JP2008241602A - Navigation device, program, and data structure for route search - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a route searching method of searching for a useful route following user's intention in consideration of the periphery of a facility, when a prescribed facility is designated as a destination. <P>SOLUTION: A navigation device stores route searching data wherein facility position data are correlated with road network data beforehand. The navigation device specifies the road network data corresponding to the facility by referring to the route searching data based on the facility set as the destination. The navigation device searches for a route from a starting place to the destination based on the specified road network data. Accordingly, the navigation device can search for a useful route following user's intention in consideration of not only the facility position data showing the position of the facility set as the destination but also a road network corresponding to the facility. Consequently, wrong guidance of a vehicle can be prevented. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a method for searching for a route to a destination by a navigation device.

  A route search function is provided in a car navigation device, a map providing application using the Internet, and the like. The route search function is a function that automatically calculates a route from a geographical departure point to a destination using road network data and presents it to the user.

  Generally, when a predetermined facility is set as a destination, the route search function searches for a route based on true position data indicating the true position of the facility. The true position is a point where the facility actually exists, for example, the position of the center point of the facility. That is, the conventional route search function searches for a route based on the true position of the facility regardless of the entrance of the facility. Therefore, the conventional route search function sometimes presents the user with the back street closest to the true position as the route to the destination even though the entrance of the facility faces the main street. In this case, since there is no entrance along the back street, there is a problem that the user cannot enter the destination facility.

  In order to solve this problem, a method is known in which feature data corresponding to each facility is included in the road network data in advance, and the route search function searches for a route in consideration of access to the facility. (For example, patent document 1).

  Also, as guidance point information to the facility set as the destination, entrance location data indicating the location of the entrance of the facility is stored in advance, and the route search function determines the route based on the entrance location data of the facility. Methods for searching are known (for example, Patent Documents 2 to 5).

  Furthermore, as guidance point information for the facility set as the destination, identification information of the road to which each facility is connected is stored in advance, and the route search function searches for a route in consideration of the road to which the facility is connected. A method is known (for example, Patent Document 6).

  Note that Patent Document 7 discloses data used for searching a route to a destination, which stores main destination information about the destination and a plurality of subordinate destination information subordinate to the destination. The data structure is shown.

JP 2005-265491 A Japanese Patent Laid-Open No. 11-83516 Japanese Patent Laid-Open No. 10-281787 JP 2003-148983 A Japanese Patent No. 36551784 JP 2002-323337 A JP 2006-266965 A

  However, the route search function using the method as described above only searches for a route to the facility designated as the destination, and it is not possible to search for routes to a plurality of parking lots around the facility or in the vicinity. Can not. That is, it is not possible to search for a route in consideration of a plurality of parking lots in the vicinity of the facility or in the vicinity, and to provide useful guidance in accordance with the user's intention.

  Examples of the problems to be solved by the present invention include those described above. An object of the present invention is to search for a useful route in accordance with a user's intention in consideration of a plurality of parking lots around and near the facility when a predetermined facility is designated as a destination.

  The invention according to claim 1 is a navigation device, a route search data storage for storing route search data in which facility position data indicating a facility location and road network data indicating a road network are associated with each other. And a route search means for searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination.

  The invention according to claim 9 is a route search data, which is a route search step, and stores route search data in which facility position data indicating a facility location and road network data indicating a road network are associated with each other. And a route search step of searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination.

  According to a tenth aspect of the present invention, there is provided a route search program executed on a computer, wherein route search data in which facility location data indicating a facility location is associated with road network data indicating a road network is obtained. Storing the route search data storage means, and setting the facility as a destination, causing the computer to function as a route search means for searching a route from the departure place to the destination based on the road network data. Features.

  According to a twelfth aspect of the present invention, there is provided a route search data structure, wherein facility location data indicating a facility location and road network data indicating a road network are associated with each other.

  In a preferred embodiment of the present invention, route search data storage means for storing route search data in which facility location data indicating the location of a facility and road network data indicating a road network are associated with each other, and as a destination Route setting means for searching for a route from a departure place to the destination based on the road network data when the facility is set.

  The navigation device stores route search data in which facility location data and road network data are associated with each other in advance. The navigation device identifies the road network data corresponding to the facility by referring to the route search data based on the facility set as the destination. Then, the navigation device searches for a route from the departure place to the destination based on the identified road network data. According to this, since the navigation device can search for a route in consideration of not only the facility location data indicating the location of the facility set as the destination but also the road network corresponding to the facility, erroneous navigation of the vehicle Can be prevented.

  In one aspect of the navigation device, the road network data includes link data indicating a link corresponding to a road on which a first related part related to the facility exists. According to this, the navigation device stores the route search data in which the facility position data and the link data of the first related part related to the facility are associated in advance. Therefore, the navigation device does not simply search for a route to be guided to the facility set as the destination, but based on the link data of the first related part related to the facility, the navigation device takes a useful route in consideration of the periphery of the facility. Can be explored.

  In another aspect of the navigation device, the road network data includes node data indicating a node close to the facility or a first related part related to the facility. According to this, the navigation device stores the route search data in which the facility position data and the node data of the facility or the first related part of the facility are associated in advance. Therefore, the navigation apparatus can search for a useful route considering the surroundings of the facility based on the node data of the facility or the first related part.

  In another aspect of the navigation device, the navigation device further includes current position data acquisition means for acquiring current position data indicating a current position of the vehicle, and the route search means uses the route search data based on the current position data. A route from the departure point to the destination based on a node closest to the current position of the vehicle among the nodes corresponding to the facility set as the destination or the first related part related to the facility. Explore. According to this, the navigation device searches for a route from the departure place to the facility that is the destination based on the node closest to the current position of the vehicle. Therefore, even when there are a plurality of first related parts related to the facility, it is possible to easily search for a route that leads from the vehicle to the closest first related part based on the node.

  In another aspect of the navigation device, the route search data storage unit associates the facility position data, the first related part position data indicating the position of the first related part, and the road network data. The route search data includes a first hierarchy as the facility location data, and a second hierarchy as the road network corresponding to the first associated portion location data and the first associated portion. It is a hierarchical structure as data. Thus, the navigation device stores in advance the route search data in which the facility location data, the first related portion location data, and the road network data corresponding to the first related portion are hierarchically linked, and the route search is performed. By searching for a route from the departure point to the destination based on the business data, it is possible to search for a route that considers not only the facility but also the related parts related to the facility.

  In another aspect of the navigation device, the first related part includes a parking lot provided at a position different from the facility. According to this, the navigation apparatus can search for a route useful for the user in consideration of a parking lot provided in a place different from the facility.

  In another aspect of the navigation device, the route search data storage means indicates the facility position data, the first related part position data, and the position of the second related part related to the first related part. Route search data in which the second related portion position data and the road network data are associated with each other in a hierarchical structure is stored, and the route search data uses the first hierarchy as the facility position data, and the second hierarchy Is a road network data corresponding to the first related part position data and the first related part, and a third hierarchy is a road network data corresponding to the second related part position data and the second related part. The road network data corresponding to the second related part is close to the link data indicating the link corresponding to the road where the second related part exists and the second related part. It includes node data indicating over de. According to this, the navigation device includes facility location data, road network data corresponding to the first associated portion location data and the first associated portion, and road network data corresponding to the second associated portion location data and the second associated portion. Is stored in advance, and the route from the departure point to the destination is searched based on the route search data, so that not only the relevant part of the facility but also the relevant part It is possible to search for a route in consideration of the related part. In this way, since the route search data has a hierarchical structure, even if there are multiple terminals and buildings by genre in one facility such as an airport, it corresponds to each related part. The location data and road network data to be stored can be organized and stored.

  In still another aspect of the navigation device, the second related part includes an entrance of the parking lot. According to this, the navigation apparatus can search for an appropriate route for guiding the vehicle to the entrance of the parking lot in consideration of the entrance of the parking lot. Therefore, it is possible to solve the problem of erroneous guidance to the back street where there is no entrance.

  According to another aspect of the present invention, there is provided a route search data storage for storing route search data in which facility position data indicating a facility location and road network data indicating a road network are associated with each other. And a route search step of searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination. Such a route search method can also search for a route in consideration of not only the facility location data indicating the location of the facility set as the destination but also the road network corresponding to the facility. Can be prevented.

  In still another aspect of the present invention, a route search program executed on a computer includes route search data in which facility location data indicating a facility location and road network data indicating a road network are associated with each other. When the facility is set as a route search data storage means to be stored and a destination, the computer is caused to function as a route search means for searching a route from the departure place to the destination based on the road network data. By executing such a route search program on a computer, it is possible to search for a route in consideration of not only the facility location data indicating the location of the facility set as the destination but also the road network corresponding to the facility. Therefore, it is possible to prevent erroneous guidance of the vehicle.

  In yet another aspect of the present invention, the route search data structure is formed by associating facility position data indicating the position of a facility with road network data indicating a road network. According to this, it is possible to search for a route in consideration of not only the facility location data indicating the location of the facility set as the destination but also the road network corresponding to the facility, thus preventing erroneous vehicle guidance. can do.

  In one aspect of the route search data structure, the road network data includes link data indicating a link corresponding to a road on which a first related part related to the facility exists. According to this, instead of simply searching for a route to be guided to the facility set as the destination, based on the link data of the first related part related to the facility, a useful route in consideration of the periphery of the facility is searched. It becomes possible to do.

  In another aspect of the route search data structure, the road network data includes node data indicating a node close to the facility or a first related part related to the facility. According to this, based on the node data of the facility or the first related part, it is possible to search for a useful route considering the facility periphery.

  In another aspect of the data structure for route search, the road corresponding to the first related part position data indicating the position of the first related part and the first related part indicating the position of the first related part in the first hierarchy and the second hierarchy It has a hierarchical structure as network data. As described above, according to the route search data structure in which the facility position data, the first related portion position data, and the road network data corresponding to the first related portion are hierarchically linked, the route from the departure point to the destination is reached. When searching for a route, it is possible to search for a route in consideration of not only the facility but also the related portion related to the facility.

  In another aspect of the route search data structure, the first related part includes a parking lot provided at a position different from the facility. According to this, it is possible to search for a route useful for the user in consideration of a parking lot provided in a place different from the facility.

  In another aspect of the route search data structure, the first hierarchy is the facility data, the second hierarchy is the first related part position data and the road network data corresponding to the first related part, and the third hierarchy Is a hierarchical structure in which the second related part position data indicating the position of the second related part related to the first related part and the road network data corresponding to the second related part are provided and correspond to the second related part The road network data includes link data indicating a link corresponding to a road where the second related part exists, and node data indicating a node close to the second related part. As described above, the facility position data, the first related part position data and the road network data corresponding to the first related part, and the second related part position data and the road network data corresponding to the second related part are hierarchically arranged. According to the linked data structure for route search, when searching for a route from the departure point to the destination, it is possible to search not only the related part of the facility but also the route considering the related part of the related part. Become. In addition, since the route search data structure has a structure consisting of a plurality of hierarchies, even if there are a plurality of terminals and genre-specific buildings in one facility such as an airport, for example, Position data and road network data corresponding to a section can be organized and stored.

  In still another aspect of the route search data structure, the second related unit includes an entrance of the parking lot. According to this, it is possible to search for an appropriate route for guiding the vehicle to the entrance of the parking lot in consideration of the entrance of the parking lot. Therefore, it is possible to solve the problem of erroneous guidance to the back street where there is no entrance.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[Navigation device]
In this embodiment, when a user sets a predetermined facility as a destination, the navigation device searches for a route to the destination in consideration of the surroundings of the facility and a parking lot. In other words, the navigation apparatus according to the present embodiment takes a useful route in accordance with the user's intention in consideration of the surroundings of the facility and the parking lot when performing guidance for the facility designated by the user. It functions as a route search device for searching.

  FIG. 1 shows a configuration of a navigation device 100 according to an embodiment of the present invention. As shown in FIG. 1, the navigation device 100 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, and an audio output. A unit 50 and an input device 60 are provided.

  The autonomous positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13. The acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data. The angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.

  The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information.

  The system controller 20 includes an interface 21, a CPU 22, a ROM 23, and a RAM 24, and controls the entire navigation device 200.

  The interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

  A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50, and an input device 60 are mutually connected via a bus line 30. It is connected to the.

  The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.

  The data storage unit 36 is composed of, for example, an HDD and stores various data used for navigation processing such as map data and facility data.

  The communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and is jammed from a VICS (Vehicle Information Communication System) center (registered trademark) via a communication interface 37. Receive road traffic information such as traffic information and other information.

  The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on a display screen such as a display. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal display or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 is composed of, for example, a liquid crystal display device having a diagonal of about 5 to 10 inches, and is mounted near the front panel in the vehicle.

  The audio output unit 50 is a D / A converter that performs D / A conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20. 51, an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. Yes.

  The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

[Route search unit]
FIG. 2 is a functional block diagram of a route search unit 200 that searches for a useful route in accordance with the user's intention when the user designates a predetermined facility as a destination in consideration of the surroundings of the facility and a parking lot. It is. The route search unit 200 is actually composed of the components of the navigation device 100. As shown in FIG. 2, the route search unit 200 includes a data storage unit 201, a current position acquisition unit 202, a departure point setting unit 203, a destination setting unit 204, an option specifying unit 205, and a route searching unit 206.

  The data storage unit 201 stores map display data, road network data, route search data, and the like. The data storage unit 201 functions as a route search data storage unit in the present invention.

  The map display data is data used to display a map image to the user, and mainly includes image data corresponding to the map.

  The road network data is data indicating a network of roads constituting the map, and includes node data and link data. The node corresponds to a predetermined point such as an intersection on the road, and the node data is data indicating the node. The data indicating a node is, for example, a node ID (N01 or the like) for identifying each node, a geographical position coordinate (latitude and longitude) of each node, or the like. On the other hand, a link corresponds to one section of a road divided by an intersection or the like, and link data is data indicating a link. The data indicating the link is, for example, a link ID (L01 or the like) for identifying each link, a geographical position coordinate of each link, or the like. Note that the node data and link data included in the road network are well-known techniques, and thus detailed description thereof is omitted for convenience.

  The route search data will be described in detail with reference to FIGS. FIG. 3 is a diagram schematically showing a hierarchical structure of route search data. As illustrated, the route search data includes a point “P1” corresponding to the true position of the facility, a point “P2” corresponding to the entrance of the facility, and a point corresponding to the true position of the first parking lot of the facility. "P3", point "P4" corresponding to the entrance of the first parking lot of the facility, point "P5" corresponding to the true position of the second parking lot of the facility, corresponding to the entrance of the second parking lot of the facility This is a structure in which points “P6”. In the present embodiment, the first parking lot and the second parking lot are parking lots attached to the facility, but are not located in the facility, but are provided at positions different from the facility. When the route search data is shown in a superimposed display diagram (two-dimensional plan view) with a map, it is as shown in FIG. Further, when the route search data is shown in a superimposed display view with the road network data, it is as shown in FIG.

  FIG. 5 is a diagram schematically showing the data structure of route search data. As illustrated, the route search data includes a facility name, facility position data, a related part, related part position data, a link ID, and a node ID. The facility name is the name of a facility (such as a zoo or an airport) making up the map. The facility position data is position coordinates (latitude and longitude) indicating the true position of the facility. The true position is a point where the facility actually exists, for example, the position of the center point of the facility. In the present embodiment, the facility position data of the facility name “A facility” is the latitude and longitude (x1, y1) of the point “P1 (indicated by ★)” shown in FIG.

  The related part indicates a place related to the facility, such as an entrance of the facility A, a parking lot (true position), a parking lot entrance, and the like. The related part position data is position coordinates (latitude and longitude) indicating the position of the related part. In this embodiment, the related portion position data of the related portion “A facility entrance” is the latitude and longitude (x2, y2) of the point “P2” shown in FIG. The related portion position data of the related portion “first parking lot (true position)” is the latitude and longitude (x3, y3) of the point “P3”, and the related portion position of the related portion “first parking lot entrance”. The data is the latitude and longitude (x4, y4) of the point “P4”. Further, the related portion position data of the related portion “second parking lot (true position)” is the latitude and longitude (x5, y5) of the point “P5”, and the related portion position of the related portion “first parking lot entrance”. The data is the latitude and longitude (x6, y6) of the point “P6”.

  The link ID is information for identifying a link where a point corresponding to each entrance exists. In this example, the point “P2” corresponding to the related part “A facility entrance” exists on the link indicated by the link ID “L05”, as shown in FIG. 4B. Therefore, the link ID corresponding to the related part “A facility entrance” is “L05”. Similarly, the point “P4” corresponding to the related part “first parking lot entrance” and the point “P6” corresponding to “second parking lot entrance” also have the link ID “L05” as shown in FIG. ”On the link indicated by“ ”. Therefore, the link IDs corresponding to the related parts “first parking lot entrance” and “second parking lot entrance” are both “L05”.

  The node ID is information for identifying a node close to a point corresponding to each entrance. In the present embodiment, the point “P2” corresponding to the related part “A facility entrance” exists at an intermediate point between the nodes having the node ID “N01” and the node ID “N03” as shown in FIG. 4B. . Therefore, the node IDs corresponding to the related part “A facility entrance” are “N01” and “N03”. Also, the point “P4” corresponding to the related part “first parking lot entrance” is present near the node with the node ID “N01” as shown in FIG. 4B. Therefore, the node ID corresponding to the related part “first parking lot entrance” is “N01”. Furthermore, the point “P6” corresponding to the related part “second parking lot entrance” exists near the node with the node ID “N03” as shown in FIG. Therefore, the node ID corresponding to the related part “second parking lot entrance” is “N03”.

  Thus, by making the structure of the route search data into a hierarchical association data structure, guidance to the point “P02” corresponding to the entrance of the facility A and points corresponding to the first parking lot entrance of the facility A It becomes possible to search for a reliable and correct route that leads to the point “P06” corresponding to “P04” and the second parking lot entrance of the facility A and present it to the user.

  In this embodiment, when presenting a route to the user, position data indicating a true position is mainly used for indicating a destination, and position data indicating an entrance is mainly used for searching for a route.

  The current position acquisition unit 202 acquires position coordinates (latitude and longitude) indicating the current position of the vehicle as position data. As a method for acquiring position data, any navigation such as GPS navigation or hybrid navigation may be applied. In addition, since the measuring method of the present position of the vehicle by each navigation is a well-known technique, description is abbreviate | omitted for convenience. The current position acquisition unit 202 functions as current position acquisition means in the present invention.

  The departure point setting unit 203 sets the point indicated by the position data acquired by the current position acquisition unit 202 as the departure point. That is, the departure place setting unit 203 sets the current position of the vehicle as the departure place. In the present embodiment, the current position of the vehicle is set as the departure point, but the present invention is not limited to this, and an arbitrary point is determined based on the information specified by the user. It may be set.

  The destination setting unit 204 acquires information specified by the user, specifies the specified facility, and sets the destination based on the route search data. The user designates a destination facility in the navigation apparatus 100 by a predetermined operation. In this embodiment, the destination setting unit 204 refers to the route search data when the option is not specified by the option specifying unit 205 described later, and sets the point corresponding to the entrance of the facility designated by the user as the destination. Set. Specifically, when the user designates “A facility”, the destination setting unit 204 refers to the route search data, and associates the “A facility entrance” associated with the facility position data of the facility name “A facility”. ”Related portion position data is set as the destination. That is, the point “P2” shown in FIG. 4 is set as the destination.

  The option specifying unit 205 acquires information set by the user and specifies an option set by the user. The options are, for example, “go to parking lot”, “go to parking lot later”, and the like. The option “go to the parking lot” indicates that the vehicle to be driven by the user is not a designated facility, but goes directly to a parking lot near the facility. The option “go to the parking lot later” indicates that the vehicle driven by the user first goes to the facility, where the passengers get off and then go to the parking lot near the facility. When the user designates the destination, the user can set options by a predetermined operation as necessary.

  The destination setting unit 204 sets a destination according to the option specified by the option specifying unit 205.

  For example, when the option “go to the parking lot” is specified by the option specifying unit 205, the destination setting unit 204 refers to the route search data, and determines the point corresponding to the parking lot entrance of the designated facility. Set to. When there are a plurality of parking lot entrances of the designated facility, the destination setting unit 204 refers to the route search data based on the current position of the vehicle acquired by the current position acquisition unit 202, and most closely matches the current position of the vehicle. Set the point corresponding to the nearest parking lot entrance as the destination. Specifically, the destination setting unit 204 refers to the relevant part position data, link ID, and node ID of each parking lot entrance in the route search data based on the position data indicating the current position of the vehicle and the road network data. The point corresponding to the parking lot entrance closest to the current position of the vehicle is set as the destination.

  In this embodiment, the destination setting unit 204 sets the point corresponding to the parking lot entrance closest to the current position of the vehicle as the destination, but the present invention is not limited to this. It is good also as setting the point corresponding to the parking lot entrance most accessible from the present position of a vehicle as a destination. That is, a condition for specifying a parking lot entrance to be set as a destination can be arbitrarily set from a plurality of parking lot candidates.

  In addition, for example, when the option “go to the parking lot later” is specified by the option specifying unit 205, the destination setting unit 204 refers to the route search data and selects a point corresponding to the designated facility entrance. Set a point corresponding to the parking lot entrance of the designated facility.

  The route search unit 206 searches the route from the departure point set by the departure point setting unit 203 to the destination set by the destination setting unit 204 with reference to the route search data and the road network data. Specifically, the route search unit 206 refers to the route search data and specifies the link ID corresponding to the entrance set as the destination. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route passing through the link indicated by the specified link ID. That is, the route search unit 206 searches for a route from the departure point to the destination so as to pass through the road corresponding to the link indicated by the specified link ID. Since the route search method based on the road network data after the starting point and the destination are determined is a well-known technique, the description is omitted for convenience.

  Specifically, when the point “P02” corresponding to the related part “A facility entrance” is set as the destination, the route search unit 206 refers to the route search data, and thereby the related part “A facility entrance”. The link ID “L05” corresponding to is specified. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route passing through the link indicated by the specified link ID “L05”. That is, the route search unit 206 searches for a correct route from the departure point to the destination so as to pass through the road 312 corresponding to the link indicated by the link ID “L05”.

  The departure point setting unit 203, the destination setting unit 204, and the route search unit 206 function as route search means in the present invention.

  Each part of the route search unit 200 is configured by the system controller 20 shown in FIG. That is, the above-described units are realized by the system controller 20 executing a predetermined program.

[Route search method]
Next, when the user designates a predetermined facility as a destination, a method for searching for a useful route in accordance with the user's intention by the route search unit 200 in consideration of the vicinity of the facility and a parking lot will be described. .

  First, with reference to FIG. 6, a route search method when the user does not set an option and “A facility” is designated as the destination will be described. FIG. 6 is a diagram illustrating a route to be searched when there is no option.

  The user designates “A facility” as a destination from the facilities displayed on the display 44 of the navigation device 100 by a predetermined operation. The departure point setting unit 203 of the route search unit 200 first sets a departure point based on the position data indicating the current position of the vehicle acquired by the current position acquisition unit 202. Specifically, the departure point setting unit 203 acquires position data indicating the current position of the vehicle 400A by the current position acquisition unit 202, and sets the position of the vehicle 400A shown in FIG. 6 as the departure point.

  Subsequently, the destination setting unit 204 acquires information specified by the user, specifies the specified facility, and sets the destination based on the route search data. Specifically, when the user designates “A facility”, the destination setting unit 204 refers to the route search data and associates the “A facility” associated with the facility position data of the facility name “A facility”. The destination is set based on the relevant portion position data of “entrance”. That is, the point “P2” shown in FIG. 6 is set as the destination.

  Then, the route search unit 206 searches for a route from the departure point set by the departure point setting unit 203 to the destination set by the destination setting unit 204 with reference to the route search data and the road network data. Specifically, the route search unit 206 specifies the link ID “L05” corresponding to the related unit “A facility entrance” set as the destination by referring to the route search data. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route passing through the link indicated by the specified link ID “L05”. That is, the route search unit 206 searches for a correct route from the departure point to the destination so as to pass through the road 312 corresponding to the link indicated by the link ID “L05”, as shown in FIG. The navigation device 100 presents the searched correct route to the user by displaying it on the display 44 and guides the vehicle.

  In the conventional navigation apparatus, when the user designates “A facility” as the destination, the true position of the A facility is set as the destination, and the route from the departure point to the destination is searched. Therefore, in the example shown in FIG. 6, the user searches for an incorrect route that ends at the point “P20” (indicated by a ☆ mark) on the road 313 closest to the point “P1” corresponding to the true position of the facility A, Was presenting. That is, in the conventional navigation apparatus, although the road closest to the true position of the A facility is the road 313 even though the entrance of the A facility is actually on the road 312 side, the point “ An incorrect route ending with “P20” was searched for and presented.

  On the other hand, in the navigation device 100 equipped with the route search unit 200 of the present embodiment, the vehicle is surely placed in the facility based on the route search data, instead of being simply guided to the designated facility as in the past. In order to be guided, it can be guided in more detail to the entrance of the facility. Therefore, in the vehicle guidance, the problem of erroneous guidance through the back of a facility that does not have an entrance can be solved.

  Next, a route search method when the user designates “A facility” as the destination and sets the option “go to parking” will be described with reference to FIG. FIG. 7 is a diagram illustrating a route searched when “go to parking lot” is set as an option.

  The user designates a specific facility as a destination from the facilities displayed on the display 44 of the navigation device 100 by a predetermined operation. Furthermore, the user sets options such as “go to the parking lot” and “go to the parking lot later” if necessary by a predetermined operation.

  The departure point setting unit 203 of the route search unit 200 first sets a departure point based on the position data indicating the current position of the vehicle acquired by the current position acquisition unit 202. Specifically, the departure point setting unit 203 acquires position data indicating the current position of the vehicle 400A by the current position acquisition unit 202, and sets the position of the vehicle 400A shown in FIG. 7A as the departure point.

  Subsequently, the option specifying unit 205 acquires information set by the user and specifies the option set by the user. Specifically, the option specifying unit 205 specifies the option “go to the parking lot”.

  The destination setting unit 204 acquires information specified by the user, specifies the specified facility, and sets the destination based on the route search data. When the option is specified by the option specifying unit 205, the destination setting unit 204 sets the destination in consideration of the option. Specifically, when the user designates “A facility” and sets the option “go to parking lot”, the destination setting unit 204 refers to the route search data, and determines the facility position of the facility name “A facility”. Check the related “parking lot entrance” linked to the data.

  At this time, if there is one “parking lot entrance” in the related part, the destination setting unit 204 sets the destination based on the relevant part position data of the related part “parking lot entrance”. That is, the point corresponding to the related part “parking lot entrance” is set as the destination. On the other hand, if there are a plurality of “parking lot entrances” present in the related part, the destination setting unit 204 refers to the route search data and the road network data based on the current position of the vehicle acquired by the current position acquisition unit 202. Then, the “parking lot entrance” closest to the current position of the vehicle is specified.

  Specifically, the destination setting unit 204 refers to the route search data as shown in FIG. 5 and confirms the related part associated with the facility position data of the facility name “A facility”. Check the two parking lot entrances, “car park entrance” and “second parking lot entrance”. Therefore, the destination setting unit 204, based on the position data indicating the current position of the vehicle 400A acquired by the current position acquisition unit 202, the related units “first parking lot entrance” and “second parking lot” in the route search data. By referring to the related portion position data, link ID, and node ID of each “entrance”, the parking lot entrance closest to the current position of the vehicle 400A is specified.

  Here, an example of a method for identifying the parking lot entrance closest to the current position of the vehicle 400A will be described. For example, when the node ID “N01” of the related part “first parking lot entrance” and the node ID “N03” of the related part “second parking lot entrance” are compared based on the current position of the vehicle 400A, FIG. As shown in b), the node with the node ID “N01” is closer to the current position of the vehicle 400A. Therefore, the destination setting unit 204 specifies that the parking lot entrance closest to the current position of the vehicle 400A is the “first parking lot entrance”. Thus, by comparing the node IDs associated with the related portions, it is possible to easily identify the parking lot entrance closest to the vehicle 400A. The destination setting unit 204 sets a destination based on the related portion position data of the identified “first parking lot entrance”. That is, as shown in FIG. 7A, the point “P4” corresponding to the related part “first parking lot entrance” is set as the destination.

  In addition, although the present Example demonstrates the case where node ID is utilized as an example, this invention is not limited to this, The positional data which shows the present position of a vehicle, and the relevant part of each parking lot entrance Based on the position data, the link ID, and the node ID, a method for specifying the parking lot entrance closest to the vehicle is arbitrary.

  The route search unit 206 searches for a route from the departure point set by the departure point setting unit 203 to the destination set by the destination setting unit 204 with reference to the route search data and the road network data. Specifically, the route search unit 206 specifies the link ID “L05” corresponding to the related part “first parking lot entrance” set as the destination by referring to the route search data. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route passing through the link indicated by the specified link ID “L05”. In other words, as shown in FIG. 7A, the route search unit 206 searches for a correct route from the departure point to the destination so as to pass through the road 312 corresponding to the link indicated by the link ID “L05”. The navigation device 100 presents the searched correct route to the user by displaying it on the display 44 and guides the vehicle.

  In the above-described example, an example is described in which the current position acquisition unit 202 acquires position data indicating the current position of the vehicle 400A and sets the position of the vehicle 400A illustrated in FIG. Here, an example will be described in which the current position acquisition unit 202 acquires position data indicating the current position of the vehicle 400B and sets the position of the vehicle 400B illustrated in FIG.

  In this case, the destination setting unit 204, based on the position data indicating the current position of the vehicle 400B obtained by the current position obtaining unit 202, the related parts “first parking lot entrance” and “second parking place” in the route search data. The parking lot entrance closest to the current location of the vehicle 400B is specified by referring to the relevant portion position data, link ID, and node ID of each “car entrance”.

  For example, when comparing the node ID “N01” of the related part “first parking lot entrance” and the node ID “N03” of the related part “second parking lot entrance” based on the current position of the vehicle 400B, FIG. As shown in b), the node with the node ID “N03” is closer to the current position of the vehicle 400B. Therefore, the destination setting unit 204 specifies that the parking lot entrance closest to the vehicle 400B is the “second parking lot entrance”. The destination setting unit 204 sets the destination based on the related portion position data of the identified “second parking lot entrance”. That is, as shown in FIG. 7A, the point “P06” corresponding to the related part “second parking lot entrance” is set as the destination.

  Then, the route search unit 206 identifies the link ID “L05” corresponding to the related part “second parking lot entrance” set as the destination by referring to the route search data. Further, the route search unit 206 automatically calculates using the road network data and searches for a correct route from the departure point to the destination so as to pass through the road 312 corresponding to the link indicated by the identified link ID “L05”. To do. The navigation device 100 displays the searched route on the display 44 to present it to the user, and guides the vehicle.

  According to this, since the destination can be set not at the true position of the facility but at the parking lot entrance, the vehicle can be directly guided to the parking lot. In addition, when there are a plurality of parking lots at the facility designated as the destination, it is possible to identify the closest parking lot from the current position of the vehicle and search for a useful route from the departure location to the identified parking lot. .

  As described above, the navigation apparatus 100 equipped with the route search unit 200 of the present embodiment hierarchically associates the facility's true position data with the position data, link IDs, and node IDs of the related parts associated therewith. By holding route search data in advance and searching for a route from the departure point to the destination based on the route search data, the user can be guided appropriately to the place where the vehicle is parked and stopped without getting lost around the facility. can do. That is, it is possible to execute guidance to the facility entrance in consideration of specifying an appropriate road and useful guidance to a plurality of parking lots around and near the facility. Further, by making the route search data have a hierarchical association structure, it is possible to reduce the amount of data and reduce the CPU load.

[Route search processing]
Next, route search processing according to the present embodiment will be described with reference to FIGS. FIG. 8 is a flowchart of the first route search process when no option is set. FIG. 9 is a flowchart of the second route search process when the option “go to parking lot” is set. The route search unit 200 is composed of the components of the navigation device 100. The first route search process and the second route search process are executed by the system controller 20 shown in FIG. It is realized by doing.

  First, the first route search process when no option is set will be described with reference to FIG.

  The user designates a specific facility as a destination by a predetermined operation. The departure point setting unit 203 of the route search unit 200 sets a departure point based on the position data indicating the current position of the vehicle acquired by the current position acquisition unit 202 (step S1). Subsequently, the destination setting unit 204 acquires information designated by the user and identifies the designated facility. Further, the destination setting unit 204 refers to the route search data based on the identified facility, and identifies the related portion position data of the related portion “facility entrance” linked to the facility position data of the facility. The entrance of the designated facility is set as the destination (step S2).

  Then, the route search unit 206 refers to the route search data and identifies the link ID corresponding to the related unit “facility entrance” set as the destination. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route from the departure point to the destination and passing through the link indicated by the specified link ID. That is, the route search unit 206 searches for a route from the departure point to the destination through the road corresponding to the link indicated by the specified link ID (step S3). Thereby, the first route search process is completed. The navigation device 100 displays the searched route on the display 44 to present it to the user, and guides the vehicle.

  Next, the second route search process when the option “go to parking” is set will be described with reference to FIG. 9.

  The user designates a specific facility as a destination by a predetermined operation and sets an option “go to parking”. The departure place setting unit 203 of the route search unit 200 sets the departure place based on the position data indicating the current position of the vehicle acquired by the current position acquisition unit 202 (step S11). Subsequently, the destination setting unit 204 acquires information specified by the user and identifies the facility specified by the user. Further, the option specifying unit 205 acquires information set by the user and specifies the option “go to parking” set by the user. When the option “go to the parking lot” is specified, the destination setting unit 204 refers to the route search data based on the facility designated by the user, and the related unit associated with the facility position data of the facility “Parking entrance” is confirmed, and it is determined whether or not there are a plurality of parking entrances (step S12).

  When there is only one parking lot entrance (step S12; No), the destination setting unit 204 identifies the relevant portion position data of the relevant portion “parking lot entrance” and aims at the entrance of the designated facility parking lot. Set to the ground (step S13).

  On the other hand, when there are two or more parking lot entrances (step S12; No), the destination setting unit 204 is based on the position data indicating the current position of the vehicle acquired by the current position acquisition unit 202, and is used for route search data. And the related part “parking lot entrance” closest to the current position of the vehicle is specified with reference to the road network data (step S15). Subsequently, the destination setting unit 204 specifies related portion position data of the specified related portion “parking lot entrance”, and sets the parking lot entrance closest to the current position of the vehicle as the destination (step S16).

  Then, the route setting unit 206 refers to the route search data and identifies the link ID corresponding to the related unit “parking lot entrance” set as the destination. Further, the route search unit 206 automatically calculates using the road network data, and searches for a route from the departure point to the destination and passing through the link indicated by the specified link ID. That is, the route search unit 206 searches for a route from the departure point to the destination so as to pass through the road corresponding to the link indicated by the specified link ID (step S14). Thereby, the second route search process is completed. The navigation device 100 displays the searched route on the display 44 to present it to the user, and guides the vehicle.

  Here, with reference to FIG. 10 and FIG. 11, the effect of the route search method realized by the route search unit 200 of the present embodiment executing the first route search process and the second route search process will be specifically described. . FIG. 10 is a diagram illustrating a route that the facility entrance leads to the parking lot of one facility. Moreover, FIG. 11 is a figure which shows the path | route guided to the facility which enters using a toll road.

  As shown in FIG. 10 (a), in the case of Facility B that has one facility entrance and cannot be entered from any other location, it corresponds to the facility entrance to guide the vehicle to the parking lot. The route to the point “P12” must be searched. However, in the conventional route search method, the road network data is referred to identify the link with the link ID “L21” closest to the point “P11” corresponding to the parking lot true position, as shown in FIG. And searching for an incorrect route with the end of the road indicated by the link as the destination. On the other hand, in the route search method by the route search unit 200 of the present embodiment, in the route search data, the related portion position data of the related portion “B facility entrance” linked to the facility position data of the facility name “B facility”. Since the link ID and the node ID are stored, a route passing through the link indicated by the link ID “L22” corresponding to the related part “B facility entrance” can be searched. That is, as shown in FIG. 11B, the route search unit 206 can search for a correct route from the departure point to the destination so as to pass the road corresponding to the link indicated by the link ID “L22”. .

  In addition, as shown in FIG. 11A, in the case of a C facility that enters using a toll road corresponding to the broken link indicated by the link ID “L33”, the location data of the entrance of the facility is held. However, in the conventional route search method, if the user sets “do not use a toll road” in the navigation device, an incorrect route as shown in FIG. That is, in the conventional route search method, a correct route cannot be searched unless the user sets “use toll road” in the navigation device. On the other hand, in the route search method by the route search unit 200 of the present embodiment, in the route search data, the related portion position data of the related portion “C facility entrance” linked to the facility position data of the facility name “C facility”. Since the link ID and the node ID are stored, the route can be searched after determining whether the end of the route is a general road or a toll road based on the link ID. That is, even if the user sets “do not use a toll road” in the navigation device 100, the route search unit 206 can enter the link ID “ A route passing through the link indicated by “L33” is searched. That is, the route search unit 206 can search for a correct route from the departure point to the destination through the link ID “L33” as shown in FIG.

  As described above, the route search unit 200 departs based on the route search data in which the true location data of the facility, the location data of the related part associated therewith, the link ID, and the node ID are hierarchically linked. By searching for a route from the ground to the destination, it is possible to execute guidance to the facility entrance in consideration of specific roads and useful guidance to a plurality of parking lots around and near the facility.

  The route search unit 200 in this embodiment is particularly useful when searching for a route to an airport or the like. In this case, the route search data has the hierarchical structure of the facility location data of the airport, the true location of the parking lot at the airport and the relevant location data of the parking lot entrance, the link ID, and the node ID. Since the route search data has a hierarchical structure, even if there are multiple terminals and buildings by genre within a single facility, such as at an airport, it is related to the parking lot corresponding to each terminal and genre. Data can be organized and stored. Furthermore, based on the option information set by the user, the route search unit 200 can search the route according to the user's purpose by referring to the route search data. The route search unit 200 can search, for example, a route that directly leads to an airport when the user aims at pick-up, and a route that leads to a parking lot when the user aims at boarding.

  In the present embodiment, the route search data is hierarchically linked to the facility position data, the related portion position data, the link ID, and the node ID, but the present invention is not limited to this. The link ID for identifying the link where the entrance of the facility exists and the node ID for identifying the node close to the entrance of the facility may be linked directly to the facility location data. In this case, the route search unit 200 sets the destination to the true position of the facility designated by the user as in the conventional case, but sets the destination when searching for a route based on the route search data and the road network data. In order to consider the link ID associated with the designated facility, it is possible to search for the correct route where the facility entrance exists.

  Further, in the present embodiment, the route search data, as shown in FIG. 3, uses the first hierarchy as facility position data indicating the facility true position, and the second hierarchy indicates the facility entrance, the parking lot true position, and the parking lot entrance. The hierarchical structure includes position data, link ID, and node ID. However, the present invention is not limited to this, and as shown in FIG. 12, the route search data includes facility position data indicating the true position of the facility as the first hierarchy and the facility entrance and parking lot as the second hierarchy. A hierarchical structure may be used in which the position data indicating the true position, the link ID, and the node ID are used, and the third hierarchy is the position data indicating the parking lot entrance, the link ID, and the node ID. That is, the data stored in each layer can be arbitrarily set as long as the facility true position, the position of the related part, the link ID, and the node ID are hierarchically linked.

  In the present embodiment, the route search data has a configuration in which facility location data is associated with road network data including a link ID and a node ID, as shown in FIG. However, the present invention is not limited to this, and the route search data may be association data for associating the facility position data with the road network data. For example, in the case where facility location data and road network data entity data are stored in different locations, the route search data corresponds to facility location data and road network data by an address indicating the storage location of each entity data. The attached data may be used. Further, if an ID or the like is assigned to entity data stored in another location, the route search data is data in which facility location data and road network data are associated with each other by the ID of each entity data. May be. As described above, when the route search data is the association data, the route search unit 200 uses the facility location data as shown in FIG. 5 based on the route search data and the entity data stored in another location. And the road network are associated with each other, and the first route search process and the second route search process are executed.

  In the present embodiment, the route search data includes data associated with facility location data indicating the true location of the facility, location data of the facility entrance, link ID and node ID, and location data of parking lots existing around the facility. However, the present invention is not limited to this, and the data stored in the route search data can be arbitrarily set.

  For example, in the route search data, the route search unit is associated with the priority order based on the user's desired conditions (for example, within the radius L of the facility, the time charge M yen or less, etc.) as data related to the parking lot. 200 can identify a parking lot to be set as a destination from among the parking lot candidates based on the priority order, and can search for a route that leads to the parking lot. Therefore, the navigation apparatus 100 can alert | report to a user by displaying the path | route to the parking lot specified based on the priority order or carrying out voice guidance.

  Furthermore, in the route search data, the route search unit 200 associates the data indicating the parking lot availability and the data indicating the traffic jam on the road so that the route search unit 200 can determine whether the parking lot is full or the road is jammed. After adding the situation as a consideration, it is possible to identify a parking lot to be set as a destination and search for a useful route. Note that either statistical or real-time data may be applied to the data indicating the parking lot availability or the traffic congestion on the road.

  In addition, in the route search data, the route search unit 200 is configured to link the distinction data of the installation position of the facility or the parking lot (whether it is located on the same side with respect to the road, etc.), so that the route search unit 200 The route can be searched in consideration of convenience when walking.

  In addition, in the route search data, by associating the data on the distance from the parking lot to each facility on foot, the route search unit 200 considers the distance to walk to each facility, and the most convenient parking It is possible to search for a route that leads to the parking lot.

  In the present embodiment, the route search unit 200 is configured according to the configuration requirements of the navigation device 100 shown in FIG. 1, but the present invention is not limited to this, and is generally applicable to devices similar to the navigation device. Can be applied.

It is a block diagram which shows schematic structure of the navigation apparatus by an Example. It is a block diagram which shows the function structure of a route search unit. It is a figure which shows typically the hierarchical structure of the data for a route search. It is a two-dimensional plan view of route search data. It is a figure which shows the data structure of the data for a route search. It is a figure which shows a path | route in case the option is not set. It is a figure which shows the path | route when an option is set. It is a flowchart of a 1st route search process. It is a flowchart of a 2nd route search process. It is a figure which shows the path | route which a facility entrance guides to the parking lot of one facility. It is a figure which shows the path | route guided to the facility which enters using a toll road. It is a figure which shows typically another example of the hierarchical structure of the data for a route search.

Explanation of symbols

10 Independent positioning device 18 GPS receiver 20 System controller 22 CPU
36 data storage unit 40 display unit 60 input device 100 navigation device 200 route search unit

Claims (18)

Route search data storage means for storing route search data in which facility location data indicating the location of a facility and road network data indicating a road network are associated with each other;
A navigation apparatus comprising: route search means for searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination.   The navigation device according to claim 1, wherein the road network data includes link data indicating a link corresponding to a road where a first related portion related to the facility exists.   The navigation device according to claim 1, wherein the road network data includes node data indicating a node close to the facility or a first related part related to the facility. It further comprises current position data acquisition means for acquiring current position data indicating the current position of the vehicle,
The route search means refers to the route search data based on the current position data, and in the node corresponding to the facility set as the destination or the first related part related to the facility, the current vehicle 4. The navigation device according to claim 3, wherein a route from the departure place to the destination is searched based on a node closest to the position. The route search data storage means stores route search data in which the facility position data, the first related portion position data indicating the position of the first related portion, and the road network data are associated with each other. ,
The route search data has a hierarchical structure in which a first hierarchy is the facility location data, and a second hierarchy is the first associated portion location data and road network data corresponding to the first associated portion. The navigation device according to claim 2.   The navigation device according to claim 2, wherein the first related part includes a parking lot provided at a position different from the facility. The route search data storage means includes the facility position data, the first related part position data, the second related part position data indicating the position of the second related part related to the first related part, and the road Stores route search data that associates network data with a hierarchical structure,
The route search data includes a first hierarchy as the facility location data, a second hierarchy as the first related portion location data and road network data corresponding to the first related portion, and a third hierarchy as the second association. It is a hierarchical structure as road network data corresponding to the part position data and the second related part,
The road network data corresponding to the second related part includes link data indicating a link corresponding to a road where the second related part exists, and node data indicating a node close to the second related part. The navigation device according to claim 5 or 6, wherein the navigation device is characterized.   The navigation device according to claim 7, wherein the second related part includes an entrance of the parking lot. A route search data storage step for storing route search data in which facility location data indicating the location of a facility and road network data indicating a road network are associated with each other;
A route search method comprising: a route search step of searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination. A route search program executed on a computer,
Route search data storage means for storing route search data in which facility location data indicating the location of a facility and road network data indicating a road network are associated with each other;
A program for causing the computer to function as route search means for searching for a route from a departure place to the destination based on the road network data when the facility is set as a destination.   A recording medium on which the route search program according to claim 10 is recorded.   A route search data structure characterized in that facility location data indicating the location of a facility and road network data indicating a road network are associated with each other.   The route search data structure according to claim 12, wherein the road network data includes link data indicating a link corresponding to a road in which a first related part related to the facility exists.   The route search data structure according to claim 12 or 13, wherein the road network data includes node data indicating a node close to the facility or a first related part related to the facility.   It is a hierarchical structure in which the first hierarchy is the facility data, the second hierarchy is first associated part position data indicating the position of the first associated part, and road network data corresponding to the first associated part. 15. A data structure for route search according to claim 13 or 14.   The route search data structure according to any one of claims 13 to 15, wherein the first related part includes a parking lot provided at a position different from the facility. The first hierarchy is the facility data, the second hierarchy is the first associated part position data and the road network data corresponding to the first associated part, and the third hierarchy is the second associated part associated with the first associated part. The second related portion position data indicating the position of the road and the road network data corresponding to the second related portion,
The road network data corresponding to the second related part includes link data indicating a link corresponding to a road where the second related part exists, and node data indicating a node close to the second related part. The data structure for route search according to claim 15 or 16, characterized in that   The route search data structure according to claim 17, wherein the second related part includes an entrance of the parking lot.

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