WO2007116650A1

WO2007116650A1 - Route searching apparatus, route searching method, route searching program, and recording medium

Info

Publication number: WO2007116650A1
Application number: PCT/JP2007/056001
Authority: WO
Inventors: Chihiro Hirose
Original assignee: Pioneer Corporation
Priority date: 2006-03-27
Filing date: 2007-03-23
Publication date: 2007-10-18
Also published as: JP4550926B2; JPWO2007116650A1

Abstract

A route searching apparatus (100) acquires position information indicating the current position of a mobile object through an acquiring section (101), sets a destination through a destination setting section (102), and searches the destination for a parking lot located in a predetermined range through a search section (103). If a plurality of parking lots are located in the predetermined range from the destination, a route search section (104) searches a candidate route from the current position of the mobile object to each of the parking lots, and a route selecting section (105) judges accessibility to the parking lots to evaluate the candidate routes and selects the optimum route out of the candidate routes.

Description

Specification

Route search device, route search method, route search program, and recording medium

[0001] The present invention relates to a route search device and route search for selecting a route to an optimum parking lot from a plurality of searched routes to a parking lot when a plurality of parking lots around the destination are searched. The present invention relates to a method, a route search program, and a recording medium.

Background art

[0002] Conventionally, by learning the location where the car was actually parked, learning the location where the car was actually parked by associating with the destination (facility etc.) set by the user, By providing the learned contents when setting the destination, etc., it is possible to guide the route to the previously parked parking lot even when going to a destination without a partner parking lot (For example, refer to Patent Document 1 below.) O

[0003] In addition, when a collection unit that collects information about a parking lot existing around a predetermined destination, a storage unit that stores information about a parking lot collected by the collection unit, and a destination are set, A storage means that obtains information about parking lots around the destination from the storage means and a presentation means that presents information about parking lots acquired by the obtaining means; route search device that selects an optimal parking among Kurumajo is provided (see, for example, Patent Document 2.) ₀

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2003-172622

Patent Document 2: Japanese Patent Laid-Open No. 2005-326202

Disclosure of the invention

Problems to be solved by the invention

[0005] However, in the conventional route search device described in Patent Document 1 described above, if there are a plurality of parking lots around the destination, the parking device selected when the route search is performed. The user had to select a parking lot. In this case, since the user selects the parking lot by performing an operation input, the input operation accompanying the operation input may be troublesome for the user, and a problem that the convenience cannot be further improved is an example. As Can be mentioned.

[0006] Further, in the conventional route search device described in Patent Document 2 described above, when there are a plurality of parking lots around the destination, the current position of the vehicle is not taken into account, for example, the parking lot Based on parking fees and parking congestion, the most appropriate parking lot was selected from multiple parking lots. For this reason, when the parking lot to be selected changes according to the current position of the vehicle, it cannot be handled, and the selected parking lot may not be the optimal parking lot depending on the current position of the vehicle. The problem is given as an example. Means for solving the problem

[0007] In order to solve the above-described problems and achieve the object, the route search device according to the invention of claim 1 includes an acquisition means for acquiring position information indicating the current position of the mobile object, and an object for setting the destination A location setting unit; a search unit that searches for a parking lot that exists within a predetermined range from the destination; and a plurality of parking lots that exist within a predetermined range from the destination, and the current position of the mobile body The route search means for searching the candidate routes to the parking lot for each of the parking lots, the ease of entering the parking lot is judged, the candidate route is evaluated, Route selection means for selecting an optimum route from among the candidate routes.

[0008] Further, the route search method according to the invention of claim 6 includes an acquisition step of acquiring position information indicating the current position of the mobile body, a destination setting step of setting a destination, A search process for searching for a parking lot existing within a predetermined range, and a candidate route from the current position of the moving object to the parking lot when a plurality of parking lots existing within a predetermined range from the destination are searched. A route search step for searching for each of a plurality of parking lots, a route selection step for evaluating the candidate route by determining ease of entry to the parking lot, and selecting an optimum route from the candidate routes, , Including.

[0009] A route search program according to the invention of claim 7 causes a computer to execute the route search method according to claim 6.

[0010] A computer-readable recording medium according to the invention of claim 8 records the route search program according to claim 7.

Brief Description of Drawings [0011] FIG. 1 is a block diagram showing an example of a functional configuration of a route search apparatus that works according to the present embodiment.

[FIG. 2] FIG. 2 is a flowchart showing an example of the contents of processing of a route search apparatus that is effective in the present embodiment.

FIG. 3 is a block diagram showing an example of a hardware configuration of a navigation apparatus that is useful in an embodiment of the present invention.

FIG. 4 is a flowchart showing an example of a route search processing procedure of the navigation device according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing an example of a situation when a vehicle enters the entrance of a parking lot.

FIG. 6 is an explanatory diagram showing another example of the situation when the vehicle enters the parking lot entrance.

Explanation of symbols

[0012] 100 route search device

101 Acquisition Department

102 Destination setting section

103 Search part

104 Route search unit

105 Route selection part

BEST MODE FOR CARRYING OUT THE INVENTION

[0013] Exemplary embodiments of a route search device, a route search method, a route search program, and a recording medium according to the present invention are explained in detail below with reference to the accompanying drawings.

[0014] (Embodiment)

(Functional configuration of the route search device)

The functional configuration of the route search apparatus according to this embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing an example of a functional configuration of a route search apparatus that works according to the present embodiment. In FIG. 1, a route search apparatus 100 includes an acquisition unit 101, a destination setting unit 102, a search unit 103, a route search unit 104, and a route selection unit 105. The acquisition unit 101 acquires position information indicating the current position of the moving object. The position information indicating the current position of the moving object is calculated using, for example, GPS satellite power received waves received by the GPS receiver mounted on the moving object or output values of various sensor forces provided on the moving object. It is done.

The destination setting unit 102 sets a destination. The destination is set, for example, when the user operates an operation unit (not shown). When setting the destination, for example, the user may input the place name or address of the destination by operating the operation unit, or plot on a map displayed on a display unit (not shown). The destination may be entered according to the above. In addition, the destination includes a destination that is routed on the way, not just the final destination that the user finally wants to reach.

[0017] The search unit 103 searches for a parking lot existing within a predetermined range from the destination. The predetermined range may be a straight distance from the destination to the parking lot, which may be set according to the type of the destination, or may be a road distance on the road. The type of destination is distinguished by the type of destination. For example, if the destination is a facility, the type is classified according to the size of the facility (for example, the difference in scale between large and small facilities). It may be distinguished by the genre of the facility (for example, the type of facility such as a restaurant or a medical facility).

[0018] Specifically, for example, a large-scale facility such as an amusement park is distinguished as a large facility, and a small-scale facility such as a convenience store is distinguished as a small facility. Then, the user sets a predetermined range for each large facility and small facility distinguished as described above. For example, in the case of a large-scale facility with a large scale, the predetermined range set at this time can be set as a range surrounded by a circular area with a radius of about 1 km around this large facility, or for a small-scale facility with a small scale, This small facility can be set as a range surrounded by a circular area with a radius of about 50m.

[0019] In addition, the search unit 103 may be configured to search for a parking lot associated with the destination. Here, the parking lot associated with the destination refers to a parking lot that is associated with the destination and is recorded in advance in the storage unit, not shown. like this Specifically, for example, when the destination is a department store, the parking lot is recorded in advance in the storage unit in association with the department store as parking lot information such as a dedicated parking lot.

[0020] When a plurality of parking lots existing within a predetermined range from the destination are searched, the route search unit 104 searches for a candidate route from the current position of the moving object to the parking lot for each of the plurality of parking lots. Explore. Candidate route is the current route of the moving object until it reaches the parking lot where the moving object is searched, and is the optimal route to the parking lot. Certain search conditions (distance priority, time priority, charge priority, etc.) This is the optimum route. Note that the route search unit 104 may search for a plurality of candidate routes by executing a process for searching for one route a plurality of times, or search for a plurality of candidate routes in a single process. You may do it.

[0021] The route selection unit 105 evaluates the candidate route corresponding to each of the plurality of parking lots by determining the ease of entering the parking lot, and selects the optimum route from the candidate routes. The ease of entry to the parking lot indicates the ease of entry to the entrance of the parking lot or the difficulty of entering, and the route selection unit 105 is used when the mobile object enters the entrance of the parking lot. Determine the ease of entry or difficulty of entry.

[0022] Further, the route selection unit 105 determines whether the vehicle enters the parking lot by a method of a left turn, a right turn, or a straight drive when the moving body moves along the candidate route searched by the route search unit 104. The ease of entering the parking lot may be determined. For example, it is determined that it is more difficult for a moving object to enter the parking lot entrance when turning right from the road and entering the parking lot entrance than when turning left from the road and entering the parking lot entrance.

[0023] Furthermore, the route selection unit 105 may determine the ease of entering the parking lot based on the entrance shape of the parking lot. The entrance shape of the parking lot is, for example, the shape of a road that passes when a moving body enters the entrance of the parking lot. Specifically, for example, when entering a parking lot entrance through a sloped road, the route selection unit 105 determines that it is difficult to enter the parking lot entrance! /.

[0024] In this way, the route selection unit 105 determines the ease of entering the parking lot, and moves when the moving body moves to the parking lot along the candidate route searched by the route search unit 104. The distance from the current position of the body to the parking lot, the time required, and the charge (e.g. Evaluate candidate routes based on the evaluation target (parking fee per unit time), number of traffic lights, road width, past driving frequency, etc., and select the route with the highest evaluation as the optimal route.

[0025] Specifically, for example, when the current position force of the moving object is the time required for the parking lot, the route selection unit 105 takes into account the time required to enter the entrance of the parking lot. Candidate routes corresponding to each of a plurality of parking lots are evaluated using the required time as an evaluation target, and the candidate route with the shortest required time until the moving body finishes entering the current location parking lot is selected as the optimum route.

[0026] In addition, the route selection unit 105 includes a mobile unit cost that is a cost when the mobile unit moves from the current position to the parking lot along the candidate route searched by the route search unit 104, and easy entry into the parking lot. The entry cost, which is a cost that indicates the characteristics, is calculated for each candidate route, and based on the combined cost that combines the mobile cost and the entry cost, it is optimal from the candidate routes corresponding to each of the multiple parking lots. Select a route. At this time, for example, the route selection unit 105 may select the candidate route as the optimum route with the lowest composite cost.

[0027] Here, the moving object cost is the time required for the moving object to move to the current position force parking lot along the candidate route searched by the route search unit 104, from the current position of the moving object to the destination. The cost is calculated based on the distance, toll, number of traffic lights, road width, past driving frequency, etc. The entry cost is a cost calculated based on the approach method to the entrance of the parking lot. For example, on a one-lane road that can be face-to-face, if you turn right from the road and enter the parking lot entrance, the calculated entry cost will be high, and turn left from the road and enter the parking lot entrance. If so, the calculated approach cost will be lower.

[0028] Further, when there are a plurality of candidate routes having an evaluation suitable for the optimum route, the route selection unit 105 presents information on the candidate route to the user, receives the user's selection, and receives the user's selection. The optimum route is selected based on the selection of. Specifically, the route selection unit 105 provides information on the candidate route to the user when there are a plurality of candidate routes, for example, where the current position of the moving body and the time required to reach the parking lot are hardly changed. To prompt the user to select the optimum route. Here, the candidate route information includes, for example, the required time from the current position of the moving body to the parking lot, traffic charges, traffic jam information, and how to enter the parking lot. This information includes the law and the distance to the parking lot.

[0029] (Processing contents of route search device)

Next, with reference to FIG. 2, the contents of the processing of the route search apparatus that is useful for the present embodiment will be described. FIG. 2 is a flowchart showing an example of the contents of the processing of the route search apparatus that works on the present embodiment. In the flowchart of FIG. 2, the acquisition unit 101 acquires position information indicating the current position of the moving object (step S201).

Next, it is determined whether or not the destination is set by the destination setting unit 102 (step S202). The destination is set, for example, by the user operating an operation unit (not shown). If the destination is set after waiting for the destination to be set (step S202: Yes), the search unit 103 searches for a parking lot existing within a predetermined range from the destination ( Step S203).

[0031] Then, when a plurality of parking lots existing within a predetermined range from the destination are searched, the route searching unit 104 determines the route from the current position of the mobile body to the parking lot and the parking lot to the destination. A candidate route constituted by the routes is searched for each of a plurality of parking lots (step S204).

[0032] Finally, the route selection unit determines the ease of entering the parking lot, evaluates candidate routes corresponding to each of the plurality of parking lots, and selects the optimum route from the candidate routes (step S205), a series of processing according to this flowchart is terminated.

[0033] In step S203, if no parking lot exists within the predetermined range from the destination, the route to the destination is searched and a series of processing according to this flowchart ends. . If the number of the searched parking lots is one, the route to the parking lot is searched and the series of processes according to this flowchart is completed.

[0034] As described above, according to the present embodiment, when a plurality of parking lots existing within a predetermined range from the destination are searched, the route search device 100 starts from the current position of the moving object. The candidate route to the parking lot is searched for each of the multiple parking lots, and the candidate route is evaluated in consideration of the ease of entering the parking lot, and the optimum route is selected from the candidate routes. As a result, when there are multiple parking lots around the destination, the user can automatically determine the optimum route and parking lot according to the current position of the moving body without performing operation input. Can be selected dynamically.

Next, examples that are useful for the embodiment of the present invention will be described in detail. Here, the route search device according to this embodiment is applied to a navigation device mounted on a mobile terminal such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) and a portable terminal such as a mobile phone, An example will be described in which when a plurality of parking lots around the destination are searched, an optimum route corresponding to the current position of the vehicle is selected from the searched routes to the plurality of parking lots.

Example

[0036] (Hardware configuration of navigation device)

First, the hardware configuration of the navigation apparatus 300 that is useful in the embodiment of the present invention will be described. FIG. 3 is a block diagram showing an example of a hardware configuration of a navigation apparatus that is effective in the embodiment of the present invention. In FIG. 3, the navigation device 300 includes a CPU 301, a ROM 302, a RAM 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, an optical disk 307, an audio IZF (interface) 308, a microphone. 309, a speaker 310, an input device 311, an image IZF (interface) 312, a display 313, a communication IZF (interface) 314, a 0-3 315, and various sensors 316. . Each component 301 to 316 is connected by a bus 320.

First, the CPU 301 governs overall control of the navigation device 300. The ROM 302 records various programs such as a boot program, a current position calculation program, a route search program, a route guidance program, a voice generation program, a map information display program, a communication program, a database creation program, and a data analysis program. .

[0038] The current position calculation program calculates the current position of the vehicle's current position piggy device 300) based on output information from a GPS unit 315 and various sensors 316, which will be described later.

The route search program searches for an optimum route from the departure point to the destination using map information recorded on a magnetic disk 305 described later. Here, the optimal route is, for example, the shortest (or fastest) route to the destination or the conditions specified by the user. The best matching route. Details of this route search program will be described later. The guidance route searched by executing this route search program is output to the audio IZF 308 and the video IZF 312 via the CPU 301, for example.

[0040] The route guidance program includes guidance route information searched by executing the above-described route search program, position information indicating the current position of the vehicle calculated by executing the above-described current position calculation program, Based on the map information recorded on a magnetic disk 305 described later, real-time route guidance information is generated. The route guidance information generated by executing the route guidance program is output to the audio IZF 308 and the video IZF 312 via the CPU 301, for example.

[0041] The voice generation program generates tone and voice information corresponding to the voice pattern.

That is, the voice guidance information corresponding to the guidance point is generated based on the route guidance information generated by executing the route guidance program. The generated voice guidance information is output to the voice IZF 308 via the CPU 301, for example.

The map information display program determines the display format of the map information displayed on the display 313 by the video IZF 312 and displays the map information on the display 313 according to the determined display format.

[0043] The RAM 303 is used as a work area of the CPU 301, for example.

The magnetic disk drive 304 controls data read / write to the magnetic disk 305 according to the control of the CPU 301. The magnetic disk 305 records data written under the control of the magnetic disk drive 304. Specifically, the magnetic disk drive 304 records, for example, voice guidance information generated by the above-described voice generation program on the magnetic disk 305 as voice data. As the magnetic disk 305, for example, HD (node disk) or FD (flexible disk) can be used.

[0045] One example of information recorded on the magnetic disk 305 is map information used for route search and route guidance. The map information includes background data representing features (features) such as buildings, rivers, and the ground surface, and road shape data representing the shape of the road. Drawn on. Navigation device 300 When the route is being routed, the map information and the vehicle mark indicating the current position of the vehicle are displayed in an overlapping manner.

[0046] The road shape data further includes traffic condition data. Traffic condition data includes, for example, the presence or absence of traffic lights or pedestrian crossings, the presence or absence of highway entrances and junctions, the length (distance) of each link, road width, direction of travel, road type (high speed) Road, toll road, general road, etc.).

[0047] In the traffic condition data, past congestion information is stored as past congestion information statistically processed based on the season 'day of the week and large holidays' time. This navigation device 300 obtains information on the currently occurring traffic jam, for example, from road traffic information received by communication IZF 314 described later. By using the past traffic jam information described above, for example, the traffic jam situation at a specified time It is also possible to make predictions.

In this embodiment, the map information is recorded on the magnetic disk 305. However, the map information may be recorded on an optical disk 307 described later. Further, the map information may be provided integrally with the hardware of the navigation device 300! /, Recorded only for the information, and may be provided outside the navigation device 300. In this case, the navigation device 300 may acquire the map information via the network through the communication IZF 314, for example. The map information acquired in this way is gc feted to, for example, the RAM 303.

The optical disk drive 306 controls data read / write to the optical disk 307 according to the control of the CPU 301. The optical disc 307 is a detachable recording medium from which data is read according to the control of the optical disc drive 306. As the optical disk 307, a writable recording medium can be used. Further, as a detachable recording medium, the power MO of the optical disk 307, a memory card, or the like can be used.

The audio IZF 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. The voice received by the microphone 309 is AZD converted in the voice IZF308. The speaker 310 may be provided outside the vehicle just inside the vehicle. From the speaker 310, sound based on the sound signal from the sound IZF 308 is output. In addition, the voice input from the microphone 309 is, for example, the voice data as the magnetic disk 305. Alternatively, it can be recorded on a recording medium such as an optical disk 307 or a memory (not shown).

[0051] Examples of the input device 311 include a remote controller, a keyboard, a mouse, and a touch panel that are provided with a plurality of keys for inputting characters, numerical values, various instructions, and the like.

The video IZF 312 is connected to the display 313. Specifically, this video IZF312 is output from the graphic controller, for example, a graphic controller that controls the entire display 313, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and the like. And a control IC for controlling display of the display 313 based on the image data to be displayed.

The display 313 displays icons, cursors, menus, windows, or various data such as characters and images. As the display 313, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

Communication IZF 314 is connected to a network via radio and functions as an interface between navigation device 300 and CPU 301. The communication I / F 314 is further connected to a communication network such as the Internet via radio and functions as an interface between the communication network and the CPU 301.

[0055] The network includes a LAN, a WAN, a public line network, a mobile phone network, and the like. Specifically, the communication IZF314 is composed of, for example, an FM tuner, VICS (Vehicle Information and Communication System: Z) Beacon Resino, a wireless navigation device, and other navigation devices, and is distributed from the VICS center. Get traffic information such as traffic jams and traffic regulations.

[0056] The GPS unit 315 receives radio waves from GPS satellites and outputs information indicating the current position of the vehicle. The output information of the GPS unit 315 is used when the CPU 301 calculates the current position of the vehicle together with output values of various sensors 316 described later. The position information indicating the current position is information specifying one point on map information such as latitude / longitude and altitude.

[0057] Various sensors 316 output information that can determine the position and behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The output values of various sensors 316 are used by the CPU 301 to calculate the current position of the vehicle and to measure changes in speed and direction. The

[0058] The various sensors 316 include sensors for detecting each operation of the vehicle by the driver. The detection of each operation of the vehicle may be configured to detect, for example, steering wheel operation, turn signal input, vehicle door opening / closing, vehicle engine ONZOFF (or ACC power ONZOFF), and the like.

[0059] Note that the acquisition unit 101, which is a functional configuration of the route search apparatus 100 that works on the embodiment shown in FIG. 1, specifically includes, for example, a CPU 301, a GPS unit 315, and various sensors 316. Specifically, the destination setting unit 102 includes, for example, the CPU 301 and the input device 311, the search unit 103, the route search unit 104, and the route selection unit 105 include, for example, the CPU 301, the magnetic disk 305, the optical disk 307, The functions are realized by the GPS unit 315 and various sensors 316, respectively.

[0060] (Route Search Processing Procedure of Navigation Device)

Next, an example of the route search processing procedure of the navigation device 300 that is useful in the embodiment of the present invention will be described. FIG. 4 is a flowchart showing an example of a route search processing procedure of the navigation device according to the embodiment of the present invention.

In the flowchart of FIG. 4, the navigation apparatus 300 first obtains position information indicating the current position of the vehicle based on output information from the GPS unit 315 and various sensors 316 (step S401). In this case, specifically, for example, position information indicating the current position of the vehicle is acquired based on a received wave from a GPS satellite. At this time, by using the output values from the various sensors 316, it is possible to obtain more accurate position information indicating the current position of the vehicle.

Next, it is determined whether or not a destination has been set via the input device 311 (step S402). The destination may be set by the user operating the input device 311, such as the remote control, keyboard, mouse, touch panel, etc., and entering the destination's name or address.

[0063] Here, waiting for the destination to be set (step S402: No), and if set (step S402: Yes), a search for a parking lot around the set destination is made. (Step S403). At this time, the search range may be arbitrarily set by the user. Yes. For example, a search range may be set according to the destination genre.

[0064] When setting the search range, specifically, for example, when the destination is a restaurant such as a restaurant, search for a range surrounded by a circular area with a radius of about 500m centering on the destination. Set as a range, and if the destination is a large facility such as an amusement park, set the range surrounded by a circular area with a radius of about 2km centered on the destination. The parking lot may be searched using the parking lot information included in the map information recorded on the magnetic disk 305. Further, when parking lot information is recorded in a memory (not shown), the parking lot may be searched using the information.

[0065] Next, it is determined whether or not a plurality of parking lots existing around the destination have been searched (step S404). If multiple parking lots are searched (step S404: Yes), each of the multiple parking lots is configured by the route from the current position of the vehicle to the parking lot and the route from the parking lot to the destination. The candidate route to be searched is searched (step S405).

[0066] Then, a vehicle cost that is a cost when the vehicle moves from the current position to the parking lot along the searched candidate route, an entry cost that is a cost when the vehicle enters the parking lot entrance, Is calculated for each candidate route (step S406). The vehicle cost and the entry cost are calculated using, for example, road shape data and traffic condition data included in the map information recorded on the magnetic disk 305.

[0067] In the calculation process in step S406, specifically, for example, the time required for the vehicle to travel from the current position to the parking lot along the candidate route, the distance from the current position to the destination The vehicle cost is calculated based on the charge, the number of traffic lights, the road width, the past driving frequency, and the like. For example, the entry cost is calculated based on the entry time required when the vehicle enters the parking lot entrance.

[0068] Here, an outline of calculating the entry cost required when the vehicle enters the entrance of the parking lot will be described with reference to FIGS. 5 and 6. FIG. FIG. 5 is an explanatory diagram showing an example of a situation when the vehicle enters the parking lot entrance. FIG. 6 is an explanatory diagram showing another example of the situation when the vehicle enters the parking lot entrance. The roads shown in Fig. 5 and Fig. 6 are one-lane roads where vehicles can face each other. You can drive in the lane. In addition, the lane in which the vehicle equipped with the piggy-on device 300 is running is the driving lane, and the other lane is the oncoming lane.

[0069] As shown in FIG. 5, the own vehicle 501 is about to enter the entrance 502 of the parking lot existing on the front left side in the traveling direction. In this case, the own vehicle 501 can enter the entrance 502 of the parking lot by turning left on the driving lane 503. For this reason, the navigation apparatus 300 determines that it is easy to enter the entrance 502 of the parking lot, and calculates, for example, an entry cost of “0”.

Next, as shown in FIG. 6, the own vehicle 601 is about to enter the entrance 602 of the parking lot existing on the right front side in the traveling direction. In this case, since the own vehicle 601 turns right on the driving lane 603 and enters the parking lot entrance 602, for example, the host vehicle 601 must cross the opposite lane 604 on which another vehicle is traveling. For this reason, the navigation apparatus 300 determines that it is difficult to enter the parking lot entrance 602, and calculates, for example, an entry cost of “60”.

[0071] For example, when turning right on a two-lane road where vehicles can face each other and entering the parking lot entrance, the navigation device 300 further enters the parking lot entrance compared to the above case. For example, the approach cost is calculated as “120”.

[0072] Furthermore, for example, when a vehicle enters the entrance of a parking lot, the approach cost is calculated by judging the shape of the passing road, such as having to go up and down a sloped road. You may make it do. For example, in order to enter the parking lot entrance, you must go up a sloped road and go up to the next floor. Calculate the entry cost as “30”.

[0073] In addition, for example, the vehicle must turn right on a one-lane road on which one-way traffic is allowed, pass through a sloped road, and go up one floor to enter the parking lot entrance. If not, the approach cost is judged as “90”. In this way, the approach cost may be calculated by comprehensively determining the difficulty of entering the parking lot entrance.

[0074] Information regarding the approach method to the entrance of the parking lot used for calculating the approach cost is the magnetic disk 305 associated with the parking lot and the optical disc 30 7 or the like. It may be recorded in a recording medium or a memory (not shown), but when the vehicle enters the parking lot entrance, the approach method is determined, and there is a magnetic disk 305 as new information. Alternatively, it may be recorded on a recording medium such as the optical disk 307 or a memory (not shown). At this time, the parking lot and the approach method to the entrance to the parking lot may be recorded in association with each other.

[0075] The approach method to the entrance of the parking lot uses, for example, position information indicating the current position of the vehicle calculated by executing the current position calculation program described above, output values from various sensors 416, map information, and the like. It is good also as a structure to judge by doing. Specifically, by using the position information of the vehicle, the traveling direction of the vehicle, and the road shape data of the road on which the vehicle is traveling, for example, the parking lot on the opposite side across the road when the vehicle turns right It may be determined that the vehicle has entered the entrance. Furthermore, by detecting a steering operation performed by the driver, it is possible to determine the angle at which the driver has entered the parking lot entrance with respect to the road direction.

Here, returning to the description of the flowchart of FIG. 4, a composite cost is calculated by combining the calculated vehicle cost and the entry cost, and each of the plurality of parking lots is handled based on the composite cost. The optimum route is selected from the candidate routes (step S407), and a series of processing according to this flowchart is terminated. Specifically, for example, the combined cost including the vehicle cost and the approach cost is the lowest, and the candidate route is selected as the optimum route.

[0077] In step S404, if no parking lots around the destination are found (step S404: No), the route to the destination is searched and a series of steps according to this flow chart is performed. Terminate the process. If the number of the searched parking lots is one (step S404: No), the route to the parking lot is searched for, and the series of processes according to this flowchart ends.

In step S407, if there are a plurality of candidate routes corresponding to the optimum route, information regarding the candidate route may be presented to the user to prompt the user to select the optimum route. Good. Here, the candidate route suitable as the optimum route is, for example, a route having a composite cost that has the lowest V and almost no cost difference from the composite cost. Specifically, for example, a predetermined threshold is set as the difference from the lowest composite cost, and if the difference from the lowest composite cost is within the set threshold, it is determined that the candidate route is suitable as the optimum route. to decide. [0079] Further, as a method of presenting to the user, for example, there is a method of displaying information related to the candidate route on the display 313 correspondingly as the optimum route. In this case, by visually recognizing (visually) the information on the candidate route displayed on the display 313, the user can determine which route is optimal and can select the optimum route. The optimum route may be selected by, for example, the user touching a predetermined position on the displayed screen, or by selecting the cursor displayed on the screen according to the candidate route to be selected. A little.

[0080] As described above, according to the present embodiment, the navigation device 300, when a plurality of parking lots existing within a predetermined range from the destination are searched, from the current position of the vehicle to the parking lot. The candidate route is searched for each of a plurality of parking lots, and the optimum route is selected from the candidate routes by evaluating the candidate route in consideration of the ease of entering the parking lot. As a result, when there are a plurality of parking lots around the destination, it is possible to automatically select the optimum route and the parking lot corresponding to the current position of the vehicle without performing an operation input by the user. In addition, it is possible to automatically select the optimal route and parking lot considering the ease of entering the parking lot.

Note that the route search method described in the present embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed when the recording medium force is also read by the computer. The program may be a transmission medium that can be distributed through a network such as the Internet.

Claims

The scope of the claims

[1] An acquisition means for acquiring position information indicating the current position of the moving body;

Destination setting means for setting the destination;

Search means for searching for a parking lot existing within a predetermined range from the destination, and when a plurality of parking lots existing within a predetermined range from the destination are searched, the current position force of the moving body up to the parking lot Route search means for searching for each candidate route in each of a plurality of parking lots;

Route selection means for evaluating ease of entry to the parking lot, evaluating the candidate route, and selecting an optimum route from the candidate routes;

A route search apparatus comprising:

[2] The route selection means may determine the ease of entry depending on whether the vehicle enters the parking lot by any of left turn, right turn, and straight drive when the moving body moves along the candidate route. The route search device according to claim 1, wherein:

[3] The route search device according to claim 1, wherein the route selection means determines the ease of entry based on an entrance shape of the parking lot.

[4] The route selection means includes:

The candidate is a moving object cost that is a cost when the moving object moves from the current position to the parking lot along the candidate route, and an entry cost that is a cost indicating ease of entering the parking lot. Calculated for each route,

2. The route search device according to claim 1, wherein an optimum route is selected from the candidate routes based on a combined cost obtained by combining the moving object cost and the entry cost.

[5] When there are a plurality of candidate routes having evaluations corresponding to the optimum route, the route selection means presents information on the candidate route to the user, accepts the user's selection, and selects the user. 5. The route search device according to claim 1, wherein an optimum route is selected based on the route.

[6] An acquisition step of acquiring position information indicating the current position of the moving object;

A destination setting process for setting a destination;

A search step for searching for a parking lot existing within a predetermined range from the destination force, When a plurality of parking lots existing within a predetermined range from the destination are searched, the current position of the moving body Route search for searching candidate routes to the parking lot for each of the plurality of parking lots Process,

A route selection step for evaluating ease of entry into the parking lot, evaluating the candidate route, and selecting an optimum route from the candidate routes;

A route search method comprising:

[7] A route search program that causes a computer to execute the route search method according to claim 6.

[8] A computer-readable recording medium in which the route search program according to claim 7 is recorded.