JPH10281785A - Navigation device for vehicle and medium storing computer program for navigation processing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform processing with an effective, minimum search that is required by automatically setting a departing point in an original path as a destination when a destination arrival is judged in a preset path, searching a returning path, and hence searching the returning path corresponding to the path change in the path for a destination change. SOLUTION: A program for searching a path by search road data by setting a destination and a passage point based on position information from a current position detection device 2 and an input signal from a touch switch 11, a program for searching a path again when deviating from a path, and further a program for searching a returning path automatically when data are changed from a driving road to a returning path and are stored and a destination arrival is judged are stored and the programs being stored in information storage devices 3 are driven, thus executing each function. After the destination of the returning path is reached, a returning path is searched automatically and a path is displayed, thus eliminating the need for inputting the destination of the returning path and for instructing it to be searched. Also, a returning path can be searched in advance at a proper timing since the vehicle searches the returning path after arrival.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle navigation device and a medium storing a computer program for navigation processing.

[0002]

2. Description of the Related Art Conventionally, techniques in such a field include:
Display the current position of the car etc. on the display device together with the map,
In particular, in a route search display device that searches for an outbound route and a return route to a destination and displays them on a display device, when a destination is set and a route search request is made, first a route from the departure location to the destination is set. The outbound route is searched and displayed on the map.

[0003] Thereafter, a search for a return route is performed by replacing the destination with the departure place. This return is displayed when a display instruction is given. The search for the outward route and the return route is performed at the time of one route search, the search result of the return route is stored, and when the return route display is designated, the return route is displayed on the display means (for example, JP-A-7-134796). reference).

[0004]

However, according to the above-described conventional route search device, both the forward route and the return route are searched in advance during one route search, and both route searches are performed when only the forward route is searched. In comparison, the search time is almost twice as long. In addition, the user may change the destination, for example, without receiving the route guidance along the route (outbound route) searched first. In this case, even if both the outward route and the return route are searched first, the return route is no longer effective, and unnecessary route search processing is performed.

[0005] When there is a request to search for a return route, there is a request to make a return route as much as possible on the return route. However, on the outbound route, the user has traffic congestion on a preset route, and wants to avoid the traffic congestion, search another route and receive route guidance, or wants to make a detour outside the preset route, In some cases, the user may deliberately deviate from the route and search again, receive route guidance on a new route, or change the route.

[0006] In such a route search device, since the forward route and the return route are searched in advance, the return route does not include information on the changed forward route. For example, on the outbound route, if a road is under construction and closed,
Although a new route is searched for while avoiding a preset route, according to the above-described conventional route search device, it is necessary to search again on the return route so as to avoid a place where traffic is stopped.

As described above, according to the conventional route search apparatus, the return route is determined at the time of departure of the outbound route. Therefore, if the return route is to be set based on the outbound route, the route calculation is required again. In order to solve the above problems, there is a method of performing a route search by instructing the user at the time of a return route search request, but an instruction input for performing the search is required, and time for performing the search process is required. Becomes

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems, and provides a vehicle navigation apparatus and a computer program for navigation processing capable of performing a return search effective for a traveling condition of a vehicle with a minimum necessary search processing. It is an object of the present invention to provide a medium in which is stored.

[0009]

According to the present invention, there is provided a vehicle navigation apparatus comprising: (1) a vehicle information processing control means for determining that a vehicle has reached a destination on a predetermined route; When the arrival is determined, the departure point in the previously set original route is automatically set as the destination, and the return route is searched.

(2) In the vehicular navigation device, while traveling on the outbound route from the departure point to the destination, the currently traveling road is recognized, and the return road corresponding to the outbound road is acquired to obtain the return route. The information is stored as data, and when the information processing control means determines that the vehicle has reached the destination on the preset route, the departure point on the previously set original route is automatically set as the destination. Then, the search for the return route is performed by lowering the search cost of the acquired return route data.

(3) In the vehicular navigation device according to the above (1) or (2), the destination arrival determination is performed by:
This is based on the determination as to whether the current position of the vehicle has entered a range within a predetermined distance from the destination. (4) In the vehicle navigation device according to the above (1) or (2), the destination arrival determination is based on a determination as to whether or not all the route guidance information has been output.

(5) In the vehicular navigation device according to the above (1) or (2), the destination arrival determination is performed by:
This is based on the determination as to whether the current position of the vehicle is within a predetermined distance from the destination and whether the ignition switch is turned off. (6) In the vehicle navigation device according to the above (1) or (2), the destination arrival determination is performed after the current position of the vehicle is within a predetermined distance from the destination and the ignition switch is turned off. The determination is made based on whether or not the ignition switch is turned on.

(7) In the vehicular navigation device according to the above (1) or (2), the destination arrival determination is performed by:
This is based on a determination as to whether or not the current position of the vehicle is within a predetermined distance from the destination and the current position of the vehicle has not been moved for a predetermined time. (8) In the vehicle navigation device, information storage means for storing road data, input means for setting a destination and a departure place, current position detection means for detecting the current position of the vehicle, and data relating to the route are temporarily stored. A departure point input by the input means or a current position of the vehicle detected by the current position detection means as a departure point, and a departure point from the departure point to a destination input by the input means. Route calculating means for performing a route search using the road data stored in the information storage means; and a route based on the route searched by the route calculating means and the current position of the vehicle detected by the current position detecting means. An information processing control unit that performs guidance and stores data of a return route in a storage unit with a currently traveling route as an outward route; And a destination arrival determining means for automatically determining by said control means that it has reached the target area,
The control unit recognizes a currently traveling road on the basis of the current position of the vehicle detected by the current position detection unit and road data stored by the information storage unit, sets the road as an outward road, and When the destination is automatically determined by the determination means, the departure point in the original route is automatically set as the destination, and the search for the return route is performed by reducing the search cost of the acquired return route data. Return route search means is provided.

(9) In the vehicle navigation device according to the above (8), the destination arrival determining means includes means for setting a predetermined distance range from the destination, and means for setting the current position of the vehicle to the predetermined distance range from the destination. And means for determining whether or not it is within. (10) In the vehicle navigation device according to the above (8), the destination arrival determining means includes means for acquiring route guidance information and means for determining whether all the route guidance information has been output. It is like that.

(11) In the vehicle navigation device according to the above (8), the destination arrival determining means includes means for setting a predetermined distance range from the destination, and means for setting the current position of the vehicle to the predetermined distance range from the destination. And means for determining whether or not the ignition switch is turned off, and means for determining whether or not the ignition switch is turned off. (12) In the vehicle navigation device according to the above (8), the destination arrival determining means includes means for setting a predetermined range from the destination, and whether the current position of the vehicle is within a predetermined range from the destination. And means for determining whether or not the ignition switch has been turned on after the ignition switch has been turned off.

(13) In the vehicular navigation apparatus according to the above (8), the destination arrival determining means includes means for setting a predetermined range from the destination and whether movement of the current position of the vehicle is performed for a predetermined time. And means for determining whether or not it is not provided. (14) In a vehicle navigation device for searching for a route to a destination of a vehicle and outputting guidance information to the destination, a current position detecting means for detecting a current position of the vehicle, and at least a start point and an end point of the route Storage means for storing the position information of the vehicle; determining means for determining whether or not the current position of the vehicle has reached the end point of the route by the current position detecting means; and detecting that the determining means has reached the end point. In this case, an information processing control unit is provided which sets the start point as a destination, searches for a route to the set destination, and stores the route in a storage unit.

(15) In a medium storing a computer program for navigation processing, when it is determined that a destination has been reached on a preset route, the departure point on the preset original route is automatically set as the destination. And a search for the return route is performed. (16) In the medium storing the computer program for the navigation process, while traveling on the outbound route from the departure point to the destination, the currently traveling road is recognized, and the return road corresponding to the outbound road is acquired. When the destination is determined on the preset route, the departure point on the original route is automatically set as the destination, and the return route is searched. It is like that.

[0018]

According to the present invention, when the control means determines that the vehicle has arrived at the destination on the preset route, it determines that the vehicle has reached the destination.
The departure point in the original route is automatically set as the destination, and the return route is searched, so that the return route can be searched in response to the change of the forward route to the destination change, and the traveling condition of the vehicle , It is possible to perform an effective return route search with minimum necessary search processing.

Further, after reaching the destination on the outbound route, the return route is automatically searched and the route is displayed. Therefore, when the user goes back and forth between a certain point and another point, the destination input and search on the return route are performed. There is no need to give instructions. In addition, since the return route is searched after determining that the vehicle has arrived at the destination, the return route can be searched in advance at an appropriate timing.

Further, after arriving at the destination, the return route search is executed by lowering the search cost of the road data on the return route based on the return route data accumulated during the forward route guidance, so that the route deviates from the route set at the time of departure. Even when there is a change in the outward route, such as when re-searching for a new route and performing route guidance, it is possible to search for the return route in consideration of the traveling situation of the outward route, and preferentially give priority to the road that traveled to the outward route Thus, it is possible to adapt to the user's request to search for the return route and to perform the search with minimum necessary search processing.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an overall configuration diagram of a vehicle navigation device showing an embodiment of the present invention. As shown in FIG. 1, a vehicle navigation device according to the present invention includes an input / output device 1 for inputting and outputting information related to route guidance,
A current position detection device 2 for detecting or receiving information on the current position of the vehicle, navigation data necessary for route calculation, display / voice guidance data and programs (OS and / or application) required for route guidance, etc. And an information processing control device 4 that performs display / voice guidance processing necessary for route search processing and route guidance and controls the entire system. First, each configuration will be described.

The input / output device 1 performs a navigation process according to the user's intention so that the user can input a destination or output guide information from at least one of a voice and / or a screen when necessary. It has a function of instructing the information processing control device 4 and printing out the processed data and the like. As means for realizing the function, the input unit includes a touch switch 11 and an operation switch (not shown) for inputting a destination as a telephone number or coordinates on a map, and requesting route guidance. Have.
Of course, an input device such as a remote controller may be used.

The output unit displays the input data on the screen or automatically displays the route guidance on the screen in response to a user's request, and displays the data and information processed by the information processing control unit 4. A printer 13 for printing out data stored in the device 3 and a speaker 14 for outputting route guidance by voice are provided. Here, a voice recognition device for enabling voice input and a recording card reader for reading data recorded on an IC card or a magnetic card can be added. Further, a data communication device for exchanging data with an information source such as a personal computer in which user-specific data such as map data and destination data are stored in advance can be added.

The display 12 is composed of a color CRT or a color liquid crystal display, and is necessary for navigation such as a route setting screen, a section map screen, an intersection map screen based on map data and guidance data processed by the information processing control device 4. In addition to outputting all screens in color display, buttons for setting route guidance, performing guidance during route guidance, and switching screens are displayed on this screen. In particular, the passing intersection information such as the passing intersection name is displayed in color in a pop-up on the section map screen at any time.

The display 12 is provided in an instrument panel near the driver's seat. The user can check the present location of the vehicle by viewing the displayed map, and can obtain information on the route from now on. Can be obtained. Further, the display 12 is provided with a touch switch (input device) 11 corresponding to the display of the function buttons, and is configured such that the above operation is executed based on a signal input by touching the button. Have been. The input signal generating means including the button and the touch switch 11 constitutes an input section, but a detailed description thereof will be omitted here.

The current position detecting device 2 detects or receives information on the current position of the vehicle, and includes an absolute direction sensor 24 composed of a geomagnetic sensor and the like, and a relative direction sensor composed of a steering sensor, a gyro and the like. 2
5. Distance sensor 2 for detecting running distance from the number of rotations of wheels
6. Consisting of a GPS receiving device 21 using a satellite navigation system (GPS) and a VICS receiving device 22 or a data transmitting / receiving device 23 as traffic information acquiring means, the VICS receiving device 22 multiplexes road traffic information by FM. The data transmission / reception device 23 is, for example, a mobile phone or a personal computer, and exchanges information necessary for navigation with a traffic information center (for example, ATIS) at the request of the user. Is what you do.

The information storage device 3 is an external storage device in which a navigation program and data are stored in an external storage medium such as a CD-ROM (hereinafter, simply referred to as a CD), an optical CD, an IC card, or the like. The navigation program includes a map drawing unit, a route search unit, a route guidance unit, a current position calculation unit,
It is composed of a destination setting operation control section, etc., and is composed of an application section for performing signal processing of navigation, an OS section, etc., where a program for performing processing such as route search and display output control necessary for route guidance are provided. A program for performing voice output control necessary for voice guidance and data necessary for the program, and display information data necessary for route guidance and map display are stored. The data stores all data necessary for navigation, such as map data, intersection data, road data, and various types of guidance data.

Specifically, a destination and a passing point are set based on the position information from the current position detecting device 2 and an input signal from the touch switch (input device) 11, and a route search is executed using the searched road data. Program to convert the searched road data and re-execute the route search when it deviates from the route, or a program to determine map drawing, map matching, audio output timing along the route, and the contents of the voice phrase In addition, the traveling road is converted into data for return trip and stored, and when the departure point was previously selected as the destination, the stored return trip data is read out, the search cost is changed, and the route search is performed. A program to be executed or a program for automatically searching for a return route when a destination arrival determination is made are stored. By driving the stored programs, the functions of navigation in the present invention is performed. That is, in the present embodiment, a program for realizing the functions of the present invention is stored in the information storage device 3 which is an external storage medium.

The information processing control device 4 includes a CPU (central processing unit) 40 for executing various arithmetic processing, and an information storage device 3.
And a flash memory 41 for reading and storing a program from a CD. This flash memory 41
Is to collectively erase an existing program so that it can be rewritten even if the program of the CD is changed. Further, the first ROM 43a storing a program (program reading means) for performing a program check and update process of the flash memory 41, the set point coordinates of the destination, the road code No. The RAM 42 for temporarily storing the coordinates of the route search start position (departure place), the searched route, the guidance information based on the searched route, the return route data, the data being processed, and the route guidance and map display. A second ROM 43b in which display information data is stored is provided. Note that a program for performing the above-described update processing may be stored in an external storage device.

The program according to the present invention and other programs for executing navigation may be all stored in a CD-ROM as an external storage medium, or a part or all of the programs may be stored in a ROM ( Second
It may be stored in the ROM 43b). The data and programs stored in the external storage medium are used as external signals as a central processing unit (CPU) 40 of the navigation device main body.
, And various arithmetic functions are realized.

Further, an image memory 44 in which image data to be used for displaying a screen on the display 12 is stored.
The image processor 45 extracts image data from the image memory 44 based on the display control signal from the U 40, performs image processing and outputs the image data to the display 12, the voice read from the RAM 42 based on the voice output control signal from the CPU 40, the phrase, A voice processor 46 for synthesizing a single sentence, sound, etc., converting it into an analog signal and outputting it to the speaker 14, a communication interface 47 for exchanging input / output data by a communication device, and a sensor of the current position detection device 2. A sensor input interface 48 for taking in signals, a clock 49 for writing date and time in internal diagnostic information, and the like are provided.

In the information processing control device 4, when data acquired by each sensor of the current position detecting device 2 is fetched from the sensor input interface 48, the CPU 40 calculates the current position coordinates at regular intervals based on the data. , Is temporarily written into the RAM 42. The current position coordinates are obtained by performing a map matching process in consideration of detection errors of various data. The output values of the various sensors are constantly corrected. Here, route guidance is performed by screen display and voice output, and the user is able to select the presence or absence of voice output.

Also, an ignition ON / OFF signal 5
Is the ON or OFF of the vehicle ignition switch
Is taken into the information processing control device 4 via the communication interface 47. FIG. 2 shows a guide road data file in which data necessary for calculating a route and performing route guidance by the route calculating means is stored. For each of the number n of roads, a road number, a start point, an end point, and the same start point , A road having the same end point, a width (number of lanes), a length, road attribute data, an address of shape data, an address of size and guidance data, and data of size.

The road number is an outbound route for each road between branch points,
It is set for each return trip. The road attribute data indicates whether the road is an elevated, next to an elevated, an underpass, an underpass,
This is data indicating information on the number of lanes. When each road is divided into a plurality of nodes (nodes), the shape data has coordinate data including east longitude and north latitude for each of the number m of nodes.

The guidance data includes the names of intersections (or junctions), the presence or absence of traffic lights, the presence or absence of pedestrian crossings, the characteristics of junctions and landmarks (traffic signs, signs at gas stations and convenience stores, etc.), , Tunnel entrance, exit, width reduction point, etc.), road name [road type information of expressways, general roads (national roads, prefectural roads, etc.)], address, size, and destination data of road name audio data Address and size data.

The destination data includes a destination road number, a destination name, a destination name voice data address, a size and a destination direction data, and travel guidance data (information from right to left or from the center). The destination direction data is invalid (do not use destination direction data), unnecessary (no guidance), straight ahead, right direction, diagonally right direction, return right direction, left direction, diagonally left direction, left return direction information. It is the data shown.

In the data structure of FIG. 2, the road data and the information on the intersection are stored in the RAM 42.
As shown in FIG. 3, intersection data is provided separately from the road data, and information on the presence or absence of a traffic light, information on a road to be connected, and the like are stored in R.
You may make it store in AM42. However, if the road information is provided with the connection information, the data such as the impossibility of entry from a certain road to a certain road can be easily provided and the data amount can be reduced.

FIG. 4 is a flowchart showing the flow of processing of the entire vehicle navigation system of the present invention. (1) First, a current position (departure point) required for a route search is acquired by the current position means (step S1). (2) Next, on the destination and passing point setting screen, input the setting conditions of the destination and the passing point via the input device, and
A passing point is set (step S2).

(3) Next, a route search from the current position to the destination / passing point is performed by the route search means (step S3). (4) Next, when the guidance start key of the input device is pressed on the searched route to start the route guidance, the position of the own vehicle is measured by the current position detecting means, and the current position is tracked. Route guidance at an intersection or a junction where a left turn is to be made is displayed or voiced (step S4).

Next, a vehicle navigation to which the present invention is applied will be described. FIG. 5 is a flowchart of vehicle navigation to which the present invention is applied. (1) First, a destination is set (step S11). (2) Next, it is checked whether or not the destination set in step S11 is the previous departure point (step S1).
2).

(3) Next, in the case of the previous departure point,
For example, it is checked whether or not there is a change in search conditions, such as switching whether to give priority to a toll road or switching the preference of a route search (step S13). (4) Next, if there is no change in the search condition, the search cost is changed based on the return data (step S14). The details of this process will be described later.

(5) Next, a passing point is set (step S15). (6) Next, it is checked whether a departure place is set (step S16). (7) Then, if YES in step S16, a departure place is set (step S17). This departure point is a point different from the current position of the vehicle, and it is assumed that the user knows the road around the current position well and does not need route guidance, for example, the nearest interchange as the route guidance start point Used for selection.

(8) If NO in step S16, the current position is set as the departure point (step S18). (9) Next, a route search is performed from the departure point set in step S17 or the current position of the vehicle set in step S18 to the destination set in step S11 (step S19). Here, when a passing point is set, a route passing through the passing point is searched.

(10) The current position is tracked (step S20). (11) Next, route guidance is performed based on the current position of the vehicle (step S21). (12) Next, a return data acquisition process is performed (step S).
22). (13) Step 20 until the destination is reached
To 22 are repeated (step S23). Here, when it is determined that the current position of the vehicle acquired in step S20 is out of the route, the route is searched again automatically or by a manual instruction of the user.
Here, a detailed description thereof will be omitted.

Next, a flow chart (subroutine) of the return data acquisition processing (step 22) of FIG. 5 will be described with reference to FIG. (1) First, the current position of the host vehicle is detected (step S).
31). (2) Next, the currently traveling road and the traveling direction are recognized (step S32). This process is performed by a well-known map matching process.

(3) Next, it is checked whether or not the currently acquired road data has vertical data (step S33). For example, in FIG.
There is no road, and data in the vertical direction is stored in one piece of road data [1a direction and 1b direction in the road data of (1)]. (4) Next, in the case of NO in step S33, since data in the opposite direction is not stored in the currently acquired road data, a road within a predetermined distance range and within a predetermined angle difference is searched. (Step S34).

(5) Next, it is checked whether or not there is a corresponding road as a result of the search processing in step S34 (step S35). (6) Next, if there is a corresponding road, the search cost of the searched road is reduced and acquired as return data (step S36). (7) If YES in step S33, data in the opposite direction of the acquired road is acquired,
Proceed to step S38 (step S37).

Also, in the case of NO in step S35, the process proceeds to step S38. (8) It is checked whether or not the acquired road data has already been registered (step S38). (9) Next, if it is not registered in step S38, the acquired road data is stored in the RAM 42 as return data (step S39).

(10) Next, it is checked whether a predetermined time has elapsed (step S40). For example, the return data processing in FIG. 6 will be described with reference to FIG. 7, which simply shows a road data structure (a link state of road data). Here, (1), (2),.
Are the road numbers of the road data stored in the information storage device 3, and I, II,... Are the intersection numbers of the intersection data.
For example, the roads (1), (6), and (11) are roads without the median strip 51, and store data in the vertical direction in one road data. 1a direction and 1b direction]. Also, for example, road numbers (9), (10), (13), and (14) are roads that cannot move from the same lane to the lane where the median strip 51 is located, and are in the opposite direction (9). (10) is stored as another one-way road data.

Here, the preset route (outgoing route) is
(1) (1a) → (6) (6a) → (9) → (13) → (16). (A) Since the road (1) is a vertical road, the search cost is reduced and stored in the RAM 42 while the road 1a is traveling in the 1a direction as the 1b direction as return data.

(B) Next, at the intersection I (passing point), when the route of the road (6) is guided, this road (6) is also a vertical road, so that the direction 6a of the road (6) is changed. During the progress, the direction 6b is stored in the RAM 42 as return data, with the search cost reduced. (C) Next, at the intersection II (passing point), when the road (9) is guided, the road (9) has the median strip 51 and is a one-way road in the upper and lower directions. Road (9)
The road (10), which is the downward road closest to, is stored in the RAM 42 as return data at a reduced search cost.

(D) Next, at the intersection III (passing point), when the road (13) is route-guided, this road (13) also has the median strip 51, and is a one-way upper and lower road. Therefore, the road (14), which is the downward road closest to the road (13), is stored in the RAM 42 as return data at a reduced search cost. (E) Next, at the intersection V (passing point), when the road (16) is guided, the road (16) is also a one-way road, so that the road (16) has the closest angle to the road (16). The road (17), which is the direction road, is stored in the RAM 42 as return data at a reduced search cost.

As described above, in the forward route, the return route data closest to the forward route is stored in the memory at a low search cost, so that the return route data is obtained between pass points, that is, for each node. I do. As shown in FIG. 8, the route data sequence in FIG. 7 is road data 1a-6a- (9)-(13)-(16)... On the outward route, and road data (17)-(14) on the outward route. )-(10) -6b-1b
Can be obtained as the data for the return route at a low search cost.

Other one-way roads other than those described above include:
There are highways and toll roads separated vertically. FIG. 9 is a flowchart of another vehicle navigation to which the present invention is applied. (1) First, a destination is set (step S51). (2) Next, a passing point is set (step S52).

(3) Next, it is checked whether or not a departure place is set (step S53). (4) If YES in step S53, a departure place is set (step S54). (5) If NO in step S53, the current position of the vehicle is set as the departure point (step S55).

(6) Next, a route search is performed (step S).
56). (7) The current position is tracked (step S57). (8) Next, route guidance is performed (step S58). (9) Next, the above-described return route data is acquired for each node. (Step S59).

(10) Next, it is checked whether or not the acquisition mode (A) of the return data for each node is turned off (step S60). That is, for example, when the user selects a route that the user does not want to select as a return route, that is, when the user wants to take a detour, the user operates the input / output device 11 to
The acquisition mode (A) for the return data for each node is turned off.

(11) Next, the acquisition mode (A) of the return path data for each node is turned off, and the process proceeds by a normal path search (a search in which the return path data is not stored) (step S61). If the result of step S60 is NO, the process proceeds to step S64.

(12) Next, when it is desired to enter the forward route where the return data is to be obtained from the detour, it is checked whether or not to return to the acquisition mode (A) of the return data for each node (step S62). (13) Next, in the case of YES in step S62, return data is acquired again for each node (step S63).

(14) Then, the above steps are repeated until the vehicle reaches the destination after heading for the destination (step S6).
4). (15) Next, while using the traveling history information described above for the return route search, a re-search for the detour section is performed (step S).
65). (16) Next, the data is converted into the return path data and stored in the memory (step S66).

FIG. 10 is a diagram showing another route data string to which the present invention is applied. As shown in this figure, for example, as the outbound data, road A is 101, road B is 108, road C is 110, road D is 115, road E is 121, road F is 126, road G is 130,. When the traveling history is stored, when traveling on the outbound route, the return route data is as follows: road A is 102, road B is 109, road C is off (detour), road D is off (detour), and road E is off (departure). 127) for road F (return to main line), 13 for road G
Returning route data can be acquired by storing the search cost as 3, 3,.

In the above-described embodiment, a portion that does not need to be left as return data by the user during traveling on the outbound route is not turned off, but the return data is partially deleted after the end of route guidance on the outward route. You may do so. At the time of route search, an optimum route is obtained based on link information and cost information. There are various methods for searching (methods are to combine road rows in a tree structure from the destination and use the route with the lowest cost as the optimal route, and the lowest cost among a plurality of intersections connected in order from the destination). A method of selecting and connecting objects in order, a method of dividing data into blocks and narrowing down the search target blocks in advance, a method of holding data in a coarse-density hierarchical structure, and increasing the hierarchy sequentially from both sides of the departure place and the destination and searching Etc.).

For example, as a method of searching for a road in step S34 in FIG. 6, a predetermined area is set from the coordinates of the starting point and the ending point of the road currently obtained during traveling on the outbound path, and the road data which falls within the area is obtained. Calculate the angle difference between the road and the road. However, if the road being compared is a one-way road, the direction is also considered. As a method of setting a predetermined area from the currently acquired road,
There are methods of setting a rectangular area around the coordinates of the start point and end point of road data, or setting a circle of a predetermined radius as an area. In addition, there is a method of setting a rectangular area or a circle having a predetermined radius around the coordinates of the current position of the vehicle.

As for a method of searching for a road at an angle difference from the currently acquired road, the angle of the currently traveling road (may be stored in advance in the road data. Is stored as a start point and an end point, the start point and the end point are divided and stored according to node coordinates based on the road shape, and it is determined which node coordinates the current position of the vehicle is located between. May be used as an angle.) An angle difference between the two points may be 180 ° ± a.

In the embodiment shown in FIGS. 5 and 6,
Although the return route data is sequentially stored during the forward route, the route data traveled on the forward route may be extracted after completion of the forward route guidance, and the process of converting the route data into the return route data may be performed. . When converting the searched route into the return route data, when it is determined that the vehicle has traveled without deviating from the initial search route, the return route data may be obtained from the route. The same applies to a case where another route is searched for on the initial search route and the vehicle travels along the route.

When the vehicle has deviated from the initial search route and is in the automatic re-search mode, the route up to the route departure point and the re-search route may be connected and registered as an outbound route. In addition, in the case of the manual re-search mode in which the user performs a re-search at a time desired by the user, when the vehicle deviates from the route and travels without performing the re-search for a while, the route to the route departure point is re-established. What is necessary is just to connect to the point where the search was executed and register it as an outbound route.

In addition, in a system for receiving traffic information by VICS for route driving and performing a re-search based on traffic congestion and congestion information, a portion where a route is changed by traffic information is stored (for example, an initial search route). If traffic congestion is detected ahead of the current position while traveling above, and a re-search is performed so as to avoid that portion, the original route is registered as an outbound route). This is because the congestion may be resolved when the user returns to the destination after reaching the destination and completing the business.

Further, in the above embodiment, in step S12 of FIG. 5, it is determined whether or not the input destination is the last departure point. A key such as “departure point” may be displayed so that the coordinates of the departure point in the previous route guidance can be selected as the destination. Alternatively, the coordinates of the previous departure point may be registered, and when the periphery of the coordinates is input as the destination, it may be determined that the previous departure point has been input. Specifically, it is assumed that a rectangular area or a predetermined area of a predetermined radius circle is set centering on the previous departure point, and when the input destination is within the area, the previous departure point is set as the destination. .

Regarding the process of changing the search cost based on the return route data in step S14 of FIG. 5, the road data previously stores, for example, a road length, a road width, and a road attribute as data for performing the cost calculation during the route search. However, in the process of changing the return data, the search cost may be reduced by multiplying or subtracting a predetermined value from a road search cost based on data stored in advance.

In the above embodiment, the search cost for the return data acquired during the forward travel is reduced, and the return search is performed when a request for the return travel is made. If the return route data is connected in advance and is used at the time of a return route guidance request, the return route search processing becomes faster. At this time, in a case where the vehicle travels on a one-way road during the forward traveling, for example, even if the process of step S34 in FIG. Just search for it.

Hereinafter, embodiments of the present invention will be described.
FIG. 11 is a flowchart of a vehicle navigation showing a basic embodiment of the present invention. (1) First, a memory provided in the information control processing device,
For example, it is checked whether or not return data is stored in the RAM (step S101).

(2) In step S101, if the return route is stored, it is checked whether or not another destination is set (step S102). If no other destination is set, that is, the stored destination is stored. If the data of the return path is used, the process proceeds to step S109, where the return path is read from the storage memory, and the return path is displayed on a display device, for example. (3) If NO in step S101, or
If YES in step S102, that is, if the return route is not stored or another destination is set, a desired destination is input from the input device and set (step S103).

(4) Next, when setting a passing point,
A desired passing point is input and set from the input device in the same manner as described above (step S104). The passing point setting process is a function added by an interrupt process after the destination setting process step S103, and it is not always necessary to set a passing point. (5) Next, the process shifts to a process of specifying a departure place, and in particular, it is configured to be able to select whether or not the departure place is a desired point (step S105). When the departure place is set, the set position is set as the departure place (step S106).

(6) If the departure place is not set in step S105, the current position of the vehicle is set as the departure place (step S107). (7) Next, a route between the destination set by the destination setting process and the set departure point is calculated based on various map data stored in the information storage device,
The guidance information is set based on the calculated search route, and is temporarily stored in a memory, for example, a RAM in the information control processing device (step S108). In the present embodiment, the search route is calculated by the in-vehicle device. However, it is not necessary to calculate the search route by the in-vehicle device. For example, the destination is set to the information center by using a communication means such as a telephone line. The information center calculates the search route from the current position of the vehicle or the departure point to the destination at the information center side, and stores the search route and the guidance information in the memory mounted on the vehicle-mounted device using the communication means. Is also good.

(8) Next, the current position of the vehicle is determined by various sensors for detecting the traveling position and the traveling direction, and the accurate current position of the vehicle is tracked by a map matching process (step S110). (9) Based on the search route information stored in the memory and the current position of the vehicle, guide information is output so that the vehicle can reach the destination (step S111).

(10) Next, the arrival at the destination is determined by subroutine processing (FIGS. 12 to 16) described later (step S112). (11) Next, it is checked from the data in the memory in the information processing apparatus whether or not the previous time is the return guidance (step S11).
3). This is based on the premise that the process is completed in one round trip, and if there is a request to repeat the outward route after one round trip, that is, if there is a request to repeat the same route many times, this step S113 This is possible by omitting the processing. Alternatively, it is also possible to provide a selection switch and provide a function for allowing the user to select whether to complete the process in one round trip or to make multiple round trips. In this embodiment, since the processing is completed in one round trip, if YES in step S113, the process ends.

(12) In step S113, NO
In the case of, a return route is searched using a predetermined search method, and guidance information is set based on the searched return route (step S114). The predetermined method is a method of searching for a route that travels as much as possible on the road that has traveled on the outward route based on the above-described travel data of the outward route, or a search route that minimizes the travel distance and travel time. A search method for a return route by a general search such as a search route with a small number of right and left turns and a search route that prioritizes a toll road. In the present embodiment, a search for a return route is performed using forward data. The best mode is to search for a route, but is not particularly limited to this embodiment.
Various search methods can be selected.

(13) Next, the search route of the return route searched in step S115 and guidance information based on the search route are temporarily stored in a memory, for example, a RAM in the information control processing device (step S116). FIG. 12 shows a vehicle navigation step S1 according to the first embodiment of the present invention.
12 is a flowchart of a destination arrival determination process showing a subroutine in FIG.

(1) First, a predetermined range is set from the destination (step S121). Actually, the information processing control device 4
The predetermined range can be automatically set when a predetermined range from the destination is reached by the software processing in. (2) Next, it is checked whether the current position of the vehicle is within a predetermined range from the destination (step S122). If the current position of the vehicle is within a predetermined range from the destination, the vehicle arrives at the destination. It is determined that the destination has arrived. If NO in step S122, the process returns to step S110 in FIG.

FIG. 13 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to a second embodiment of the present invention. (1) First, the route guidance information is obtained from the memory (step S131). The route guidance information is, for example, information on a right or left turn at an intersection to be guided according to the searched route, information on an intersection shape diagram, or the like.

(2) Next, it is checked whether or not all the route guidance information has been output (step S132). If all the route guidance information has been output, it is determined that the vehicle has arrived at the destination, and the destination arrival judgment is made. Is performed. If NO in step S132, the process returns to step S110 in FIG. FIG. 14 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to the third embodiment of the present invention.

(1) First, a predetermined range is set from the destination (step S141). Actually, the information processing control device 4
The predetermined range can be automatically set when a predetermined range from the destination is reached by the software processing in. (2) Next, it is checked whether or not the current position of the vehicle is within a predetermined range from the destination (step S142). If NO in step S142, step S11
Return to 0.

(3) Further, whether or not IG (ignition switch) is OFF is checked based on the input state of the ignition ON / OFF signal 5 (step S143).
However, in the case of IG-OFF, it is determined that the vehicle has arrived at the destination and the destination arrival is determined. FIG. 15 shows a fourth embodiment of the present invention.
It is a destination arrival determination processing flowchart which shows the subroutine of the vehicle navigation which shows an Example.

(1) First, a predetermined range is set from the destination (step S151). Actually, the information processing control device 4
The predetermined range can be automatically set when a predetermined range from the destination is reached by the software processing in. (2) Next, it is checked whether the current position of the vehicle is within a predetermined range (step S152). Step S152
In the case of NO in step S110 of FIG.
Return to

(3) Further, in step S152,
In the case of YES, after the IG is turned off, it is checked whether or not the IG is turned on (step S153). In the case of YES, the arrival at the destination is determined as having arrived at the destination. FIG. 16 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to a fifth embodiment of the present invention.

(1) First, a predetermined range is set from the destination (step S161). Actually, the information processing control device 4
The predetermined range can be automatically set when a predetermined range from the destination is reached by the software processing in. (2) Next, it is checked whether the current position of the vehicle is within a predetermined range (step S162). Step S162
In the case of NO in step S110 of FIG.
Return to

(3) Next, it is checked whether or not the current position is moved for a predetermined time, for example, one hour (step S163). If the current position has not been moved for a predetermined time, it is determined that the vehicle has reached the destination. Next, the conditions for arriving at the destination of the route according to the present invention will be described more specifically.

(A) The conditions for determining the arrival of the original route at the destination include the following. [1] As geographic conditions, (a) route guidance is performed based on the original route (outbound route), and FIG.
As shown in FIG. 7, when the vehicle arrives within a range B of a predetermined distance (for example, 300 m) of the end point (final guide point) A of the route, it is determined that the vehicle has arrived at the destination.

(B) As shown in FIG. 18, when the end point of the route reaches the point D on the road corresponding to the input destination G, it is determined that the destination has arrived. (C) As shown in FIG. 19, when the destination is set by scrolling the map (when the destination is not set on the road), the guideable road closest to the input destination G (the Registered as a searchable and guideable road) E
The arrival at the destination is determined by reaching the above end point.

(D) As shown in FIG. 20, when a destination is set from a registered destination (destination data registered in the system in advance), if the destination is not on a guideable road, It is determined that the end point F on the guideable road closest to the place G is arrival at the destination. (E) In a system that displays a route according to a route and displays voice guidance and a route screen regarding route guidance such as an intersection to be turned left or right, a route guidance at a junction, or how many km along a route, When the route guidance is completed, it is determined that the vehicle has reached the destination (it is better to leave the route display superimposed on the map even during the return route search).

(F) As shown in FIG. 21, according to a preset route without displaying a map, a simplified diagram “Only the distance to the next turning intersection and the traveling direction at the intersection are displayed [ In the system that displays “see FIG. 21 (a)]”, after the final route guidance point (the road to the destination) is not particularly necessary, the process related to the route guidance is not necessary (for example, “How many kilometers Destination ”(Fig. 2
1 (b) only) may be displayed), or that the vehicle has passed the final route guidance point may be used as a criterion for arriving at the destination.

(G) In addition, as a condition for setting the predetermined distance, the distance may be variable based on the path information of the outward path (to take into account the search time). For example, the variable may be based on the travel distance of the outward path. For example, in the case of long-distance travel, the predetermined distance may be set slightly longer. The search time of the outward path may be stored, and may be made variable based on the time. For example, when moving for a long time, the predetermined distance may be set slightly longer.

[B] Conditions that reflect the intention that the user has arrived at the destination include: (a) after determining that the user has arrived at the destination,
The detection of the OFF state of G (ignition switch) is used as the destination arrival determination condition. (B) After determining that the vehicle has arrived at the destination,
G (ignition switch) OFF is detected,
The fact that the IG is turned on again is used as a destination arrival determination condition. That is, actually, when the vehicle arrives at the destination, it is normally set to IG-OFF, and when it shifts to the return route, it is again set to IG-ON. At this time, the return data is required.

(C) A predetermined time has elapsed since the vehicle arrived at the destination (the current position of the vehicle did not move for the predetermined time,
Alternatively, when it is within a predetermined range for a predetermined time), the destination arrival determination condition is set. (D) In addition, in the above geographical conditions, a destination arrival determination condition may be set when it is determined that the vehicle has left the predetermined range after entering the predetermined range from the destination. Good.

When the above-mentioned destination arrival determination condition is satisfied, a return route search is performed. The destination arrival determination condition may be only the geographical condition. However, in addition to the geographical condition, the return route calculation is started after the condition reflecting the intention of the user arriving at the destination is satisfied. It is more practical and preferable in view of the need for return data.

[C] In addition, after the arrival at the destination is determined, the conditions for executing the return route calculation are as follows: (a) It is determined whether or not the previous route guidance is the return route guidance. Normally, it is one round trip, and the route guidance is not necessary again. Therefore, the route guidance is not performed. (B) It is determined whether the destination or departure point set in the previous route guidance is an automatic input or a manual input, and when the manual input is performed, a return route search is performed.

[D] Search Method (a) Return data is accumulated during forward guidance. At the time of the return route search, the search cost is reduced based on the return route data, and the search is made with the forward road as easy as possible. (B) When the pass point input on the return path is also used for the return path, a route that passes through the forward path as much as possible is searched as described above. When the pass point on the forward path is not used, the purpose of the return path automatically set is used. The optimal route to the ground may be searched.

(C) The running locus is stored during the forward running, and the return search is performed with reference to the running locus (for example,
The travel locus is acquired at predetermined distance intervals, the search cost of the road within a predetermined distance range from the line connecting the points is reduced, and the search cost of the road data is changed based on the return data. Search should be performed).

[E] Others The flow of the entire processing is as follows: (a) It is determined that the vehicle has arrived at the destination, and a search for a return route is started. Then, as shown in FIG.
Judging that G.ON has been performed, a return route is displayed, and route guidance can be performed.

(B) A "start return guidance" key may be provided, and when this key is operated, return display and guidance may be performed. (C) When the change from IG-OFF to IG-ON is used as the determination condition for starting the return route search, the search may be performed from the current position of the vehicle. (D) In the case where it is determined that IG / OFF has been changed to IG / ON and the return route display is to be performed, the IG / OF is set at the time of IG / ON.
A search is made between the departure point of the return path searched before F (the destination of the outward path is set as the departure point of the return path) and the current position of the vehicle at the time of IG ON, and the return path guidance from the current position is performed. It may be.

(E) The destination is not on a guideable road,
If it is on a narrow street, the point on the outgoing route on the guideable road (the point closest to the destination) will be the final guide point. However, if the return route is determined based on the traveling locus of the outgoing route, the narrow street will be determined based on the traveling locus. The return route may be determined including the return route. Next, FIG. 23 is a flowchart of a return route search process showing a subroutine of the vehicle navigation of the present invention.

(1) First, it is checked whether or not the departure place is the previous destination (step S201). (2) If YES in step S201,
The previous destination is set as the departure point (step S202). (3) If NO in step S201, the current position is set as the departure point (step S203).

(4) Next, the previous departure place is obtained (step S204). (5) Next, the last departure point is set as the destination (step S205). (6) Next, return data is acquired (step S20).
6). (7) Next, a route search is performed (step S207). As in the present embodiment, only the position information of the previous departure point and the previous destination are stored in a memory such as a RAM, and the information departure point is set to the new departure point by the information control processing device. As a place, it is also possible to set the previous destination as the new departure point this time and search for a route. In this case, since the current departure point does not always coincide with the position of the previous destination, the current departure point may be the current position of the vehicle (step S203), or a predetermined distance from the previous destination. For example, if the current position exists within a radius of 300 m around the position of the previous destination, the search may be performed using the position of the previous destination as the starting point.

Further, the present invention is not limited to the above-described embodiment, and various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a vehicle navigation device showing an embodiment of the present invention.

FIG. 2 is a diagram showing a structure of road data of the vehicle navigation device according to the present invention.

FIG. 3 is a diagram showing intersection data of the vehicle navigation device according to the present invention.

FIG. 4 is a flowchart showing the flow of processing of the entire vehicle navigation system of the present invention.

FIG. 5 is a flowchart of a vehicle navigation to which the present invention is applied.

FIG. 6 is a flowchart of a return data acquisition process to which the present invention is applied.

FIG. 7 is a diagram showing a specific example of a route to which the present invention is applied.

FIG. 8 is a diagram showing a route data string to which the present invention is applied.

FIG. 9 is a flowchart of another vehicle navigation to which the present invention is applied.

FIG. 10 is a diagram showing another route data string to which the present invention is applied.

FIG. 11 is a flowchart of vehicle navigation showing a basic embodiment of the present invention.

FIG. 12 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to the first embodiment of the present invention.

FIG. 13 is a flowchart of a destination arrival determination process showing a subroutine of vehicular navigation according to the second embodiment of the present invention.

FIG. 14 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to a third embodiment of the present invention.

FIG. 15 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to a fourth embodiment of the present invention.

FIG. 16 is a flowchart of a destination arrival determination process showing a subroutine of vehicle navigation according to a fifth embodiment of the present invention.

FIG. 17 is a diagram (part 1) illustrating a mode of destination determination in vehicle navigation according to the present invention.

FIG. 18 is a diagram (part 2) illustrating a mode of destination determination in vehicle navigation according to the present invention.

FIG. 19 is a diagram (part 3) illustrating a mode of destination determination in vehicle navigation according to the present invention.

FIG. 20 is a diagram (part 4) illustrating an aspect of destination determination in vehicle navigation according to the present invention.

FIG. 21 is a diagram (part 5) illustrating an aspect of destination determination in vehicle navigation according to the present invention.

FIG. 22 is a diagram (part 6) illustrating a mode of destination determination in vehicle navigation according to the present invention.

FIG. 23 is a flowchart of a return route search process showing a subroutine of vehicle navigation according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 I / O device 2 Current position detection device 3 Information storage device 4 Information processing control device 5 Ignition ON / OFF signal 11 Touch switch 12 Display 13 Printer 14 Speaker 21 GPS receiver 22 VICS receiver 23 Data transceiver 24 Absolute direction sensor 25 Relative bearing sensor 26 Distance sensor 40 CPU (central processing unit) 41 Flash memory 42 RAM 43a First ROM 43b Second ROM 44 Image memory 45 Image processor 46 Audio processor 47 Communication interface 48 Sensor input interface 49 Clock 51 Central separator

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Takeshi Yanagikubo 10 Takane, Fujii-cho, Anjo-shi, Aichi Prefecture Inside Aisin AW Co., Ltd.

Claims (16)

[Claims] 1. When a destination arrival determination is made by an information processing control unit to reach a destination on a preset route, a departure point on the preset original route is automatically set as a destination. And a search for a return route. 2. While traveling on the outward route from the departure point to the destination,
Recognizing the road on which the vehicle is currently traveling, acquiring the return road corresponding to the outgoing road, storing the data as return data, and determining that the destination on the preset route has been reached by the information processing control means. When the arrival is determined, the departure point in the previously set original route is automatically set as the destination, and the search for the return route is performed by lowering the search cost of the obtained return route data. Vehicle navigation device. 3. The vehicle navigation device according to claim 1, wherein the destination arrival determination is based on a determination whether the current position of the vehicle is within a predetermined distance from the destination. Vehicle navigation device. 4. The vehicle navigation device according to claim 1, wherein the destination arrival determination is performed by determining whether or not all of the route guidance information has been output. 5. The vehicle navigation device according to claim 1, wherein the destination arrival determination is performed by determining whether a current position of the vehicle is within a predetermined distance from the destination and whether an ignition switch is turned off. A navigation device for a vehicle, characterized in that it is determined. 6. The vehicle navigation device according to claim 1, wherein the destination arrival determination is performed after the current position of the vehicle is within a predetermined distance from the destination and an ignition switch is turned off. A vehicular navigation apparatus characterized by determining whether or not the ignition switch is turned on. 7. The vehicle navigation device according to claim 1, wherein the destination arrival determination is performed when the current position of the vehicle is within a predetermined distance from the destination and the movement of the current position of the vehicle is determined. A vehicular navigation device characterized by determining whether or not the operation is performed for a predetermined time. 8. A vehicle navigation apparatus, comprising: an information storage unit that stores road data; an input unit that sets a destination and a departure place; a current position detection unit that detects a current position of a vehicle; A storage means for temporarily storing, and a departure point input by the input means or a current position of the vehicle detected by the current position detection means as a departure point, and a destination inputted by the input means from the departure point Route calculation means for performing a route search using the road data stored in the information storage means; and a route searched by the route calculation means and a current position of the vehicle detected by the current position detection means. Information processing control means for performing route guidance based on the currently traveling route and storing data of the return route in the storage means; Destination determining means for automatically determining that the vehicle has reached a destination, the control means storing the current vehicle position detected by the current position detecting means and the information storing means. Based on the road data obtained, the currently traveling road is recognized as an outbound road, and when the destination arrival determination means automatically determines the destination, the departure point in the original route is regarded as the destination. A navigation device for a vehicle, comprising: a return route search means that automatically sets the search route to search for a return route while lowering the search cost of the acquired return route data. 9. The vehicle navigation device according to claim 8, wherein the destination arrival determining means sets a range within a predetermined distance from the destination, and the current position of the vehicle is within a predetermined distance from the destination. Means for judging whether or not it is within the range of the vehicle navigation device. 10. The vehicle navigation apparatus according to claim 8, wherein the destination arrival determining means includes means for acquiring route guidance information and means for determining whether all the route guidance information has been output. A navigation device for a vehicle, comprising: 11. The vehicle navigation device according to claim 8, wherein the destination arrival determining means includes means for setting a predetermined distance range from the destination, and wherein the current position of the vehicle is within a predetermined distance from the destination. A vehicle navigation device comprising: means for determining whether the vehicle is within the vehicle; and means for determining whether the ignition switch is turned off. 12. The vehicle navigation device according to claim 8, wherein the destination arrival determining means sets a range within a predetermined distance from the destination, and the current position of the vehicle is within a predetermined distance from the destination. And a means for determining whether or not the ignition switch is turned on after the ignition switch has been turned off. 13. The vehicle navigation device according to claim 8, wherein the destination arrival determination means is configured to set a range within a predetermined distance from the destination, and the current position of the vehicle is not moved for a predetermined time. Means for judging whether or not the vehicle navigation device is a vehicle navigation device. 14. A vehicle navigation device for searching for a route to a destination of a vehicle and outputting guidance information to the destination, a current position detecting means for detecting a current position of the vehicle, and at least a starting point of the route. And storage means for storing the position information of the end point, determining means for determining whether or not the current position of the vehicle has reached the end point of the route by the current position detecting means, and determining that the determining means has reached the end point. A navigation apparatus for a vehicle, comprising: an information processing control unit that, when detected, sets the start point as a destination, searches for a route to the set destination, and stores the route in a storage unit. 15. When a destination arrival determination is made on a preset route, a departure point on the preset original route is automatically set as a destination, and a return route search is performed. A medium storing a computer program for performing navigation processing. 16. While traveling on the outward route from the departure point to the destination, the currently traveling road is recognized, the return route road corresponding to the outward route is acquired and stored as return route data,
For a navigation process, when a destination arrival determination on a preset route is made, a departure point on the preset original route is automatically set as a destination and a return route search is performed. A medium that stores the computer program.