JP2002174529A - Navigation system, path re-searching method and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system which enables to re-search a proper path when deviation occurs from a guided course. SOLUTION: A processing control part judges whether any deviation occurs from a straight section in a guided course (step S42) the processing control part judges whether any congested section exists or not ahead of the guided course (step S44). Moreover, the processing control part judges whether the course is guided or not (step S45). When the course is determined not to be guided or any deviation is found from the straight section or the like, the processing control part increases the cost of the course constituting the current guided course by a specified value and then, searches a newly guided course (step S46). On the other hand, when the course is determined to be guided, the processing control part decreases the required cost of the course constituting the current guided course by a specified value and then, searches a newly guided course (step S47).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation system, a route re-search method, and a recording medium capable of re-searching for an appropriate route when deviating from a guidance route.

[0002]

2. Description of the Related Art A conventional navigation system is, for example, a vehicle equipped with a navigation system (hereinafter referred to as a vehicle).
It is called "own car". ) To search for a guidance route from the departure point to the destination, and map the searched guidance route to map information (road information, etc.)
Is displayed on a predetermined display unit. Then, the navigation system combines and displays the symbol indicating the current position of the vehicle with these guidance routes and the like. Thereby, the user can easily reach the destination by driving the own vehicle along the displayed guidance route.

[0003] Recently, when the vehicle deviates from the guidance route, a route re-search process for re-searching a return route for returning to the guidance route from the current position is automatically performed, and the searched return route is included. A navigation system for displaying a guidance route is also known. For example, a navigation system that performs such route re-search processing sequentially compares the current position (current position) of the own vehicle with information that defines a guidance route, and detects that the own vehicle deviates from the guidance route. Search for the shortest return route to return to the guidance route from.
Then, the navigation system displays the guidance route including the searched return route on the display unit.

[0004] Therefore, when the vehicle deviates from the guidance route, the user can return to the guidance route by driving the vehicle along the return route searched again by the navigation system.

[0005]

However, the navigation system that performs the above-described route re-search processing cannot search for an appropriate route when the user intends to deviate from the guidance route and proceed with the vehicle. There was a problem. This is because in the conventional navigation system, when the vehicle deviates from the guidance route, the shortest return route for returning to the guidance route is unconditionally searched. For this reason, even when the user intentionally deviates from the guidance route and advances the vehicle to another route, the navigation system performs the above-described route re-search processing to shorten the shortest time to return to the guidance route. Search for a return route and display it.

In other words, when a route that the user does not want (does not want to travel) is guided by the navigation system, if the user travels on another route to escape the guided route, the route re-search processing is automatically executed. As a result, the user tries to return to the guidance route.

For example, as shown in FIG. 5A, it is assumed that the user driving the vehicle v along the guidance route r1 detects the occurrence of a traffic congestion section t due to an accident or the like. in this case,
The user moves the vehicle v on the route intentionally deviating from the guidance route r1.
Advance. Then, the navigation system, the vehicle v
Detects that the vehicle has deviated from the guide route r1, and unconditionally searches for the shortest return route for returning to the original guide route r1. Then, as shown in FIG. 5B, the navigation system displays a new guidance route r2 including the searched return route on the display unit. That is, the navigation system uses the inappropriate guidance route r that passes through the traffic congestion section t.
Search for 2 again. For this reason, in order to bypass the traffic congestion section t in which the driver does not want to travel, the user sets a stop point or an avoidance point separately, or changes a search condition, so that the navigation system searches for a new guidance route. I needed to tell.

On the other hand, Japanese Patent Laid-Open No. Hei 6-6838 discloses a navigation system that re-searches for a guidance route in consideration of the traveling direction of the own vehicle so as not to search for a return route unconditionally.
No. 9 discloses this. Japanese Patent Application Laid-Open No. 6-68389.
The navigation system (navigation apparatus) disclosed in Japanese Patent Laid-Open No. H10-20764 includes a deviation-of-route detecting unit that detects a deviation (deviation from a route) from a guidance route, a recalculation unit that re-searches for a guidance route, and the like. Route re-search processing in consideration of the direction of travel. Specifically, in the navigation system, when the deviation of the own vehicle from the guidance route is detected by the departure route detection unit, the recalculation unit re-searches for the guidance route giving priority to the traveling direction of the own vehicle. That is, the recalculation unit appropriately re-searches for a return route that returns to the original guide route or a new guide route according to the traveling direction of the vehicle when the vehicle deviates from the guide route.

However, even in the navigation system disclosed in Japanese Patent Application Laid-Open No. 6-68389, the user is still searching for a guidance route or the like in which the traveling direction of the own vehicle is prioritized. When the driver deliberately deviated from the guidance route and proceeded with his own vehicle, he could not search for an appropriate route.

The present invention has been made in view of the above-mentioned circumstances, and provides a navigation system, a route re-search method, and a recording medium capable of re-searching for an appropriate route when deviating from a guidance route. Aim.

[0011]

In order to achieve the above object, a navigation system according to a first aspect of the present invention is a navigation system comprising: information defining a route divided into predetermined units, wherein the route information includes a route cost. A deviation information detecting means for detecting that the own vehicle has deviated from a guidance route that defines a route to be traveled from a predetermined departure point to a destination; and a deviation detected by the deviation detecting means. Then, information acquisition means for acquiring information indicating the traveling state of the vehicle at the departure point, and discrimination for determining whether or not the deviation from the guidance route is intended according to the information acquired by the information acquisition means Means, when the discriminating means determines that the departure is intended, after increasing the route cost of each route constituting the original guidance route by a predetermined value, A route re-searching means for searching a new guidance route from 憶 means, characterized in that it comprises a display means for displaying a guide route searched by the route re-searching means.

According to the present invention, the route information storage means includes:
Stores route information including route costs, which is information defining a route divided into predetermined units. The deviation detecting means is
For example, based on the positional relationship between the current location and the guidance route, it is detected that the vehicle has deviated from a guidance route that defines a route to be traveled from a predetermined departure place to a destination. When the departure is detected by the departure detection unit, the information acquisition unit outputs information indicating the traveling state of the own vehicle at the departure point (for example, guidance route data on a guidance route near the departure point and traffic congestion located in front of the guidance route). Congestion data that defines a section).
The determining unit determines the deviation from the guidance route according to the information acquired by the information acquisition unit (for example, by determining a deviation from a straight section in the guidance route or a deviation when a congestion section exists in front of the guidance route). Determine whether the deviation is intended. The route re-search means increases the route cost of each route constituting the original guidance route by a predetermined value when the deviation is determined to be intended by the determination unit, and then determines from the route information storage unit Search for a new guidance route. The display means displays the guidance route searched by the route re-search means. As a result, when the user intentionally deviates from the guidance route, an appropriate route can be searched again.

The information acquisition means acquires at least a guidance route near the departure point and information defining a departure route of the vehicle, and the discriminating means identifies the guidance route according to the information acquired by the information acquisition means. It may be determined whether or not the departure is intended according to the relationship with the departure route of the vehicle.

When the discriminating means determines that the departure is not intended, the route re-search means reduces the route cost of each route constituting the original guide route by a predetermined value, and A new guidance route may be searched from the route information storage means. In this case, when the user unintentionally (incorrectly) deviates from the guidance route, an appropriate route can be searched again.

In order to achieve the above object, a route re-searching method according to a second aspect of the present invention provides a method for re-searching for a vehicle deviating from a guidance route defining a route to be traveled from a predetermined starting point to a destination. A departure detection step for detecting, and when a departure is detected in the departure detection step, an information acquisition step for acquiring information indicating a traveling state of the own vehicle at the departure point;
According to the information obtained in the information obtaining step, a determining step of determining whether the departure from the guidance route is intended, and when it is determined in the determining step that the departure is intended A route re-search step of searching for a new guide route after increasing the route cost of each route constituting the original guide route by a predetermined value in a predetermined storage unit storing route information including the route cost. And the following.

According to the present invention, the deviation detecting step includes:
For example, based on the positional relationship between the current location and the guidance route, it is detected that the vehicle has deviated from a guidance route that defines a route to be traveled from a predetermined departure place to a destination. The information acquisition step includes, when a deviation is detected in the deviation detection step, information indicating a traveling state of the own vehicle at the deviation point (for example, guidance path data on a guidance route near the deviation point and a position ahead of the guidance route). Congestion data that defines a congestion section). The determination step is based on the information obtained in the information obtaining step (for example, by determining a deviation from a straight section in the guidance route or a deviation in the case where a congestion section exists in front of the guidance route). It is determined whether or not the deviation from is the intended one. In the route re-search step, when the deviation is determined to be the intended one in the determination step, the route of each route constituting the original guide route in a predetermined storage unit storing route information including the route cost. After increasing the cost by a predetermined value, a new guidance route is searched. As a result, when the user intentionally deviates from the guidance route, an appropriate route can be searched again.

In order to achieve the above object, a recording medium according to a third aspect of the present invention detects that a vehicle deviates from a guidance route that defines a route from a predetermined departure point to a destination. A departure detecting step, an information obtaining step of obtaining information indicating a traveling state of the own vehicle at the departure point when a departure is detected in the departure detecting step, and guidance according to the information obtained in the information obtaining step. A determining step of determining whether or not the deviation from the route is the intended one; and a predetermined step of storing the route information including the route cost when the determining step determines that the deviation is the intended one. A route re-searching step of, after increasing a route cost of each route constituting the original guide route by a predetermined value in the storage unit, searching for a new guide route. The records programs to be executed by a computer.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A navigation system according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing an example of a navigation system applied to an embodiment of the present invention.
This system includes a GPS antenna 1, a GPS module 2, a VICS antenna 3, and a VICS module 4
, A CD-ROM 5, a processing control unit 6, a storage unit 7,
It comprises an operation unit 8 and a display unit 9. The navigation system is mounted on, for example, a vehicle such as an automobile, and displays a guidance route indicating a route from a current location to a destination together with map information and the like, thereby allowing a user (driver) to travel to the destination. Guide properly up to. Hereinafter, the vehicle equipped with this navigation system is referred to as "own vehicle".
That.

The GPS (Global Positioning System) antenna 1 is composed of a helical antenna, a dielectric antenna, a patch type planar antenna, and the like, and receives a spread spectrum modulated satellite wave transmitted from a predetermined GPS satellite.

The GPS module 2 tunes to satellite radio waves transmitted from a plurality of GPS satellites and received by the GPS antenna 1, and despreads and demodulates each satellite radio wave to obtain a plurality of satellite reception signals. The GPS module 2 generates position information including a latitude, a longitude, an altitude, and the like, based on a difference between arrival times of respective satellite radio waves calculated using the obtained respective satellite reception signals. The GPS module 2 transmits the generated position information to the processing control unit 6 at a predetermined timing.
To supply.

VICS (Vehicle Information Communic)
The system 3 includes a predetermined rod antenna or the like, and receives an FM multiplex signal or the like transmitted from a predetermined VICS information transmitting device provided along the road.

The VICS module 4 demodulates an FM multiplex signal or the like received by the VICS antenna 3 so that
Acquire ICS information. The VICS information includes, for example, VICS link information, type information, a position, a distance of a congested section, and the like. The VICS module 4 sequentially supplies the acquired VICS information to the processing control unit 6.

The CD-ROM 5 stores map information for display and predetermined road information. The road information is, for example, information defining roads (routes) divided into predetermined units, and includes route costs, route link information,
The table includes a route link / VICS link correspondence table, a route start point position, a route end point position, and the like. Also, CD-
The road information and the like stored in the ROM 5 are appropriately read out by a reproduction unit (not shown) and supplied to the processing control unit 6.

The processing control unit 6 is, for example, a ROM (Read O
An nly memory), a random access memory (RAM), a one-chip microcomputer having a CPU (Central Processing Unit), and the like control the entire navigation system. Specifically, the processing control unit 6 searches the CD-ROM 5 or the like (road information) for a guidance route from a predetermined departure point to a destination pointed by the user via the operation unit 8, and determines the searched guidance route. The prescribed guideway data is stored in the storage unit 7. Further, the processing control unit 6 generates congestion data defining a congestion section according to the VICS information sent from the VICS module 4 and stores the data in the storage unit 7.

The processing control unit 6 determines the current position (current position) of the vehicle according to the position information sent from the GPS module 2.
Is sequentially obtained. The processing control unit 6 sequentially compares the information defining the current location with the guidance route data stored in the storage unit 7, and when the distance between the current location and the guidance route is greater than a predetermined distance, the It detects that the vehicle has deviated. When detecting the departure of the own vehicle, the processing control unit 6 performs guidance route data on the guidance route near the departure point,
The traffic congestion data at the position near the departure point and the information defining the departure route of the own vehicle are acquired, and it is determined whether or not the deviation is due to the intention of the user according to the acquired information. Then, the processing control unit 6 re-searches for the guidance route after changing the route cost of each route constituting the original guidance route according to the determination result. Then, a navigation image including the searched guidance route is generated and displayed on the display unit 9.

The storage unit 7 is composed of a RAM or the like, and stores guidance route data and traffic congestion data supplied from the processing control unit 6. It should be noted that the guidance route data is stored in a CD
-Data generated by searching for road information stored in the ROM 5 or the like, and is composed of, for example, combination data of a plurality of routes that define a route from the current location to the destination. The traffic congestion data is data generated by the processing control unit 6 from the above-described VICS information, and includes, for example, a traffic congestion type, a distance, a traffic congestion start position, a traffic congestion end position, and the like.

The operation unit 8 includes a predetermined operation panel and supplies various information to the processing control unit 6 in accordance with an input operation by a user. For example, the operation unit 8 inputs coordinate information indicating a destination or the like according to a user operation,
It is supplied to the processing control unit 6.

The display section 9 has an LCD (Liquid Crystal Dis
play) or a CRT (Cathode Ray Tube) or the like, and displays a navigation image or the like generated by the processing control unit 6.

The operation of the navigation system according to the embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a flowchart for explaining the navigation processing executed by the processing control unit 6. FIG.
FIG. 5 is a flowchart for explaining a route re-search process called from the navigation process shown in FIG. In the navigation processing shown in FIG. 2, a destination or the like is input from the user via the operation unit 8, a first guidance route from the departure place to the destination is searched, and guidance data defining this guidance route is provided. Is started after is stored in the storage unit 7.

First, the processing control unit 6 acquires the current position of the own vehicle according to the position information sent from the GPS module 2 (step S1).

The processing control section 6 displays a symbol indicating the current location on the display section 9 (step S2). That is, the processing control unit 6 updates the position of the own vehicle symbol in the navigation image including the map image, and displays the updated navigation image on the display unit 9.

The processing control section 6 determines whether or not the vehicle has deviated from the guidance route (step S3). That is,
The processing control unit 6 determines the current location acquired in step S1 and
By comparing the guidance route data stored in the storage unit 7 with the guidance route data, it is determined whether or not the distance between the current location and the guidance route is longer than a predetermined distance.

When it is determined that the vehicle has not deviated from the guidance route, the processing control section 6 advances the processing to step S6 described later. On the other hand, when it is determined that the vehicle has deviated from the guidance route, the processing control unit 6 performs a route re-search process for re-searching the guidance route (step S4). The details of the route re-search processing will be described later.

The processing control section 6 displays the searched guidance route on the display section 9 (step S5). That is, the processing control unit 6 updates the display of the guidance route in the navigation image including the map image, and displays the updated navigation image on the display unit 9.

The processing control section 6 determines whether or not the vehicle has arrived at the destination (step S6). That is, it is determined whether or not the current position has reached the position stored as the destination. When it is determined that the vehicle has not arrived at the destination, the process control unit 6 returns the process to step S1 and returns to step S1.
The processing of 1 to S6 is repeated. On the other hand, when it is determined that the vehicle has arrived at the destination, the processing control unit 6 ends the navigation processing.

Next, the route re-search processing in step S4 will be described in detail with reference to the flowchart shown in FIG.

First, the processing control unit 6 acquires guidance route data on a guidance route near the departure point (step S4).
1). For example, the processing control unit 6 stores the guidance route data of the guidance route (section) in contact with the departure route from which the vehicle departs.
To get from.

The processing control unit 6 determines whether or not the vehicle has deviated from the straight section on the guidance route according to the acquired guidance route data (step S42). For example, the processing control unit 6 determines whether or not the vehicle has deviated to a predetermined side road from a guidance route (straight section) guiding a single road along a prefectural road.

When the process control unit 6 determines that the deviation is from the straight section in the guidance route, the process proceeds to step S46 described later. On the other hand, if it is determined that the vehicle does not deviate from the straight traveling section, the processing control unit 6 acquires traffic congestion data at a position near the departure point (step S43).
For example, the processing control unit 6 acquires from the storage unit 7 traffic data that defines a traffic congestion section located within a predetermined range centered on the departure point.

The processing control unit 6 determines whether there is a congestion section ahead of the guidance route from the obtained congestion data (step S44). That is, the processing control unit 6
Within a predetermined distance ahead of the guidance route based on the departure point,
It is determined whether or not there is a congestion section that can be specified by the congestion data.

When the processing control section 6 determines that there is a congestion section ahead, the processing advances to step S46 described later. On the other hand, when it is determined that there is no congestion section ahead, the processing control unit 6 determines whether or not the route is being guided (step S45). For example, the processing control unit 6
Determines whether or not the vehicle has deviated from the guidance route when guiding a right or left turn from a prefectural road to another prefectural road or when guiding at a branch intersection.

The processing control section 6 determines that the route is not being guided, that the vehicle departs from the straight section in step S42, and that the traffic congestion section exists ahead in step S44. In this case, the processing control unit 6 searches for a new guide route after increasing the route cost of the current guide route by a predetermined value (step S4).
6). That is, since the vehicle has deviated at a place where it is unlikely that the vehicle deviates from the guidance route by mistake, the processing control unit 6
Determines that the deviation is due to the intention of the user, sets a higher route cost for the current guidance route, and searches for a route that is as different as possible as a new guidance route.

On the other hand, if it is determined in step S45 that the route is being guided, the processing control unit 6 reduces the route cost constituting the current guided route by a predetermined value, and then sets a new guided route. Is searched (step S47). That is, since the deviation has occurred at a place where it is likely that the vehicle has accidentally deviated from the guidance route, the processing control unit 6 determines that the deviation is unintended by the user (user error),
Set a lower route cost for the current route,
Preferably, the same route is searched for as a guide route.

At this time, the processing control section 6 may search for a guidance route without changing the route cost. That is, since it is conceivable that the route cost of the route constituting the guide route is low in the first place, the original guide route is often searched even if the route is searched as it is. After finishing the search for the new guidance route, the process control unit 6 returns the process to the navigation process shown in FIG. 2 described above.

As described above, the navigation system includes:
It is determined whether or not the deviation of the vehicle from the guidance route is due to the intention of the user, and after changing the route cost of each route constituting the original guidance route according to the determination result,
Search the guidance route again. That is, if the deviation is due to the intention of the user, the route cost is set higher,
A different route is searched for as a new guidance route as much as possible. Further, when the deviation does not depend on the intention of the user, the route cost is set lower so that the same route is searched as a guide route as much as possible. As a result, when the vehicle deviates from the guidance route, an appropriate route can be searched again.

Next, the manner in which an appropriate guidance route is searched again by the above-described navigation processing and route search processing will be specifically described with reference to FIG. As shown in FIG. 4A, it is assumed that the user driving the vehicle v along the guidance route r1 detects the occurrence of the traffic congestion section t due to an accident or the like. In this case, the user advances the vehicle v to a route that intentionally deviates from the guidance route r1.

Then, the processing control section 6 determines that the vehicle v has deviated from the guidance route (step S3), and starts a route re-search process (step S4). In the route re-search processing, the process control unit 6 determines that the deviation is from a straight section in the guidance route (step S42), or determines that there is a congestion section t ahead of the guidance route (step S44).

Then, the processing control unit 6 increases the route cost of the current guide route by a predetermined value,
A new guidance route is searched (step S46). By this re-search, as shown in FIG. 4B, the original guidance route r
A new guidance route r2 of a route different from 1 is searched.

That is, since the deviation of the vehicle v has occurred at a place where it is unlikely that the vehicle v deviates accidentally from the guidance route, the processing control unit 6 determines that the deviation is due to the intention of the user, and The route cost of the guide route r1 is set higher, and a route that is as different as possible is a new guide route r2.
To be searched for. As a result, as shown in FIG. 4B, the navigation system can again search for an appropriate guidance route r2 that bypasses the congested section t.

As described above, even when a route that the user does not want (does not want to travel) is guided by the navigation system, the user can drive the vehicle as he or she wants without performing bothersome operations. A guidance route that avoids a route that the user does not want to travel or a congestion route is newly searched again. Further, even if the user accidentally deviates the vehicle from the guidance route, guidance for returning to the original guidance route is performed. That is, when the vehicle deviates from the guidance route, an appropriate route is searched again and displayed, so that the user can concentrate on driving.

In the above embodiment, a deviation from a straight section in a guidance route or a deviation in the case where a congestion section exists in front of the guidance route is determined to be a deviation due to the intention of the user. The method of determining the deviation due to is not limited to these, and is arbitrary. Further, the present invention provides a DRGS
(Dynamic Route Guidance System) makes it possible to re-search for a more appropriate route.

The navigation system according to the embodiment of the present invention can be realized by using a general computer system without using a dedicated system. For example, by installing the program from a medium (floppy (registered trademark) disk, CD-ROM, or the like) storing a program for executing any of the above-described processes into a computer having a GPS reception function, the above-described processing is performed. A navigation system to execute can be configured.

The method for supplying the program to the computer is arbitrary. For example, the information may be supplied via a communication line, a communication network, a communication system, or the like. As an example, a bulletin board (BB) of a communication network
The program is posted on S) and distributed via a network. And start this program, O
Under the control of S, the above-described processing can be executed by executing the application program in the same manner as other application programs.

[0055]

As described above, according to the present invention,
When the vehicle deviates from the guidance route, an appropriate route can be searched again.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating an example of a configuration of a navigation system according to an embodiment of the present invention.

FIG. 2 is a flowchart illustrating a navigation process according to the embodiment of the present invention.

FIG. 3 is a flowchart for explaining a route re-search process according to the embodiment of the present invention.

FIG. 4 is a schematic diagram for explaining a specific operation of the navigation system according to the embodiment of the present invention,
(A) is a figure which shows the own vehicle which deviated intentionally on the taxiway, (b) is a figure which shows the guidance route which avoids the congestion area searched again.

FIGS. 5A and 5B are schematic diagrams for explaining a specific operation of the conventional navigation system, in which FIG. 5A is a diagram showing a vehicle traveling on a taxiway, and FIG. It is a figure which shows the guidance route searched again accordingly.

[Explanation of symbols]

 Reference Signs List 1 GPS antenna 2 GPS module 3 VICS antenna 4 VICS module 5 CD-ROM 6 Processing control unit 7 Storage unit 8 Operation unit 9 Display unit

Claims (5)

[Claims] 1. A route information storage means for storing route information including a route cost, which is information defining a route divided into predetermined units, and a route to be traveled from a predetermined departure point to a destination. Departure detecting means for detecting that the own vehicle has deviated from the guidance route; information obtaining means for obtaining information indicating a traveling state of the own vehicle at a departure point when the departure detecting means detects a departure; Determining means for determining whether or not the deviation from the guidance route is the intended one according to the information obtained by the obtaining means; After increasing the route cost of each route constituting the route by a predetermined value, a route re-search unit that searches for a new guidance route from the route information storage unit; Navigation system characterized in that it comprises a display means for displaying a guide route. 2. The information acquiring means acquires at least a guide route near a departure point and information defining a departure route of the vehicle. The discriminating means acquires a guide route according to the information acquired by the information acquiring means. 2. The navigation system according to claim 1, wherein it is determined whether or not the departure is intended, based on a relationship between the departure route and the departure route of the vehicle. 3. 3. The route re-searching means, when the discriminating means determines that the departure is not intended, after reducing the route cost of each route constituting the original guide route by a predetermined value. The navigation system according to claim 1, wherein a new guidance route is searched from the route information storage unit. 4. A departure detecting step for detecting that the vehicle has deviated from a guidance route defining a route to be traveled from a predetermined departure point to a destination, and when the departure detecting step detects a departure, An information obtaining step of obtaining information indicating a traveling state of the vehicle at the departure point; and a determining step of determining whether or not the deviation from the guidance route is intended according to the information obtained in the information obtaining step. When it is determined in the determination step that the departure is intended, a predetermined storage unit that stores the route information including the route cost determines the route cost of each route constituting the original guide route in a predetermined storage unit. A route re-searching step of searching for a new guidance route after increasing by the value of. 5. A departure detecting step for detecting that the vehicle deviates from a guidance route which defines a route to be traveled from a predetermined departure point to a destination, and when a departure is detected in the departure detecting step, An information obtaining step of obtaining information indicating the traveling state of the vehicle at the departure point; and a determining step of determining whether or not the departure from the guidance route is intended according to the information obtained in the information obtaining step. When it is determined in the determination step that the deviation is intended, the route cost of each route constituting the original guide route is stored in a predetermined storage unit storing route information including the route cost. And a route re-searching step of searching for a new guide route after increasing by the value of. Over data-readable recording medium.