in the left direction, and the left turn guide is provided.

Example 2. Next, continuous determination of the inflow route and the outflow route will be described. First, at the branch point on the route, the outflow link on the same line as the inflow link can be regarded as continuous. FIG. 6 is a flowchart illustrating the operation of continuous determination using the same route condition. It is determined whether there is only one outflow link on the same line as the inflow link (road type and line number are the same) (step ST601), and YE
If S, that is, if only one exists, it is determined that the outgoing link is continuous with the incoming link (step ST602).
As a result, unnecessary guidance will not be provided at branch points where routes are continuous.

Example 3. FIG. 7 is a flow chart for explaining the operation of continuous determination using the same width condition, and FIG. 8 is a diagram of branch points for explaining this operation. In FIG.
801 and 802 represent narrow roads, and 803 and 80
4 represents a wide road. It is determined whether there is only one outflow link having the same width as the inflow link (step ST7
01), if only one exists, the outflow link is determined to be continuous (step ST702). As a result, it is possible to correctly determine that the outflow link 802 is continuous with the inflow link 801 on the road as shown in FIG.

Example 4. FIG. 9 is a flowchart for explaining the operation of continuous determination using the same link type condition, FIG.
Reference numeral 0 is a morphology diagram of branch points for explaining this operation. Figure 10
, 1001 and 1002 are main links, and 1003
Is a connecting road link. First, it is determined whether there is only one outflow link having the same link type as the inflow link (step ST901), and if there is only one outflow link, it is determined that the outflow link is continuous (step ST902). As a result, when the main line link 1001 is an inflow link on a road as shown in FIG. 10, it can be correctly determined that the main line link 1002 is a continuous outflow link.

Example 5. FIG. 11 is a flow chart for explaining the U-turn determination operation, and FIG. 12 is a morphology diagram of branch points for explaining this operation. In FIG. 12, 1201,1
202 is the separation main line separated by the median strip 1206, 1
203 to 1205 represent non-separated main lines. 1201 and 12
02 is a pair, and such a relationship is hereinafter referred to as relative.

First, it is determined whether the inflow link and the outflow link are the same link (step ST1101), and if they are the same link, U-turn guidance is performed (step ST1102). If they are not the same link, the inflow link and the outflow link are determined relative to each other (step ST1103), it is determined whether they are relative (step ST1104), and if they are relative, U-turn guidance is performed (step ST1102).

FIG. 13 is a flow chart for explaining the relative judgment operation in FIG. It is determined whether the inflow link and the outflow link are the same route (step ST1301), and if they are the same route, it is determined whether the link types are the same (step ST13).
02). If the link types are the same, it is determined whether the inflow link and outflow link restrictions are in opposite directions (step ST130).
3) If it is in the opposite direction, it is determined whether the connection angle difference between the inflow link and the outflow link is within a certain value (step ST1304).
If it is within a certain value, it is determined that the inflow link and the outflow ink are relative (step ST1305). As a result, in the road as shown in FIG. 12, it can be correctly determined that the outflow link 1202 is the U-turn when the inflow link 1201 is the outflow link 1202.

Example 6. FIG. 14 is a flow chart for explaining another operation for determining continuity of the inflow link and the outflow link, and FIG. 15 is a form diagram of branch points for explaining this operation. FIG.
5, 1501, 1503, 1505, 1506
Is the separation main line, 1502 is the link inside the intersection, 1504, 1
507 is a non-separated main line. Here, it is assumed that the intra-intersection links are links whose nodes at both ends are one intersection.

First, it is determined whether the link type of the inflow link is an intra-intersection link (step ST1401), and if it is an intra-intersection link, the link immediately before the search route is set as the inflow link (step ST1402), and the above-mentioned ( The determination in step ST1401) is performed. If it is not an intra-intersection link, it is determined whether the link type of the outflow link is an intra-intersection link (step ST1403). The determination in step ST1403) is performed. As a result, the search route is 1501, 1502, 15 on the road as shown in FIG.
When it is 03, a correct determination can be made by treating 1501 as an inflow link and 1503 as an outflow link.

Example 7. FIG. 16 is a flow chart for explaining the operation of adjusting the angle of the outflow link, and FIG. 17 is a form diagram of branch points for explaining this operation. In FIG. 17, 17
01, 1704, 1706, 1708 are separated main lines, 17
02 and 1703 are links inside the intersection, 1705 and 1709
Is a non-separated main line, and 1707 is a connecting path link. FIG.
8 and FIG. 19 are diagrams showing the connection relationship after the angle adjustment.

First, it is determined whether there is an intra-intersection link between the inflow link and the outflow link (step ST160).
1) If there is an intra-intersection link, it is determined whether there is a link whose connection angle difference with the outflow link is within a certain value (step ST1602). If it exists, it is determined whether the link is an inflow link (step ST160).
3). If it is an inflow link, a predetermined value is subtracted from the connection angle of the outflow link (step ST1605), and if it is not an inflow link, the predetermined value is added to the connection angle of the outflow link (step ST1604).

The search route in FIG. 17 is the separated main line 170.
1, the non-separated main line 1702, and the connecting road link 1707, the predetermined value is added, so that 1 is set as shown in FIG.
It flows to the right from 806. When the searched route in FIG. 17 is the separated main line 1708, the intra-intersection link 1703, and the connecting road link 1707, a predetermined value is subtracted, so
As shown in FIG. 9, it flows out from the separation main line 1708 to the right. As a result, in FIG. 18, the separated main line 1701 and the non-separated main line 1701.
2, it is possible to make a correct determination without making a mistake on the right or left even on a search route that has passed through the connecting road link 1707 or the separated main line 1708, the intersection link 1703, and the connecting road link 1707.

Example 8. FIG. 20 is a flow chart for explaining the guide expression determination operation at the branch point. First, in step ST2000, it is determined whether or not a link (road) exists within a predetermined determination range ± θth, and if YES, the process of FIG. 3 is performed in step ST2009, and N
If it is O, it is judged whether or not the outflow link exists within the judgment range ± θth2 of the inflow direction of the inflow link (step ST2001). Here, θth2 is a value larger than θth in FIG. If there is no outflow link, the process branches to the right / left turn determination according to the outflow direction (step ST2006). If there is an outflow link, the out-of-route link is ± θth
It is determined whether or not there is within 2 (step ST20
02). If there is no link outside the route, the process branches to the right / left turn determination according to the outflow direction (step ST2006). If the out-of-route link exists, the continuity of the inflow link and the outflow link is determined (step ST2003, step ST2004). If there is no out-of-route link in the determination in step ST2002, and step ST2
If the determination is 004, it means that there is no guidance (step ST2005). If it is not continuous, right / left turn determination is performed based on the outflow angle (step ST2006), and right turn guidance (step ST2007) or left turn guidance (step S).
T2008) is performed. As a result, unnecessary guidance can be reduced even when the road is heavily bent, such as in a mountainous area.

[0042]

As described above, according to the first aspect of the present invention, the expression of the traveling direction at the branch point on the route of any two points obtained by using the map data is expressed as the continuation of the inflow route and the outflow route. Since it is configured to determine by using sex, there is an effect that correct voice guidance can be performed even when a plurality of roads exist in the same direction.

According to the second aspect of the present invention, the continuity is determined based on the fact that the inflow route and the outflow route have the same road type and route number. Therefore, the determination can be performed correctly. effective.

According to the third aspect of the present invention, since the continuity is determined based on the fact that the width and the number of lanes of the inflow route and the outflow route are the same, the determination can be performed correctly. There is.

According to the fourth aspect of the invention, the continuity is determined based on the fact that the link types of the inflow route and the outflow route are the same, so that the determination can be performed correctly. .

According to the invention of claim 5, the U-turn is used to determine the traveling direction expression at the branch point on the route of any two points obtained by using the map data. There is an effect that the correct route guidance can be performed even when the U-turn is made.

According to the sixth aspect of the invention, U is based on the fact that the inflow link and the outflow link are the same or relative.
Since it is configured to determine the turn, there is an effect that the determination can be performed correctly.

According to the invention described in claim 7, the traveling direction expression at the branch point on the route of any two points obtained using the map data is expressed, and when the outflow route is an intra-intersection link, the link is routed. The first link other than the link within the intersection is regarded as the outflow route and determined, and when the inflow route is the link within the intersection, the link is searched along the reverse direction of the route and the inside of the intersection is determined. Since the first link other than the links is determined to be the inflow route and is determined, there is an effect that the determination can be correctly performed on the route including the in-intersection link.

According to the invention described in claim 8, the expression of the traveling direction at the branch point on the route of any two points obtained by using the map data is such that the in-intersection link exists between the inflow route and the outflow route. And if there is a road parallel to the outflow route,
Since the determination is made by adding a predetermined value to the outflow angle of the outflow route, there is an effect that the determination can be correctly performed even if there is a road parallel to the outflow route.

According to the invention described in claim 9, the expression of the traveling direction at the branch point on the route of the arbitrary two points obtained by using the map data is judged when the road does not exist within the predetermined judgment range. Since I configured it to extend the range and make a decision,
This has the effect of reducing unnecessary turn guidance.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle-mounted navigation device according to an embodiment of the present invention.

FIG. 2 is a format diagram of road data.

FIG. 3 is a flowchart for explaining the operation of determining a traveling direction expression at a branch point.

FIG. 4 is a diagram illustrating an operation of determining a right / left turn according to an angle of an inflow link.

FIG. 5 is a diagram for explaining an operation of continuous right / left turn determination.

FIG. 6 is a flowchart of continuity determination using the same route condition.

FIG. 7 is a flowchart of continuity determination using the same width condition.

FIG. 8 is a form diagram for explaining continuity determination using the same width condition.

FIG. 9 is a flowchart of continuity determination using the same link type condition.

FIG. 10 is a form diagram of branch points for explaining continuity determination using the same link type condition.

FIG. 11 is a flowchart illustrating an operation of U-turn determination.

FIG. 12 is a configuration diagram of branch points for explaining the operation of U-turn determination.

FIG. 13 is a flowchart showing a relative determination operation.

FIG. 14 is a flowchart illustrating an operation of determining an inflow link and an outflow link.

FIG. 15 is a morphology diagram of branch points for explaining an inflow link and outflow link determination operation.

FIG. 16 is a flowchart illustrating an operation of adjusting an angle of an outflow link.

FIG. 17 is a configuration diagram of a branch point for explaining the operation of angle adjustment.

FIG. 18 is a diagram illustrating an operation of angle adjustment.

FIG. 19 is a diagram illustrating an operation of angle adjustment.

FIG. 20 is a flow chart for explaining a determining operation of a traveling direction expression with an expanded range.

[Explanation of symbols]

101 map data storage means, 102 route search means,
103 current position calculation means, 104 expression determination means, 1
05 Sound generation means.

[Procedure amendment]

[Submission date] August 17, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction content]

FIG. 13 is a flow chart for explaining the relative judgment operation in FIG. It is determined whether the inflow link and the outflow link are the same route (step ST1301), and if they are the same route, it is determined whether the link types are the same (step ST13).
02). If the link types are the same, it is determined whether the inflow link and outflow link restrictions are in opposite directions (step ST130).
3) If it is in the opposite direction, it is determined whether the connection angle difference between the inflow link and the outflow link is within a certain value (step ST1304).
If it is within a certain value, it is determined that the inflow link and the outflow link are relative (step ST1305). As a result, in the road as shown in FIG. 12, it can be correctly determined that the outflow link 1202 is the U-turn when the inflow link 1201 is the outflow link 1202.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0041

[Correction method] Change

[Correction content]

Example 8. FIG. 20 is a flow chart for explaining the guide expression determination operation at the branch point. First, in step ST2000, it is determined whether or not a link (road) exists within a predetermined determination range ± θth, and if YES, the process of FIG. 3 is performed in step ST2009, and N
If it is O, it is judged whether or not the outflow link exists within the judgment range ± θth2 of the inflow direction of the inflow link (step ST2001). Here, θth2 is a value larger than θth in FIG. If there is no outflow link, the process branches to the right / left turn determination according to the outflow direction (step ST2006). If there is an outflow link, the out-of-route link is ± θth
It is determined whether or not there is within 2 (step ST20
02) . If after off-street link exists, it is determined continuity of the inflow link and the outflow link (step ST200
3, step ST2004). Above step ST200
If there is no out-of-route link in the determination of 2 and if it is continuous in the determination of step ST2004, no guidance is given (step ST2005). If it is not continuous, a right / left turn determination is made based on the outflow angle (step ST200
6), right turn guidance (step ST2007) or left turn guidance (step ST2008). As a result, unnecessary guidance can be reduced even when the road is heavily bent, such as in a mountainous area.

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

[Procedure amendment 4]

[Document name to be corrected] Drawing

[Correction target item name] Fig. 16

[Correction method] Change

[Correction content]

FIG. 16

Claims (9)

[Claims] 1. A map data storage means for storing map data including road data, a route search means for obtaining a route at any two points using the map data, and a present for obtaining a current position using the map data. The position calculation means, the expression determination means for determining the traveling direction expression at the branch point on the route obtained by the route search means using the continuity of the inflow route and the outflow route, and the expression determined by the expression determination means. An in-vehicle navigation device comprising a voice generating means for performing voice guidance based on the voice guidance. 2. The vehicle-mounted navigation device according to claim 1, wherein the expression determining means determines continuity based on that the road type and the route number of the inflow route and the outflow route are the same. 3. The vehicle-mounted navigation device according to claim 1, wherein the expression determination means determines continuity based on the fact that the width of the inflow route and the outflow route and the number of lanes are the same. 4. The vehicle-mounted navigation device according to claim 1, wherein the expression determining unit determines continuity based on that the link types of the inflow route and the outflow route are the same. 5. A map data storage means for storing map data including road data, a route search means for obtaining a route at any two points using the map data, and a present position for obtaining a current position using the map data. Voice guidance is provided based on the position calculation means, expression determination means for determining the traveling direction expression at the branch point on the route obtained by the route search means using U-turns, and the expression determined by the expression determination means. An in-vehicle navigation device including a sound generating unit. 6. The vehicle-mounted navigation device according to claim 5, wherein the expression determination unit determines that the U-turn is based on that the inflow link and the outflow link are the same or relative to each other. 7. A map data storage means for storing map data including road data, a route search means for obtaining a route at any two points using the map data, and a present position for obtaining a current position using the map data. When the outflow route is an in-intersection link, the link is searched along the traveling direction of the route, and the expression of the traveling direction at the branch point on the route obtained by the position calculating means and the route searching means is searched except for the in-intersection link. When the inflow route is an intra-intersection link, the link is searched along the reverse direction of the route and the first link other than the intra-intersection route is regarded as the inflow route. In-vehicle navigation device comprising expression determining means for determining the expression of the direction of travel and voice generating means for performing voice guidance based on the expression determined by the expression determining means. . 8. A map data storage means for storing map data including road data, a route search means for obtaining a route at any two points using the map data, and a present position for obtaining a current position using the map data. In the case where there is an intra-intersection link between the inflow route and the outflow route and the road parallel to the outflow route, the traveling direction expression at the branch point on the route obtained by the position calculation means and the route search means is used. An in-vehicle navigation device comprising expression determination means for determining a traveling direction expression by adding a predetermined value to the outflow angle of the outflow route, and voice generation means for performing voice guidance based on the expression determined by the expression determination means. 9. A map data storage means for storing map data including road data, a route search means for obtaining a route at any two points using the map data, and a present for obtaining a current position using the map data. Position calculating means, expression determining means for determining the traveling direction expression by expanding the range of the traveling direction expression at the branch point on the route obtained by the route searching means when a road does not exist within a predetermined determination range A vehicle-mounted navigation device comprising: a voice generation unit that performs voice guidance based on the expression determined by the expression determination unit.