WO2007119336A1

WO2007119336A1 - Navigation device, navigation method, navigation program, and computer-readable recording medium

Info

Publication number: WO2007119336A1
Application number: PCT/JP2007/054878
Authority: WO
Inventors: Koichi Kikuchi; Katsunori Oritani; Manabu Kiyota; Yasuo Ogiwara; Kenji Nakamura; Kiyoshi Morikawa
Original assignee: Pioneer Corporation
Priority date: 2006-03-17
Filing date: 2007-03-13
Publication date: 2007-10-25

Abstract

A detection unit (101) detects acceleration of a moving body. A judging unit (102) judges whether the acceleration detected by the detection unit (101) reaches a certain level. A guide unit (103) guides caution information if the judging unit (102) judges that the acceleration has reached the certain level. A setting unit (104) sets whether to guide caution information. When the setting unit (104) is set to perform a guide, the guide unit (103) guides caution information. By setting a fellow passenger upon initialization, the setting unit (104) sets a route considering a car thickness.

Description

Specification

NAVIGATION DEVICE, NAVIGATION METHOD, NAVIGATION PROGRAM, AND COMPUTER-READABLE RECORDING MEDIUM

Technical field

The present invention relates to a navigation device that guides a travel route, a navigation method, a navigation program, and a computer-readable recording medium. However, the use of the present invention is not limited to the above-described navigation apparatus, navigation method, navigation program, and computer-readable recording medium. Background art

[0002] Conventionally, when a navigation device guides a travel route of a moving body toward a destination, the navigation device searches for a route that shortens the travel distance or searches for a route that shortens the travel time as a whole. Was. In addition, there was a navigation device with a function to set the route according to the driver's convenience, such as a planned route. Furthermore, when setting the route in navigation, there was a route setting function that considered traffic jams and the width of the road as an attention function for drivers and passengers.

[0003] Further, there has been a technique for dealing with the shaking of a moving body with a navigation device. Specifically, there is a heading-up display mode in which the map image is rotated so that the traveling direction of the vehicle is always upward while the vehicle is traveling. There were things that prevented frequent redrawing (for example, see Patent Document 1).

[0004] Patent Document 1: Japanese Patent Laid-Open No. 06-331374

Disclosure of the invention

Problems to be solved by the invention

[0005] However, with the conventional function, it was possible to select the route with the shortest distance and the shortest time, or to select the route with the wide road and the route avoiding traffic congestion. In some cases, routes that are prone to car sickness, such as mountain roads with a continuous urgent curve, were selected. If a route with such a sharp curve is selected, the passenger may get sick. One example is the problem of performance.

[0006] If you want to prevent passengers from getting sick while driving, check the state of shaking while driving or check the state of passengers while judging the speed and break. An example is the problem that there was a case where it was not possible to cope with it appropriately. Another example is the problem of being unable to concentrate on driving because of concern for car sickness while driving.

Means for solving the problem

[0007] The navigation device according to the invention of claim 1 includes detection means for detecting acceleration of a moving object, and determination means for determining whether or not the acceleration detected by the detection means is above a certain level. And a guide means for guiding attention information when the determination means determines that the acceleration is above a certain level.

[0008] Further, in the navigation method according to the invention of claim 6, a detection step of detecting the acceleration of the moving body, and determining whether or not the acceleration detected by the detection step is above a certain level. And a guidance step of guiding attention information when the determination step determines that the acceleration is above a certain level.

[0009] Further, a navigation program according to the invention of claim 7 causes a computer to execute the navigation method according to claim 6.

[0010] Further, a computer-readable recording medium according to the invention of claim 8 is characterized in that the navigation program according to claim 7 is recorded.

[0011] Further, the navigation device according to the invention of claim 9 detects the acceleration of the moving body, and determines whether or not the acceleration detected by the detection means is above a certain level. If the determination means determines that the acceleration is greater than or equal to a certain level by the determination means, a storage means for storing position information indicating the position of the determined moving body and a destination of the moving body are set. Destination setting means, and route search means for searching for a route to the destination set by the destination setting means, wherein the route search means is based on position information stored in the storage means. Indicated It is characterized by searching for a route that avoids a position.

[0012] Further, the navigation device according to the invention of claim 10 includes destination setting means for setting a destination and path setting means for setting a route to the destination set by the destination setting means. And determining whether or not the acceleration of the moving body detected by the detecting means is greater than a certain level during traveling on the route set by the route setting means. And determining means for determining, if the determining means determines that the acceleration is greater than a certain level of force, storage means for storing position information indicating the determined position of the moving body, and the destination setting means Therefore, when the same destination as the previously set destination is set again and the same route as the previously set route is searched again by the route setting means, the route setting is performed. Control means for controlling the setting means so as to reset the route to avoid the position indicated by the position information stored in the storage means.

Brief Description of Drawings

[0013] FIG. 1 is a block diagram showing a functional configuration of a navigation apparatus that is useful in an embodiment of the present invention.

[FIG. 2] FIG. 2 is a flowchart showing the processing of the navigation method which is effective in the embodiment of the present invention.

FIG. 3 is a block diagram showing a hardware configuration of the navigation device.

[FIG. 4] FIG. 4 is an explanatory diagram for explaining a traveling state of a moving body and a state of attention guidance.

FIG. 5 is a flowchart for explaining attention guidance processing during traveling.

[FIG. 6] FIG. 6 is a flowchart for explaining a process of searching while avoiding an avoidance position when searching for a route.

[FIG. 7] FIG. 7 is a flowchart for explaining processing for setting to avoid an avoidance position when setting a route.

Explanation of symbols

[0014] 101 detector

102 Judgment part

103 Guide 104 Setting section

105 Memory

106 Destination setting section

107 Route search unit

108 Route setting section

109 Control unit

BEST MODE FOR CARRYING OUT THE INVENTION

[0015] Exemplary embodiments of a navigation device, a navigation method, a navigation program, and a computer-readable recording medium according to the present invention will be described below in detail with reference to the accompanying drawings.

[0016] FIG. 1 is a block diagram showing a functional configuration of a navigation apparatus that is useful in an embodiment of the present invention. The navigation device of this embodiment includes a detection unit 101, a determination unit 102, a guide unit 103, a setting unit 104, a storage unit 105, a destination setting unit 106, a route search unit 107, a route setting unit 108, and a control unit. 109.

[0017] The detecting unit 101 detects the acceleration of the moving body. The mobile body includes vehicles that transport cargo passengers such as automobiles, trains, trains, and automobiles. Acceleration is the rate of change of speed.

[0018] The determination unit 102 determines whether or not the hook speed force detected by the detection unit 101 exceeds a certain level. By determining that the acceleration is greater than a certain level, it is determined whether the moving body is shaking enough to cause sickness. Here, if the frequency at which acceleration of a certain magnitude or more is detected is more than a certain level, it can also be determined that the acceleration is above a certain level. In addition, the time is measured after the acceleration of a certain magnitude or more is detected, and if the number of times the acceleration force S is greater than a certain magnitude before the predetermined time elapses, the acceleration is It can be judged by judging that it is working above a certain level.

[0019] The guide unit 103 guides attention information when the determination unit 102 determines that the speed is greater than a certain level. Note that the guidance unit 103 can also guide the attention information by displaying information that prompts the mobile body to decelerate. The guide unit 103 detects the acceleration in the lateral direction by the acceleration sensor 317, and the acceleration of a certain level exceeds a certain level. When the number of times is detected, the driver and passengers are alerted by taking voice guidance, etc. The caution information provided here includes automatic guidance for nearby rest areas, guidance for opening windows, and safe driving guidance such as speed reduction.

[0020] Setting section 104 sets whether or not to guide attention information. When it is set to guide by the setting unit 104, the guide unit 103 guides attention information. The setting unit 104 performs route setting in consideration of car sickness by setting passengers in the initial setting in advance.

The storage unit 105 stores position information indicating the determined position of the moving body when the determination unit 102 determines that the speed of the power is greater than a certain level. The destination setting unit 10 6 sets the destination. The destination can be set through the navigation device screen and set at the specified point.

When searching for a route to the destination, the route search unit 107 searches for a route to the destination set by the destination setting unit 106. At this time, the route search unit 107 searches for a route that avoids the position indicated by the position information stored in the storage unit 105.

If the route setting unit 108 does not search for a route to the destination, the route setting unit 108 sets the route to the destination set by the destination setting unit 106. The control unit 109 sets the same destination as the destination previously set by the destination setting unit 106, and when the same route as the route previously set by the route setting unit is searched again. Then, control is performed so that the route setting unit 106 is set to a route that avoids the position indicated by the position information stored in the storage unit 105.

FIG. 2 is a flowchart showing the processing of the navigation method according to the embodiment of the present invention. First, the destination setting unit 106 sets the destination of the moving object (step S2 01). Specifically, an input of a point is accepted on the navigation device, and the input point is set as a destination. Next, it is determined whether or not to set the route (step S202) _o That is, it is determined whether select their path in response to a force ,, or destinations for searching for a route in Nabigeshiyon device here. Then, the route is determined by the method according to the determination here.

[0025] The route setting unit 108, when setting a route (step S202: Yes), sets the destination setting unit 10 A route to the destination set in 6 is set (step S203). Next, it is determined whether or not the same destination as the destination previously set by the destination setting unit 106 is set again and the same route as the route previously set by the route setting unit is searched again. (Step S204). If it is determined that the search has been performed again and the search has not been performed again (step S204: No), the process proceeds to step S207. When it is determined that the search is performed again and the search is performed again (step S204: Yes), the control unit 109 sets a route that avoids the position indicated by the position information stored in the storage unit 105 to the route setting unit 106. Correct (step S205).

If no route is set (step S202: No), route search unit 107 searches for a route to the destination set by destination setting unit 106 (step S206). At this time, the route search unit 107 searches for a route that avoids the position indicated by the position information stored in the storage unit 105.

[0027] Setting unit 104 sets whether or not to guide attention information (step S207). That is, when the moving body shakes to some extent, whether or not it is necessary to prevent car sickness is set by the user operating the navigation device. Next, the detection unit 101 detects the acceleration of the moving body (step S208).

Next, the determination unit 102 determines whether or not the acceleration detected by the detection unit 101 is greater than or equal to a certain level (step S209). In this case, a certain level can be defined as a state in which a certain level of acceleration occurs at a certain frequency. In addition, the frequency at this time can be obtained by the number of times the acceleration of this magnitude is added after the acceleration of a certain magnitude or more is applied. In addition, the magnitude of the acceleration level at this time can be obtained. Thereby, in the processing of the guide unit 103, it is possible to provide caution guidance according to the state of shaking.

[0029] If the determination unit 102 determines that the acceleration is not a force exceeding a certain level (step S209: No), the series of processes is terminated. If the determining unit 102 determines that the caro speed is greater than a certain level (step S209: Yes), the guiding unit 103 guides attention information (step S210). At this time, the guidance information may include prompting the vehicle to slow down, open a window, take a break, or take another route. again The guidance information to be guided can be divided according to the state of acceleration, that is, the state of shaking. For example, when the shaking is relatively small, it can be encouraged to open the window, and when the shaking is relatively large, it can be encouraged to take a break.

[0030] Then, the storage unit 105 stores position information indicating the position of the moving body (step S211). As a result, it is possible to memorize the position where the acceleration is determined to be greater than a certain level. According to the position information stored here, the above-described route search or route resetting is executed.

[0031] According to the embodiment described above, attention information is guided when an acceleration force is applied to a moving body at a certain level or higher. For example, when vibration continuously occurs due to acceleration, motion sickness is caused by the vibration. Can be encouraged to respond. Specifically, the driver and passengers can be prevented from getting sick by guiding the difficult-to-drink road as caution information. In addition, it is possible to prevent drivers and passengers from getting drunk by alerting them to break guidance and shaking as caution information.

[0032] In addition, by displaying information that prompts the mobile body to decelerate, the driver can recognize that the situation is likely to cause car sickness and move before the passenger gets drunk by shaking. You can slow down your body and prevent shaking in advance. In addition, by switching between the case where guidance information is guided and the case where guidance is not guided depending on the setting, it is possible to avoid bothering with unnecessary guidance when the driver and passengers are intoxicated. it can.

[0033] In addition, when searching for a route with a destination set, it is possible to search while avoiding position information that has previously been at a certain acceleration level or higher, so that the next time you travel, It is possible to travel by searching for a route with less shaking at each stage.

[0034] In addition, when searching for a destination and a route, if the route passes through a position where the acceleration has previously exceeded a certain level, the search is prompted again. It is possible to travel by searching for a route with less shaking at each stage.

Example

[0035] (Hardware configuration of navigation device)

FIG. 3 is a block diagram showing a hardware configuration of the navigation apparatus. In this example, a navigation device that is powerful in the above-described embodiment is mounted on a vehicle as a moving body. It is an example applied to the navigation apparatus mounted. First, the hardware configuration of the navigation device of the embodiment will be described with reference to FIG.

As shown in FIG. 3, the navigation apparatus of the embodiment includes a CPU 301, a ROM 302, a RAM (memory) 303, a magnetic disk drive 304, a magnetic disk 305, an optical disk drive 306, and an optical disk. 307, audio I / F (interface) 308, microphone 309, speed 310, human power 311, video I / F 312, camera 313, display 314, communication I / F 315, GPS unit 316, a calorie speed sensor 317, and various sensors 318. Each component 30 :! to 317 is connected by a bus 320.

First, the CPU 301 governs overall control of the navigation device. The ROM 302 records programs such as a boot program and a navigation program. The RAM 303 is used as a work area for the CPU 301.

[0038] Here, the navigation program is executed by the CPU 301 to detect the acceleration of the moving body, determine whether the detected acceleration is above a certain level, and the acceleration is at a certain level. If it is judged that it is over, it is a program that makes attention information in-house.

The magnetic disk drive 304 controls reading / writing of data with respect 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. As the magnetic disk 305, for example, HD (node disk) or FD (flexible disk) can be used.

The optical disk drive 306 controls reading and writing of data 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. The optical disk 307 can also use a writable recording medium. Further, the removable recording medium may be a MO of the optical disc 307, a memory card, or the like.

Another example of information recorded on the magnetic disk 305 and the optical disk 307 is map data used for route search and route guidance. Map data consists of background data that represents features (features) such as buildings, rivers, and the ground surface, and road shapes that represent the shape of the road. It is drawn in 2D or 3D on the display screen of the display 314. When the navigation device is guiding a route, the map data and the current vehicle location acquired by the CPU 301 are displayed in an overlapping manner.

The audio I / F 308 is connected to a microphone 309 for audio input and a speaker 310 for audio output. Audio received by the microphone 309 is A / D converted in the audio IZF 308. In addition, sound is output from the speaker 310. Note that the sound input from the microphone 309 can be recorded on the magnetic disk 305 or the optical disk 307 as sound data.

[0043] 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. Furthermore, the input device 311 can be connected to other information processing terminals such as a digital camera or a mobile phone terminal to input / output data.

The video I / F 312 is connected to a camera 313 for video input and a display 314 for video output. Specifically, the video I / F 312 includes, for example, a graphic controller that controls the entire display 314, a buffer memory such as VRAM (Video RAM) that temporarily records image information that can be displayed immediately, and a graphic controller. It is configured by a control IC that controls display of the display 314 based on the output image data.

[0045] The camera 313 captures images inside and outside the vehicle and outputs them as image data. An image captured by the camera 313 can be recorded on the magnetic disk 305 or the optical disk 307 as image data. The display 314 displays icons, cursors, menus, windows, or various data such as characters and images. As this display 314, for example, a CRT, a TFT liquid crystal display, a plasma display, or the like can be adopted.

[0046] The communication I / F 315 is connected to a network via radio and functions as an interface between the navigation device and the CPU 301. The communication I / F 315 is further connected to a communication network such as the Internet via wireless and functions as an interface between the communication network and the CPU 301.

[0047] Communication networks include LANs, WANs, public line networks, mobile phone networks, and the like. Specifically, communication I / F315 is, for example, FM tuner, VICS / beacon receiver, wireless navigation Consists of navigation devices and other navigation devices, and acquires road traffic information such as traffic jams and traffic regulations distributed from the VICS center. VICS is a registered trademark.

[0048] The GPS unit 316 receives radio waves from GPS satellites and outputs information related to the position of the vehicle equipped with the navigation device. The output information of the GPS unit 316 is used when the current position of the vehicle is calculated by the CPU 301 together with output values of various sensors 318 described later. The information indicating the current location is information specifying one point on the map data, for example, latitude 'longitude, altitude, etc.

[0049] The acceleration sensor 317 is a sensor that outputs the magnitude of acceleration applied to the moving body. By calculating the tilt angle of an object based on the heavy acceleration or obtaining the acceleration in each direction, the movement of the object can be determined. For example, (1) Piezoresistive type, (2) Capacitance type, (3) Magnetic sensor type, Force S. (1) and (2) are manufactured by MEMS technology using Si material. (3) detects acceleration using a magnetic sensor.

Various sensors 318 output information for determining the position and behavior of the vehicle, such as a vehicle speed sensor and an angular velocity sensor. The output values of the various sensors 318 are used for the calculation of the current position of the vehicle by the CPU 301 and the measurement of the change in speed and direction.

[0051] Although illustration and description are omitted, the navigation device includes the above-described configurations 301 to 300.

In addition to 318, it has a configuration that realizes various functions such as playback of DVDs and CDs, reception of TV broadcasts, and recording.

FIG. 4 is an explanatory diagram for explaining the traveling state of the moving body and the state of attention guidance. First, in the normal running state 401, the moving body is running on the road in the normal state. At this time, I am not particularly driving on a rocky road, so there is no need for guidance. Here, when the acceleration sensor 317 measures an input equal to or greater than X, the normal traveling state 401 for determining how much the moving body is moving during the traveling shifts from the normal traveling state 401 to the shake detecting state 402.

In the shake detection state 402, acceleration is detected to determine whether or not the shake is frequently occurring. The counter is set to 1 when the acceleration sensor 317 measures an input of X or more and shifts to the shake detection state 402. Then, the timer measurement is started. This timer Each time the acceleration sensor 317 detects X or more during the measurement period, the counter is incremented by one. When the counter reaches the predetermined number of times, the process proceeds to the caution guidance state 403, but when the time measured by the timer has elapsed without reaching the predetermined number of times, the process returns to the normal running state 401. The above timers and counters are executed by the CPU 301, and the CPU 301 measures the timer time and executes addition and reset of the counters.

[0054] If a predetermined number of shakes are not detected within the measurement time, the shake is acceptable for the passenger, and by returning to the normal running state 401, it is treated as if driving on a normal route. . In this way, attention can be prevented from being overwhelmed by slight shaking, and attention given when necessary can be made more effective.

[0055] Then, in the caution guidance state 403, caution guidance is provided to prompt the driver's passenger to prevent car sickness. Here, as guidance for caution information, we will provide guidance for safe driving such as automatically guiding the resting area around the area, prompting the user to open windows, and reducing the speed. Here, it is conceivable to provide steps for the attention information and guide the attention information according to the steps. For example, prompt the user to open the window at the first stage, and if the shaking continues, guide the driving at a reduced speed, and if further shaking, automatically guide the resting area around and encourage them to take a break It can also be in the form of It is also possible to set the route in consideration of car sickness by setting passengers in the initial settings in advance.

FIG. 5 is a flowchart for explaining the attention guidance process during travel. First, it is determined whether or not the vehicle sickness prevention setting has been made (step S501). If car sickness prevention is not set (step S501: No), the series of processing ends. If vehicle sickness prevention is set (step S501: Yes), it is determined whether or not the acceleration sensor 317 has an input of X (G) or more (step S502). When the input exceeds X (G), it is detected that the moving object has shaken. If there is no input greater than X (G) (step S502: No), the series of processing ends.

[0057] If there is an input of X (G) or more (step S502: Yes), a timer is started (step S503), and the counter value is set to 1 (step S504). Next, it is determined whether or not the timer has passed X minutes (step S505). If a predetermined number of shakings are detected during this X minute, a warning will be given, so if the predetermined number of times is not reached, if it reaches X minutes in the meantime, it will be restored. It is necessary to Therefore, if it is determined that the timer has passed X minutes (step S5 05: Yes), the timer is stopped, the timer is reset to 0, and the counter is reset to 0 (step S506). Then, the process returns to step S502.

If it is determined that the timer has not passed X minutes (step S505: No), it is determined whether or not the acceleration sensor 317 has an input of X (G) or more (step S507). If there is no input of X (G) or more (step S507: No), the process proceeds to step S509. If there is an input greater than or equal to X (G) (step S507: Yes), the timer is started and the counter value is counted by one (step S508). Next, it is determined whether or not the timer has passed X minutes (step S509). If it is determined that the timer has passed X minutes (step S509: Yes), the process proceeds to step S506.

[0059] If it is determined that the timer has not passed X minutes (step S509: No), it is determined whether or not the counter has reached a predetermined number of times (step S510). If the counter has not reached the preset number (step S510: No), the process returns to step S507. When the counter reaches the predetermined number of times (step S510: Yes), a warning is given (step S511). Voice guidance and rest area guidance will be started as attention guidance. Specifically, it provides guidance on safe driving such as automatically guiding nearby rest areas, encouraging windows to open, and reducing speed. Then, a series of processing ends.

[0060] FIG. 6 is a flowchart illustrating a process for searching while avoiding an avoidance position when searching for a route. As explained in Fig. 5, it is possible to determine whether or not there is a large amount of vibration on the route being traveled. Force S that can be used S. When traveling next time, the route is searched so as to avoid a point where the vibration is large. It is preferable. Therefore, a description will be given of processing for avoiding a point to be avoided (hereinafter referred to as an avoidance point) stored when the shaking is large.

First, the destination of the moving body is set (step S601). Next, a route to the set destination is searched (step S602). Then, it is determined whether or not the searched route includes an avoidance position (step S603). When the searched route includes the avoidance position (step S6 03: Yes), the route that avoids the avoidance position is searched again (step S604). After re-searching, return to step S603. If the searched route does not include the avoidance position (step S603: No), the route is specified (step S605) and the route is guided (step S606). And a series of actions End the process.

FIG. 7 is a flowchart for explaining processing for setting to avoid the avoidance position when setting a route. First, the destination of the moving body is set (step S701). Next, a route to the set destination is set (step S702). Next, it is determined whether or not the destination is the same destination (step S703). That is, it is determined whether or not the same destination as the previously set destination is set again. If it is determined that the destination is not the same destination (step S703: No), the series of processing ends.

If it is determined that the destination is the same destination (step S703: Yes), it is determined whether or not the route is the same route (step S704). That is, it is determined whether or not the same route as the previously set route is set again. If it is determined that they are not on the same route (step S704: No), the series of processing ends. If it is determined that the route is the same route (step S704: Yes), the route is set again to avoid the avoidance position (step S705). Then, a series of processing is completed.

[0064] According to the embodiment described above, the driver is alerted to shaking, and car sickness can be prevented in advance. In addition, it is possible to provide guidance after a certain frequency of shaking, rather than providing guidance immediately after a large shaking occurs. As a result, it can respond to prevent car sickness when necessary. For example, it is possible to prevent the driver and passengers from getting sick of car sickness by guiding a path that is difficult to get sick. In addition, driver's and passengers' car sickness can be prevented by giving break guidance and warning.

Note that the navigation method described in the present embodiment can be realized by executing a prepared program 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, flexible disk, CD_ROM, M0, or DVD, and is executed by being read from the recording medium 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] detection means for detecting the acceleration of the moving object;

Determination means for determining whether or not the acceleration detected by the detection means is above a certain level;

Guidance means for guiding attention information when the determination means determines that the acceleration is greater than a certain level, and

A navigation device comprising:

2. The navigation device according to claim 1, wherein the guide means guides the attention information by displaying information that prompts the mobile body to decelerate.

[3] comprising setting means for setting whether to guide the attention information;

2. The navigation apparatus according to claim 1, wherein the guidance means guides the attention information when the guidance means is set to guide.

[4] The determination means may determine that the acceleration is more than a certain level when the detection means detects an acceleration of a certain magnitude or more when the frequency is more than a certain level. 1. The navigation device according to 1.

[5] The determination means measures the force time when an acceleration of a certain level or more is detected by the detection means, and the number of times the acceleration of a certain level or more is applied before a predetermined time elapses. The navigation device according to any one of claims 1 to 4, wherein when the predetermined number of times or more is reached, the acceleration is determined to be greater than a certain level.

[6] a detection process for detecting the acceleration of the moving object;

A determination step of determining whether or not the acceleration detected by the detection step is above a certain level;

A guide step for guiding attention information when the determination step determines that the acceleration is greater than a certain level of force, and

A navigation method comprising:

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

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

[9] detection means for detecting the acceleration of the moving object;

Storage means for storing position information indicating the position of the determined moving body when the determination means determines that the acceleration is a force above a certain level;

Destination setting means for setting the destination of the mobile body;

Route search means for searching for a route to the destination set by the destination setting means,

The navigation device is characterized in that the route search means searches for a route that avoids a position indicated by the position information stored in the storage means.

[10] Destination setting means for setting the destination,

Route setting means for setting a route to the destination set by the destination setting means;

Detecting means for detecting acceleration of the moving body;

Determination means for determining whether or not the acceleration of the moving body detected by the detection means is greater than a certain level while traveling on the route set by the route setting means;

Storage means for storing position information indicating the position of the determined moving body when the determination means determines that the acceleration is greater than a certain level;

When the same destination as the destination previously set by the destination setting means is set again and the same route as the path previously set by the route setting means is searched again, the route setting Control means for controlling the means to reset the route to avoid the position indicated by the position information stored in the storage means;

A navigation device comprising: