Route search apparatus, route search method, program, and storage medium

Abstract

To suitably determine a route requiring low cost when traveling the whole route.SOLUTION: In a route search device, acquisition means acquires a departure place and a destination. The cost calculation means calculates, for a plurality of routes from a departure place to a destination, a total cost including a cost for each of a required time or a distance to the destination, a toll of a toll road, a parking fee of a parking facility on the toll road, and an electricity fee related to movement of a moving body. The output means outputs one or a plurality of candidate routes including a route having the smallest total cost as a recommended route.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a technique for searching for a route. [Background technology]

[0002] A known technique for searching for a route to a destination involves assigning a cost proportional to the cost per distance on an expressway to each link and using the Dijkstra algorithm to search for a route that takes into account the tolls and travel time of the toll road. For example, Patent Document 1 discloses a navigation device that searches for a route using a composite cost that includes the tolls and travel time, and outputs a recommended route that takes into account the balance between tolls and travel time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-7706 Summary of the Invention [Problem to be solved by the invention]

[0004] Charging parking fees at facilities such as service areas (SA) and parking areas (PA) on expressways and motorways (hereinafter referred to as "toll roads") is being considered. In this case, it becomes necessary to consider the parking fees at the toll road parking facilities in addition to the toll road toll when planning a route to a destination. In addition, in the above-mentioned case, it is expected that users will want to keep the costs incurred in traveling the entire route as low as possible, including, for example, the parking fees at the toll road parking facilities and the electricity costs for running the vehicle.

[0005] The present invention has been made to solve the above-mentioned problems, and its main object is to provide a route search device that can preferably determine a route that has low costs for traveling the entire route. [Means for solving the problem]

[0006] The claimed invention is a route search device that includes an acquisition means for acquiring a departure point and a destination, a cost calculation means for calculating a total cost for a plurality of routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and an output means for outputting one or more candidate routes, including the route with the smallest total cost, as a recommended route.

[0007] The claimed invention is a route search method executed by a computer, which obtains a starting point and a destination, calculates a total cost for multiple routes from the starting point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and outputs one or more candidate routes, including the route with the smallest total cost, as a recommended route.

[0008] The claimed invention is also a program that causes a computer to execute a process of acquiring a starting point and a destination, calculating a total cost for multiple routes from the starting point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and outputting one or more candidate routes, including the route with the smallest total cost, as a recommended route. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an example of a system configuration of a navigation device according to each embodiment. [Figure 2] FIG. 4 is a diagram showing an example of the data structure of a toll table. [Figure 3] FIG. 4 is a diagram showing an example of the data structure of a parking fee table. [Figure 4A]A diagram showing an approximate solution route and expressway facilities on the approximate solution route. [Figure 4B] FIG. 10 is a diagram showing an example of a route that minimizes the cost not taking tolls into account when one expressway facility is pseudo-closed. [Figure 4C] FIG. 10 is a diagram showing an example of a route with the lowest toll-considered cost. [Figure 5] 10 is a flowchart of a recommended route output process according to an embodiment. [Figure 6] 10 is a flowchart of a process for adding an electricity charge to a link cost. [Figure 7A] FIG. 1 is a diagram showing an example of a road network. [Figure 7B] FIG. 10 is a diagram showing an example of an approximate solution route. [Figure 7C] FIG. 4 is a diagram showing an example of a recommended route. [Figure 7D] FIG. 10 is a diagram showing another example of a recommended route. [Figure 8] 10 is a flowchart of a reroute process according to an embodiment. [Figure 9A] FIG. [Figure 9B] A diagram showing an example of a new route. [Figure 10] FIG. 10 is a diagram showing an example of information for prompting a user to select a route. [Figure 11] FIG. 10 is a diagram showing the configuration of a route search system according to another system configuration. DETAILED DESCRIPTION OF THE INVENTION

[0010] In a preferred embodiment of the present invention, the route search device includes an acquisition means for acquiring a departure point and a destination, a cost calculation means for calculating a total cost for a plurality of routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and an output means for outputting as a recommended route the route with the smallest total cost among one or more candidate routes including the route with the smallest total cost.

[0011] In the above-described route search device, the acquisition means acquires a departure point and a destination. The cost calculation means calculates a total cost for a plurality of routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees at parking facilities on toll roads, and electricity charges for moving the mobile object. The output means outputs one or more candidate routes, including the route with the smallest total cost, as a recommended route. This makes it possible to suitably determine a route with the lowest cost for traveling the entire route.

[0012] In one aspect of the route search device, the output means outputs, as the recommended route, a route that will result in a battery charge rate of the mobile object being equal to or higher than a predetermined charge rate when the entire route is traveled.

[0013] In another aspect of the above route search device, the output means outputs as the recommended route a route that can be traveled entirely while maintaining the charging rate of the battery of the mobile body at or above a predetermined charging rate.

[0014] In another aspect of the route search device, the output means outputs, as the recommended route, a route that includes a toll road at least in part and has the smallest total cost, from among the plurality of candidate routes.

[0015] In another aspect of the above route search device, the acquisition means further acquires information regarding the location and congestion status of one or more charging facilities included in each of the candidate routes, and the output means outputs the recommended route based on the information.

[0016] In another aspect of the above route search device, the output means outputs, as the recommended route, the route with the smallest total cost from among the candidate routes for which charging at the charging facility is detected based on the information.

[0017] In another aspect of the above route search device, the output means sets the route with the smallest total cost as the recommended route from among the candidate routes determined based on the information to be possible for travelling the entire route while maintaining the battery charge rate of the mobile body at or above a predetermined charge rate by charging at the charging facility.

[0018] In another aspect of the route search device, the predetermined charging rate is a charging rate designated by a user.

[0019] In another aspect of the route search device, the output means outputs, as the recommended route, a route that includes one or more charging facilities as stop-off points.

[0020] In another aspect of the above route search device, the electricity charge for the movement of the mobile body includes an electricity charge based on the amount of electricity required for the movement of the mobile body and an electricity charge for charging at a charging facility.

[0021] In another preferred embodiment of the present invention, a computer-implemented route search method acquires a starting point and a destination, calculates a total cost for multiple routes from the starting point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and outputs one or more candidate routes including the route with the lowest total cost as a recommended route. This makes it possible to preferably determine a route with low costs for traveling the entire route.

[0022] In yet another preferred embodiment of the present invention, a program causes a computer to acquire a starting point and a destination, calculate a total cost for multiple routes from the starting point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees at parking facilities on toll roads, and electricity charges for moving a mobile object, and output one or more candidate routes including the route with the lowest total cost as a recommended route. By executing this program on a computer, the above-mentioned route search device can be realized. This program can be stored in a storage medium and used. [Example]

[0023] The present invention will be described below with reference to the accompanying drawings, in which: In the following description, an expressway among toll roads is used as an example, but the present invention is equally applicable to toll roads other than expressways.

[0024] <System configuration> FIG. 1 is a diagram showing an example of the system configuration of a navigation device 1 to which a route search device according to the present invention is applied. The navigation device 1 calculates costs for each route based on toll road tolls and parking fees at parking facilities on the toll road, determines a recommended route to be presented to a user, and displays the route. As shown in FIG. 1, the navigation device 1 includes a standalone positioning device 10, a GPS receiver 18, a system controller 20, a data storage unit 31, a communication device 38, a display unit 40, an audio output unit 50, and an input device 60. In this embodiment, a case will be described in which the navigation device 1 is installed in an electric vehicle. This embodiment can also be applied to other vehicles, such as gasoline-powered vehicles, by modifying at least a portion of it as necessary.

[0025] The stand-alone 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, and detects the acceleration of the vehicle and outputs acceleration data. The angular velocity sensor 12 is made of, for example, a vibration gyroscope, and detects the angular velocity of the vehicle when the vehicle changes direction, and outputs angular velocity data and relative direction data. The distance sensor 13 measures vehicle speed pulses, which are pulse signals generated in conjunction with the rotation of the vehicle's wheels.

[0026] The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from multiple GPS satellites. The positioning data is used to detect the absolute position of the vehicle from latitude and longitude information, etc.

[0027] The system controller 20 includes an interface 21, a CPU 22, a ROM 23, and a RAM 24, and controls the entire navigation device 1. The system controller 20 also has functions as an acquisition means, a cost calculation means, an output means, and a determination means. The system controller 20 can be treated as an example of a computer that executes the program of the present invention.

[0028] The interface 21 acts as an interface with the acceleration sensor 11, angular velocity sensor 12, distance sensor 13, and GPS receiver 18. From these sensors, the interface 21 inputs vehicle speed pulses, acceleration data, relative direction data, angular velocity data, GPS positioning data, absolute direction data, etc. to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a non-volatile memory (not shown) that stores a control program for controlling the system controller 20, etc. The RAM 24 readably stores various data, such as route data preset by the user via the input device 60, and provides a working area for the CPU 22.

[0029] The system controller 20 , the data storage unit 31 , the display unit 40 , the audio output unit 50 and the input device 60 are interconnected via a bus line 30 .

[0030] The data storage unit 31 is configured with a storage medium such as an HDD, and stores various data used in navigation processing, such as map data 32. The map data 32 includes road data represented by links corresponding to roads and nodes corresponding to road junctions (intersections).

[0031] The data storage unit 31 also stores a toll table 33. The toll table 33 is a table for identifying the tolls charged when traveling on toll roads such as expressways, based on interchanges used as entrances and exits. FIG. 2 is a diagram showing an example of the data structure of the toll table. In the toll table 33 shown in FIG. 2, entrance points, exit points, waypoints (waypoint 1, ...), discount time periods (discount time periods 1, ...), discount rates (discount rate 1, ...), and tolls are associated with each other. Here, a waypoint refers to a facility such as a ticket inspection station, where the toll rate is affected by whether or not the vehicle passes through it. Hereinafter, the entrance points, exit points, and waypoints registered in the toll table 33 will also be simply referred to as "expressway facilities."

[0032] In this way, the toll table 33 associates tolls with each combination of factors that determine the toll when using an expressway. Therefore, by referring to the toll table 33, the system controller 20 can accurately identify the toll for the expressway when the searched route includes the expressway.

[0033] The data storage unit 31 also stores a parking fee table 34. When parking at service areas and parking areas (hereinafter also referred to as "highway parking facilities") on a highway becomes a paid service area, a parking fee is charged for parking at the highway parking facility. FIG. 3 is a diagram showing an example of the data structure of the parking fee table. As shown in the figure, the parking fee table 34 includes a route ID, a facility ID, a point of interest (POI) ID, a start time, an end time, a fee, and a charge type. The route ID is identification information for the highway route. The facility ID is identification information for each highway parking facility. The POI ID is the POI ID corresponding to each highway parking facility. The start time is the start time of charging for parking at that highway parking facility, and the end time is the end time of charging. In other words, if a vehicle is parked between the start time and the end time, a parking fee will be charged. The fee is the fee incurred for parking. The charge type indicates the charging method. Specifically, if the charge type is "fixed," a parking fee is charged for each parking session. If the charge type is "every X minutes," a parking fee will be charged for every X minutes of parking. If the charge type is "staying for more than Y minutes," a parking fee will be charged if you park for more than Y minutes. If the charge type is "free," no parking fee will be charged.

[0034] In this way, the parking fee table 34 specifies the parking fee incurred when parking a vehicle at each highway parking facility. Therefore, by referring to the parking fee table 34, the system controller 20 can calculate the expressway toll when the searched route includes parking at a highway parking facility.

[0035] The configuration of the navigation device 1 will be described with reference to Figure 1 again. The communication device 38 receives traffic congestion information distributed from a VICS (Vehicle Information Communication System, registered trademark) center and traffic congestion information distributed from a server device (not shown) that distributes traffic congestion information. Note that the communication device 38 may receive information to be stored in the data storage unit 31 as map data 32 from the server device (not shown) under the control of the system controller 20.

[0036] The display unit 40 displays various display data on a display device such as a monitor under the control of the system controller 20. Specifically, the system controller 20 reads map data 32 from the data storage unit 31. The display unit 40 displays an image based on the map data 32 read from the data storage unit 31 by the system controller 20 on a display screen such as a monitor. 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, a buffer memory 42 such as a VRAM (Video RAM) that temporarily stores image information that can be displayed immediately, a display control unit 43 that controls the 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. The display 44 is, for example, a liquid crystal display device with a diagonal of approximately 5 to 10 inches and is mounted near the front panel inside the vehicle.

[0037] The audio output unit 50 is configured to include a D / A converter 51 that performs D / A conversion of audio digital data sent from the RAM 24 or the like via the bus line 30 under the control of the system controller 20, 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 audio and outputs it inside the vehicle.

[0038] The input device 60 is composed of keys, switches, buttons, a remote control, a voice input device, etc. for inputting various commands and data. The input device 60 is arranged on the front panel of the main body of the in-vehicle electronic system installed in the vehicle or around the display 44. In addition, if the display 44 is a touch panel type, the touch panel provided on the display screen of the display 44 also functions as the input device 60.

[0039] [Route search method] In this embodiment, the navigation device 1 sets a route using the time or distance required to reach the destination, the tolls on the expressway, the parking fees at the expressway parking facilities, and the electricity charges for driving the vehicle as costs, calculates the total cost which is the sum of these costs, and outputs the route with the lowest total cost as the recommended route.

[0040] Specifically, the system controller 20 considers at least one of the expressway facilities on the provisionally searched route (hereinafter also referred to as the "approximate solution route") to be pseudo-closed, and searches for a route other than the approximate solution route based on a cost that does not take tolls into account (hereinafter also referred to as the "toll-unconsidered cost"). Note that the system controller 20 calculates the cost that does not take tolls into account, other than the electricity rate corresponding to the amount of electricity required for the vehicle's travel, as the toll-unconsidered cost. The system controller 20 then calculates the cost that takes tolls into account (hereinafter also referred to as the "toll-considered cost") for both the approximate solution route and the route other than the searched approximate solution route, and outputs the route with the lowest toll-considered cost as the recommended route.

[0041] FIG. 4A is a diagram showing an approximate solution route and expressway facilities on the approximate solution route. In FIG. 4A, the approximate solution route that overlaps with general roads is shown by a dashed line, and the approximate solution route that overlaps with expressways is shown by a solid line. Here, the approximate solution route is a route searched for using an existing route search algorithm that can be executed using the Dijkstra algorithm, and may be a route searched for by setting the required time and / or distance as a cost (also called "link cost") for each link. In another example, the approximate solution route may be a route searched for by assuming that the distance traveled on the expressway is proportional to the toll and setting a link cost that reflects the hypothetical toll for each link.

[0042] In the example of Fig. 4A, the approximate solution route passes through four expressway facilities 6A to 6D, including entrance and exit interchanges. In this case, the system controller 20 regards at least one of the expressway facilities 6A to 6D as a pseudo road closure and searches for a route other than the approximate solution route based on a cost that does not take tolls into account. In this case, for example, the system controller 20 uses the required time and / or distance as cost indicators and calculates the integrated value of the link costs of the entire route as the cost that does not take tolls into account.

[0043] FIG. 4B is a diagram showing an example of a route in which the cost not considering tolls is minimized when expressway facility 6B is pseudo-closed. In the example of FIG. 4B, the system controller 20 searches for a route that does not pass through expressway facility 6B. In this case, the system controller 20 sets a link cost for each link based on, for example, the required time and / or distance, and searches for a route in which the integrated value of the link costs is minimized using the Dijkstra algorithm or the like. Then, the system controller 20 searches for all patterns (2 patterns) in which at least one of expressway facilities 6A to 6D is pseudo-closed. 4 −1), a route with the smallest integrated value of the link costs (i.e., the cost not considering the toll) is searched for.

[0044] Furthermore, for the route with the smallest untolled cost for each pattern in which at least one of the expressway facilities 6A to 6D is pseudo-closed, the system controller 20 calculates the expressway toll by referring to the toll table 33 based on the expressway facilities passed through and the time of day the vehicle passes through, calculates the parking fee for using the expressway parking facility by referring to the parking fee table 34, and calculates the electricity fee for charging at the charging facility.The system controller 20 then multiplies these calculated fees by a predetermined conversion rate to convert the toll into a cost in the same unit as the untolled cost, and adds the converted cost to the untolled cost to calculate the toll-considered cost.Similarly, the system controller 20 calculates the expressway toll, the parking fee at the expressway parking facility, and the electricity fee for charging at the charging facility to calculate the toll-considered cost for the approximate solution route.The system controller 20 then selects the route with the smallest toll-considered cost as the recommended route from among the routes for which the tolls have been calculated.

[0045] 4C is a diagram showing an example of a route with the lowest toll consideration cost. According to the example of FIG. 4C, the system controller 20 determines that the toll consideration cost for the route in which expressway facilities 6B and 6C are simulated to be closed is lower than that for the approximate solution route and routes in which other expressway facilities are simulated to be closed. Therefore, the system controller 20 can set the route in which expressway facilities 6B and 6C are simulated to be closed as the recommended route.

[0046] [Recommended route output processing] Fig. 5 is a flowchart of a recommended route output process according to an embodiment. As an example, the flowchart in Fig. 5 uses an algorithm in which a tentative (provisional) recommended route is defined as a "first candidate route," a route to be compared with the first candidate route is defined as a "second candidate route," and the first candidate route is sequentially updated by comparing the toll-considered costs of the first candidate route and the second candidate route.

[0047] First, the system controller 20 searches for an approximate solution route through a route search process (step S100). The route search process in step S100 is performed based on the calculation result of adding the cost of electricity charges according to the amount of electricity required for vehicle travel to the link cost of the required time and / or distance. The method of calculating the cost of electricity charges according to the amount of electricity required for vehicle travel will be explained later.

[0048] Next, the system controller 20 creates a list of expressway facilities that exist on the approximate solution route (also called an "expressway facility list") (step S101).

[0049] Next, the system controller 20 creates a list of charging facilities (also referred to as a "charging facility list") that exist between the departure point and the destination based on the departure point and destination acquired when searching for the approximate solution route (step S102). The charging facility list includes, for example, information related to the locations of charging facilities on general roads, information related to the presence or absence of charging facilities at highway parking facilities, and information related to the electricity charges for charging at the charging facilities. Note that in this embodiment, it is assumed that charging facilities are provided at all highway parking facilities. Also, it is assumed in this embodiment that the unit price of electricity for charging at each charging facility included in the charging facility list is the same.

[0050] Next, the system controller 20 determines whether the charging rate of the vehicle's battery when traveling the entire approximate solution route will be less than a predetermined charging rate (step S103). The predetermined charging rate used in the determination of step S103 may be, for example, a charging rate set for each vehicle, or a charging rate specified by the user. In this embodiment, the "charging rate" can also be referred to as "remaining energy" or "SOC (State Of Charge)."

[0051] If the charging rate of the vehicle's battery after traveling the entire approximate solution route is less than a predetermined charging rate (step S103: YES), the system controller 20 proceeds to step S104, which will be described later. If the charging rate of the vehicle's battery after traveling the entire approximate solution route is equal to or greater than a predetermined charging rate (step S103: NO), the system controller 20 proceeds to step S106, which will be described later.

[0052] Based on the charging rate and arrival time at each charging facility on the approximate solution route included in the charging facility list, the system controller 20 adds to the approximate solution route stop-off points and stay times for charging so that the charging rate of the vehicle's battery when traveling the entire approximate solution route will be equal to or greater than a predetermined charging rate (step S104). By performing the processing of step S104, the system controller 20 can add, to the approximate solution route, one or more charging facilities as stop-off points that minimize the parking fee at the highway parking facility when charging at the highway parking facility. In this embodiment, the term "stop-off point" may also be referred to as "waypoint."

[0053] Next, the system controller 20 recalculates the toll and required time for the approximate solution route to which the stop-off points and sojourn times have been added in step S104 (step S105). The system controller 20 can obtain the calculation result of the toll for the approximate solution route in step S105 by, for example, recalculating the tolls for using expressways, the parking fees for using highway parking facilities, and the electricity fees for charging at charging facilities. The system controller 20 can also obtain the calculation result of the required time for the approximate solution route in step S105 by, for example, adding the sojourn time associated with charging at charging facilities. The system controller 20 can also calculate the toll for using expressways for the approximate solution route in step S105, for example, based on the toll table 33. The system controller 20 can also calculate the parking fees for using highway parking facilities for the approximate solution route in step S105, for example, based on the parking fee table 34.

[0054] The system controller 20 calculates the toll-considered cost of the approximate solution route and sets it as the first candidate route (step S106).

[0055] When the process proceeds from step S103 to step S106, the system controller 20 calculates the toll-unconsidered cost of the approximate solution route, and then converts the toll of the approximate solution route calculated based on the toll table 33 into a cost using a predetermined conversion rate and adds it to the toll-unconsidered cost, thereby calculating the toll-unconsidered cost of the approximate solution route. Note that the toll-unconsidered cost in this embodiment is calculated as a cost that does not take into account any fees other than the electricity fee based on the amount of power required to travel the vehicle.

[0056] When the process proceeds to step S106 after steps S104 and S105, the system controller 20 converts each toll obtained by the recalculation in step S105 into a cost using a predetermined conversion rate and adds the converted cost to the cost not considering toll, thereby calculating the toll-considered cost of the approximate solution route. According to this process, the system controller 20 can acquire, as the total cost of the first candidate route, a total cost including the cost of the required time and / or distance, the cost of electricity charges based on the amount of electricity required for vehicle travel, the cost of expressway tolls, the cost of parking fees at parking facilities, and the cost of electricity charges for charging at charging facilities. According to this embodiment, the electricity charges for vehicle travel can include the electricity charges based on the amount of electricity required for the vehicle travel and the electricity charges for charging at charging facilities.

[0057] System controller 20 selects at least one expressway facility to be pseudo-closed from the expressway facility list, and searches for a second candidate route with the smallest unconsidered cost (step S107). The route search process in step S107 is performed based on the results of, for example, adding the cost of electricity based on the amount of power required for vehicle travel to the link cost of the required time and / or distance. Note that the second candidate route, i.e., the route searched for with the smallest unconsidered cost by selecting at least one expressway facility to be pseudo-closed from the expressway facility list, is hereinafter also referred to as the "pseudo-closed route."

[0058] Next, the system controller 20 calculates the toll-considered cost of the second candidate route found in step S107 by performing the same processing as steps S101 to S106 (step S108). Through this processing, the system controller 20 can acquire, as the total cost of the second candidate route, a total cost including the cost of the required time and / or distance, the cost of electricity fees according to the amount of electricity required to drive the vehicle, the cost of expressway tolls, the cost of parking fees at parking facilities, and the cost of electricity fees for charging at charging facilities.

[0059] Next, the system controller 20 determines whether the toll-considered cost of the second candidate route is smaller than the toll-considered cost of the first candidate route (step S109).

[0060] If the toll considered cost of the second candidate route is smaller than the toll considered cost of the first candidate route (step S109: YES), the system controller 20 sets the second candidate route as a new first candidate route (step S110), and then proceeds to step S111. If the toll considered cost of the second candidate route is equal to or greater than the toll considered cost of the first candidate route (step S109: NO), the system controller 20 determines that there is no need to replace the currently set first candidate route, and proceeds to step S111.

[0061] The system controller 20 determines whether all patterns of expressway facilities to be pseudo-closed have been executed (step S111). That is, the system controller 20 determines whether the processing of steps S107 to S110 has been executed for all patterns of expressway facilities to be pseudo-closed when at least one of the expressway facilities in the expressway facility list is to be pseudo-closed.

[0062] If the system controller 20 determines that all patterns of expressway facilities to be pseudo-road closures have not been executed (step S111: NO), the system controller 20 proceeds to step S107. Then, in step S107, the system controller 20 performs a route search targeting another pattern of expressway facilities to be pseudo-road closures, and sets a second candidate route. In this way, the system controller 20 repeatedly executes the processing of steps S107 to S110 until all patterns of expressway facilities to be pseudo-road closures have been executed.

[0063] If the system controller 20 determines that all patterns of expressway facilities that create pseudo-road closures have been executed (step S111: YES), it considers the currently set first candidate route to be the route with the smallest toll-considered cost, outputs the first candidate route as the recommended route (step S112), and then terminates the series of processes. In this way, the system controller 20 can determine the recommended route based on the total cost that takes into account the cost of the required time and / or distance, the expressway toll, the parking fee at the expressway parking facility, and the electricity fee for driving the vehicle.

[0064] [Route search that takes into account electricity charges based on the amount of electricity required to run the vehicle] In this embodiment, when searching for an approximate solution route in step S100 of the recommended route output process shown in Fig. 5, and when searching for a route after pseudo-closing at least one expressway facility in step S107, the required time and / or distance are used as link costs and route search is performed using the Dijkstra algorithm. In this route search, by adding the electricity fee according to the amount of electricity required to run the vehicle to the cost in addition to the required time and / or distance, it becomes possible to propose a recommended route that takes the electricity fee into consideration.

[0065] Specifically, when searching for a route in steps S100 and S107 of the recommended route output process shown in Fig. 5, the system controller 20 performs the link cost adjustment process described below, thereby adding an electricity fee corresponding to the amount of power required for the vehicle to travel to the link cost. Fig. 6 is a flowchart of the link cost adjustment process.

[0066] 6, first, the system controller 20 acquires link data used for route search (step S10), and calculates the link cost of the link based on the required time and / or distance (step S11). Next, the system controller 20 estimates the power consumption of the vehicle when traveling along the link (step S12). Specifically, the system controller 20 estimates the power consumption required to travel along the link based on the link's distance (length), road type (general road, expressway, etc.), road attributes (road gradient, legal speed, etc.), the power consumption of a standard vehicle, etc.

[0067] Next, the system controller 20 calculates the electricity fee required to travel along the link based on the power consumption obtained in step S12 and the standard unit price of electricity (step S13), and converts the electricity fee into a cost (also referred to as "electricity fee cost") using a predetermined conversion rate (step S14).Then, the system controller 20 adds the electricity fee cost to the link cost calculated in step S11 (step S14). Through this processing, the system controller 20 can obtain the link cost that takes into account the electricity fee according to the amount of power required for the vehicle to travel.

[0068] In this way, when performing a route search in steps S100 and S107 of the recommended route output process shown in FIG. 5, the system controller 20 uses link costs that take into account the electricity charges according to the amount of electricity required for the vehicle to travel, thereby making it possible to propose a recommended route that takes into account the electricity charges.

[0069] [Example of recommended route] Next, an example of a recommended route obtained by the recommended route output process will be described. Fig. 7A is a diagram showing an example of a road network. Assume that there is the road network shown in Fig. 7A. In Fig. 7A, dashed lines indicate general roads, and solid lines indicate expressways.

[0070] The expressway in the road network of Figure 7A has the following expressway facilities: Entrance A, Entrance B, Entrance C, Exit D, Expressway Parking Facility SA1, and Expressway Parking Facility SA2. Expressway Parking Facility SA1 and Expressway Parking Facility SA2 represent service areas with charging facilities, for example.

[0071] Expressway parking facility SA1 corresponds to facility ID=105 in parking fee table 34 shown in Figure 3. At highway parking facility SA1, a parking fee of 200 yen is charged during the time periods of 9:00 to 12:00 and 16:00 to 19:00. Also, at highway parking facility SA1, a parking fee of 100 yen is charged for every 10 minutes during the time period of 23:00 to 5:00.

[0072] A charging spot P1 with a charging facility is provided on a public road just before entrance C in the road network of Fig. 7A. Furthermore, a charging spot P2 with a charging facility is provided on a public road beyond exit D in the road network of Fig. 7A.

[0073] FIG. 7B is a diagram showing an example of an approximate solution route from a departure point S to a destination G. In FIG. 7B, the approximate solution route is shown as route X. For route X, highway parking facility SA2 is set as a stop point VX1. For route X, the vehicle departs from departure point S at 15:00, travels via local roads, enters the expressway at entrance A, is charged at highway parking facility SA2 for 30 minutes starting at 16:00, exits the expressway at exit D, and travels on local roads to destination G. For route X, the toll-considered cost is calculated using the expressway toll of ¥5,000, the electricity fee for vehicle travel of ¥1,000, and the parking fee for the highway parking facility of ¥600. In other words, the total tolls used to calculate the total cost of route X is ¥6,600. In the figure, "expressway toll" refers to the expressway toll, "SA usage fee" refers to the parking fee for the highway parking facility, and "electricity fee" refers to the electricity fee for vehicle travel. The electricity charge for running the vehicle includes the electricity charge used to calculate the link cost and the electricity charge for charging at a charging facility.

[0074] FIG. 7C is a diagram showing an example of a recommended route from a departure point S to a destination G. In FIG. 7C, the recommended route is shown as route Y. Route Y is set so that the vehicle's battery will be charged to 40% or more when the entire route Y is traveled. Route Y also includes highway parking facility SA1 as a stop point VY1 and charging spot P2 as a stop point VY2. Route Y involves a vehicle departing from departure point S at 15:00, traveling via local roads, entering the expressway at entrance B, charging at highway parking facility SA1 for 10 minutes starting at 15:50, exiting the expressway at exit D, charging at charging spot P2 for 20 minutes starting at 17:00, and traveling on local roads to destination G. The total cost of route Y is calculated using the expressway toll of ¥4,500 and the electricity charge of ¥900 for traveling the vehicle. The total tolls used to calculate the total cost of route Y are ¥5,400. In addition, route Y is set as a route that prioritizes ordinary roads over expressways, taking into consideration that power consumption is greater when traveling on expressways than when traveling on ordinary roads.

[0075] As described above, the navigation device 1 can propose a route with the lowest toll-considered cost as a recommended route. Note that it is desirable for the system controller 20 to output, as a recommended route, a route that includes at least a part of a toll road and has the lowest total cost, such as route Y. Alternatively, the system controller 20 may output, as a recommended route, a route that includes only ordinary roads, for example.

[0076] The system controller 20 may output, as a recommended route, the route with the lowest toll-considered cost among the routes determined to be travelable entirely while maintaining the vehicle's battery charging rate at or above a predetermined charging rate. Specifically, for example, when searching for an approximate solution route, the system controller 20 calculates the charging rate of the vehicle's battery when it arrives at each charging facility on the approximate solution route, and adds to the approximate solution route stop-off points and stay times that will maintain the calculated charging rate at or above the predetermined charging rate. Furthermore, when searching for a second candidate route, the system controller 20 performs processing similar to that performed when searching for the approximate solution route. By performing such processing, the system controller 20 can output, as a recommended route, the route with the lowest toll-considered cost among the routes determined to be travelable entirely while maintaining the vehicle's battery charging rate at or above a predetermined charging rate.

[0077] 7D is a diagram showing another example of a recommended route. According to the above-described process, the system controller 20 can output, for example, route Z as shown in FIG. 7D as a recommended route that can be traveled the entire route while maintaining the vehicle battery charge rate at 50% or more. Furthermore, the predetermined charge rate in the above-described process may be, for example, a charge rate set for each vehicle, or may be a charge rate specified by the user.

[0078] For route Z, charging spot P1 is set as stop point VZ1, highway parking facility SA2 is set as stop point VZ2, and charging spot P2 is set as stop point VZ3. For route Z, the vehicle departs from departure point S at 15:00, charges at charging spot P1 for 10 minutes starting at 15:40, travels along local roads to enter the expressway at entrance C, charges at highway parking facility SA2 for 10 minutes starting at 16:20, exits the expressway at exit D, charges at charging spot P2 for 10 minutes starting at 17:20, and travels along local roads to destination G. For route Z, the total cost is calculated using the expressway toll of ¥4,400, the electricity fee for driving the vehicle of ¥900, and the parking fee at the highway parking facility of ¥200. In other words, the total tolls used to calculate the total cost of route Z is ¥5,500. In addition, route Z is set as a route that prioritizes ordinary roads over expressways, taking into consideration that power consumption is greater when traveling on expressways than when traveling on ordinary roads.

[0079] The system controller 20 may acquire congestion information, including information regarding the congestion status of each charging facility included in the charging facility list, and output a recommended route based on the congestion information. When performing such processing, the system controller 20 may, for example, detect whether each charging facility added as a stop on the approximate solution route has available charging capacity based on the congestion information, estimate the waiting time at the stop on the approximate solution route where there is no available charging capacity, and add a cost corresponding to the parking fee incurred due to the estimated waiting time to the total cost of the approximate solution route. When performing the above processing, the system controller 20 may, for example, search for a route that does not pass through a highway parking facility and / or a charging spot where there is no available charging capacity based on the congestion information, as a second candidate route. The system controller 20 may also acquire information not included in VICS (registered trademark) as congestion information. In such a case, the system controller 20 may, for example, acquire congestion information or facility utilization rates of charging facilities from an external server via the Internet.

[0080] According to the processing using the congestion information described above, when departing from departure point S at 15:00, for example, the system controller 20 can output, as a recommended route, route Y that includes stop points VY1 and VY2 where it has been detected that there are available charging facilities. Furthermore, according to the processing using the congestion information described above, when departing from departure point S at 15:00, for example, the system controller 20 can output, as a recommended route, route Z that includes stop points VZ1, VZ2, and VZ3 where it has been detected that there are available charging facilities. Furthermore, according to the processing using the congestion information described above, the system controller 20 can, for example, not output, as a recommended route, a route that includes an express parking facility and / or a charging spot where it has been detected that there are no available charging facilities at the time of departure of the vehicle.

[0081] [Reroute Processing] Fig. 8 is a flowchart of the reroute process according to the embodiment. While the vehicle is traveling along the currently recommended route (also referred to as the "current route") obtained by the series of processes in Fig. 5, the system controller 20 can output a new recommended route (also referred to as the "new route") according to the congestion status of charging facilities on the recommended route by performing the reroute process described below. Note that the system controller 20 desirably performs the following reroute process, for example, when the distance from the current location of the vehicle to the next stop on the current route is less than a predetermined distance and / or when the time it takes for the vehicle to travel from the current location to the next stop on the current route is less than a predetermined time.

[0082] First, the system controller 20 acquires congestion information while the vehicle is traveling along the current route (step S200), and determines whether there is vacant space at the charging facility at the next stop on the current route based on the acquired congestion information (step S201).

[0083] When the system controller 20 detects that there is a vacant charging facility at the next stop on the current route (step S201: YES), the system controller 20 determines that a reroute is unnecessary, terminates the reroute process, and continues guidance to the destination along the current route. When the system controller 20 detects that there is no vacant charging facility at the next stop on the current route (step S201: NO), the system controller 20 recalculates the fee-considered cost of the current route (step S202). Specifically, when the system controller 20 detects that there is no vacant charging facility at the next stop on the current route based on congestion information, the system controller 20 estimates, for example, the waiting time from arrival at the next stop until a vacant charging facility becomes available, calculates a new parking fee according to the estimated waiting time, and recalculates the fee-considered cost using the new parking fee.

[0084] The system controller 20 determines whether the difference between the parking fee used to calculate the fee-considered cost through recalculation in step S202 and the parking fee used to calculate the fee-considered cost before recalculation in step S202 is greater than a predetermined value (step S203).

[0085] If the difference between the parking fee used to calculate the fare-considered cost by recalculation in step S202 and the parking fee used to calculate the fare-considered cost before the recalculation in step S202 is equal to or less than a predetermined value (step S203: NO), the system controller 20 determines that rerouting is unnecessary, terminates the rerouting process, and continues guiding the user to the destination via the current route. If the difference between the parking fee used to calculate the fare-considered cost by recalculation in step S202 and the parking fee used to calculate the fare-considered cost before the recalculation in step S202 is greater than a predetermined value (step S203: YES), the system controller 20 sets the recommended route obtained by performing the processing in Fig. 5 while excluding the next stop-off point on the current route as a new route (step S204).

[0086] According to the above-described process, the system controller 20 can acquire congestion information, including information regarding the congestion status of facilities located ahead of the current location of the mobile object moving along the current route, and can output a new route different from the current route based on the congestion information. Note that, if the system controller 20 does not propose a new route, it may output information to inform the user, for example, of the increased parking fee due to the recalculation in step S202 and the increased parking time due to congestion at the charging facility at the next stop. According to this process, the user can understand, for example, by checking the information displayed on the display 44, why the navigation device 1 did not propose a new route and / or why the navigation device 1 continues to provide guidance along the current route. That is, according to the above-described process, the system controller 20 can present information that can convince the user to continue providing guidance along the current route.

[0087] Next, the system controller 20 calculates the toll-considered cost of the new route set in step S204 (step S205).

[0088] The system controller 20 determines whether the toll-considered cost of the new route calculated in step S205 is smaller than the toll-considered cost of the current route (step S206).

[0089] If the toll-considered cost of the new route is equal to or greater than the toll-considered cost of the current route (step S206: NO), the system controller 20 determines that rerouting is unnecessary, terminates the rerouting process, and continues guidance to the destination via the current route. If the toll-considered cost of the new route is less than the toll-considered cost of the current route (step S206: YES), the system controller 20 outputs information prompting the user to select either the current route or the new route (step S207). The information output in step S207 is displayed on the display 44, for example.

[0090] After outputting the information in step S207, the system controller 20 determines whether or not a new route has been selected by the user (step S208).

[0091] If the system controller 20 detects that the user has selected a new route (step S208: YES), it starts guiding the user to the destination along the new route (step S209) and ends the rerouting process. If the user has selected the current route (step S208: NO), the system controller 20 ends the rerouting process and continues guiding the user to the destination along the current route.

[0092] According to the above-described processing, when a route is found in which there is no available charging facility at the next stop on the current route and the fee-considered cost is lower than that of the current route, the system controller 20 can propose that route as a new route.

[0093] [Example of a new route set by rerouting processing] Next, an example of a new route set by the reroute processing will be described. Note that the following description will be given assuming that a current route and a new route are set for the same road network as the road network shown in Fig. 7A.

[0094] FIG. 9A is a diagram showing an example of a current route from a departure point S to a destination G. In FIG. 9A, the current route is shown as route K. In route K, highway parking facility SA1 is set as a stop point VK1, and charging spot P2 is set as a stop point VK2. In route K, the vehicle departs from departure point S at 15:00, travels along public roads, enters the expressway from entrance B, is charged for 10 minutes at highway parking facility SA1, exits the expressway at exit D, is charged for 20 minutes from 17:40 at charging spot P2, and travels along public roads to destination G.

[0095] Here, for Route K, based on congestion information acquired at the vehicle's current location VC, it is determined that there are no available charging facilities at highway parking facility SA1, which is set as the next stop, and it is estimated that the waiting time until a parking space becomes available at that facility is 30 minutes. Therefore, a parking fee of ¥200 will be charged at highway parking facility SA1 for Route K. Furthermore, the total cost for Route K is calculated using the highway toll of ¥4,500, the electricity fee for the vehicle's travel of ¥900, and the parking fee of ¥200 at the highway parking facility. In other words, the total fees used to calculate the total cost of Route K is ¥5,500.

[0096] FIG. 9B is a diagram showing an example of a new route from a departure point S to a destination G. In FIG. 9B, the new route is shown as route L. In route L, charging spot P1 is set as a stop point VL1, and charging spot P2 is set as a stop point VL2. In route L, the vehicle departs from the departure point S at 15:00, is charged for 20 minutes at charging spot P1, travels along public roads and enters the expressway at entrance C, exits the expressway at exit D, is charged for 10 minutes from 17:30 at charging spot P2, and then travels along public roads to the destination G.

[0097] Here, for route L, charging spot P1, which is detected as having available space at the charging facility based on congestion information acquired at the vehicle's current location VC, is set as the next stop. Therefore, for route L, the parking fee at the highway parking facility is 0 yen. Also, for route L, the total cost is calculated using the highway toll of 4,400 yen and the electricity fee for driving the vehicle of 900 yen. In other words, the total fees used to calculate the total cost of route L is 5,300 yen.

[0098] [Example of information prompting you to choose a route] 10 is a diagram showing an example of information for prompting a user to select a route. In step S207, the system controller 20 generates display information HJ including elements such as those shown in FIG. 10, and outputs the generated display information HJ to the display 44.

[0099] The display information HJ includes the vehicle's current location VC, a route P set as the current route, the next stop VP on the route P, a congestion mark KM indicating that there are no available charging facilities at the stop VP, a route Q set as the new route, and the next stop VQ on the route Q. In the display information HJ in Fig. 10, the route P is shown in a solid line and the route Q is shown in a dashed line. In addition, in the display information HJ in Fig. 10, the overlapping portion of the route P and the route Q is shown in a solid line.

[0100] The display information HJ includes a message MS, a text box TB, and a dialog box DB.

[0101] The message MS includes a character string (e.g., "The charging facility is busy") that can inform the user that there is no available charging facility at the next stop on the current route. The message MS also includes a character string (e.g., "New route proposed") that can inform the user that a new route is proposed to replace the current route.

[0102] The text box TB contains a character string or the like indicating the differences between the current route and the new route. In other words, the text box TB contains route comparison information that allows the new route and the current route to be compared.

[0103] The "Time required: 30 min↓" in text box TB indicates that the travel time along the new route will be 30 minutes shorter than the travel time along the current route. The "Distance traveled: 1300 m↑" in text box TB indicates that the travel distance along the new route will be 1300 meters longer than the travel distance along the current route. The "Expressway fee: ¥100↓" in text box TB indicates that the expressway toll when traveling along the new route will be ¥100 less than the expressway toll when traveling along the current route. The "Expressway facility fee: ¥200↓" in text box TB indicates that the parking fee at the expressway parking facility when traveling along the new route will be ¥200 less than the parking fee at the expressway parking facility when traveling along the current route.

[0104] That is, text box TB contains information indicating the difference between the time required to travel along the new route and the time required to travel along the current route. Text box TB also contains information indicating the difference between the travel distance when traveling along the new route and the travel distance when traveling along the current route. Text box TB also contains information indicating the difference between the tolls on the expressway when traveling along the new route and the tolls on the expressway when traveling along the current route. Text box TB also contains information indicating the difference between the parking fees at highway parking facilities when traveling along the new route and the parking fees at highway parking facilities when traveling along the current route.

[0105] The dialog box DB contains a character string (e.g., "Do you want to be guided along a new route?") that prompts the user to select the current route or a new route. The dialog box DB also contains a button BP that the user can press to indicate that they would like to be guided along the current route. The dialog box DB also contains a button BQ that the user can press to indicate that they would like to be guided along a new route.

[0106] According to the example described above, the user can refer to the information contained in the text box TB and select either guidance to the destination via the current route or guidance to the destination via the new route.

[0107] Incidentally, charging parking fees at facilities such as service areas and parking areas on toll roads is being considered. In this case, it becomes necessary to consider the parking fees at the toll road parking facilities in addition to the toll road toll when planning a route to a destination. Furthermore, in the above-mentioned case, it is expected that the user will want to keep the costs incurred for traveling the entire route as low as possible, including, for example, parking fees at the toll road parking facilities and / or electricity charges for vehicle operation. Furthermore, in the above-mentioned case, it is expected that the user will want to select a route that can avoid facilities that are found to be congested during the journey to the destination. According to this embodiment, a route with low costs for traveling the entire route can be suitably determined based on the above prediction. Furthermore, according to this embodiment, it is possible to suitably determine a route that can avoid facilities that are found to be congested during the journey to the destination, while taking into account the costs incurred for traveling the entire route.

[0108] [Variations] Modifications of this embodiment will be described below. The following modifications can be applied to this embodiment in appropriate combination.

[0109] (Variation 1) In the above embodiment, the system controller 20 proposes one recommended route. However, instead, it may propose a predetermined number of recommended routes, starting with the lowest toll-considered cost. In this case, the system controller 20 may, for example, set a predetermined number of routes as first candidate routes, and if there are fewer than the predetermined number of first candidate routes, add the second candidate route to the first candidate routes without performing the determination in step S109. On the other hand, if there are already a predetermined number of first candidate routes, the system controller 20 may compare the first candidate route with the second candidate route, which has the highest toll-considered cost, and if the second candidate route has the lower toll-considered cost, set the second candidate route as the first candidate route instead of the first candidate route.

[0110] (Variation 2) When a second candidate route has multiple highway parking facilities, the navigation device 1 may calculate the toll-considered costs for multiple combinations of selectively using each parking facility, and compare each of these with the first candidate route to determine the recommended route.

[0111] (Variation 3) The user may be allowed to set in advance whether or not to take into account parking fees at highway parking facilities when searching for a route in the navigation device 1. In this case, the navigation device 1 may propose a recommended route taking into account parking fees at highway parking facilities only if the user has set it to take into account parking fees at highway parking facilities.

[0112] (Variation 4) When searching for a route, the user may specify a departure date and time from the departure location. In this case, the navigation device 1 may propose a recommended route for when the user departs at the departure date and time specified by the user. Alternatively, the user may specify a departure date and / or departure time zone, and the navigation device 1 may propose a departure time within the specified departure date and / or departure time zone at which expressway parking fees are cheapest.

[0113] (Variation 5) The cost conversion rate used in the recommended route output process may be set or changed by the user. Specifically, the user sets the conversion rate from toll to cost (toll-based time cost) to, for example, 500 yen / h, 700 yen / h, or 900 yen / h. The system controller 20 uses the cost conversion rate set by the user when calculating the toll-considered cost for the approximate solution route and the pseudo road closure route. Note that the user may be allowed to set the cost conversion rate for expressway tolls and the cost conversion rate for parking fees to different values.

[0114] (Variation 6) When calculating the toll for a highway, the navigation device 1 may apply an ETC discount depending on the day of the week or the time of day.

[0115] (Variation 7) The system controller 20 may acquire congestion information including information indicating the congestion status of expressway facilities and / or the traffic congestion status at the entrances to the expressway facilities, and determine whether to reroute based on the acquired congestion information. According to this processing, the system controller 20 can propose a new route, for example, when an increase in stay time and parking fees is expected due to congestion at an expressway facility set as the next stop on the current route. Furthermore, according to the above processing, the system controller 20 can propose a new route even when the navigation device 1 is installed in a vehicle other than an electric vehicle, such as a gasoline-powered vehicle.

[0116] (Variation 8) In the above embodiment, the navigation device 1 is configured as an on-board device installed in a vehicle. Alternatively, the navigation device may be configured as a terminal device such as a smartphone. In this case, the configuration of the terminal device is the same as that of the navigation device 1 shown in FIG. 1 , but does not include the standalone positioning device 10. Therefore, the terminal device determines the current position of the vehicle based on the output of the GPS receiver 18. Furthermore, the display 44 and the input device 60 are configured by a touch panel or the like of the terminal device.

[0117] <Other system configurations> The route search process executed by the navigation device 1 may be executed by a server device that communicates with the navigation device 1 via a network.

[0118] Fig. 11 is a diagram showing the configuration of a route search system according to another system configuration. In the example of Fig. 11, the route search system includes a navigation device 1 and a server device 3. The server device 3 stores map data 32, a toll table 33, and a parking fee table 34.

[0119] In the configuration example of FIG. 11 , after receiving an input specifying a destination, etc., the navigation device 1 transmits the input information such as the destination and the current position information of the vehicle to the server device 3. Based on the above embodiment, the server device 3 determines a recommended route by referring to the map data 32, the toll table 33, and the parking fee table 34. Based on the above embodiment, the server device 3 also performs rerouting as necessary. The server device 3 then transmits the obtained recommended route to the navigation device 1 as a route search result, and causes the navigation device 1 to display it. The server device 3 can also transmit the processing results obtained by performing the route search process and the rerouting process to a smartphone and / or an in-vehicle device.

[0120] In this system configuration, the server device 3 can be treated as an example of a route search device. The CPU of the server device 3 has functions as an acquisition means, a cost calculation means, an output means, and a determination means. The CPU of the server device 3 can be treated as an example of a computer that executes the program of the present invention.

[0121] This specification discloses the inventions relating to the following means 1 and 2.

[0122] (Measure 1) Charging parking fees at facilities such as service areas (SA) and parking areas (PA) on expressways and motorways (hereinafter referred to as "toll roads") is being considered. In this case, it becomes necessary to consider the parking fees at the toll road parking facilities in addition to the toll road toll when planning a route to a destination. In addition, in the above-mentioned case, it is expected that users will want to keep the costs incurred in traveling the entire route as low as possible, including, for example, the parking fees at the toll road parking facilities and the electricity costs for running the vehicle.

[0123] The invention of means 1 has been made to solve the above-mentioned problems, and its main purpose is to provide a route search device that can suitably determine a route that costs little to travel the entire route.

[0124] The route search device of means 1 has an acquisition means for acquiring a departure point and a destination, a cost calculation means for calculating a total cost for a plurality of routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and an output means for outputting one or more candidate routes, including the route with the smallest total cost, as a recommended route.

[0125] In the route search device of the above-mentioned means 1, the acquisition means acquires a departure point and a destination. The cost calculation means calculates a total cost for a plurality of routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving the mobile object. The output means outputs one or more candidate routes, including the route with the smallest total cost, as a recommended route. This makes it possible to suitably determine a route with low costs for traveling the entire route.

[0126] In one aspect of the route search device of the above means 1, the output means outputs as the recommended route a route that will result in a battery charge rate of the mobile body being equal to or higher than a predetermined charge rate when the entire route is traveled.

[0127] In another aspect of the route search device of the above-mentioned means 1, the output means outputs as the recommended route a route that can be traveled entirely while maintaining the battery charge rate of the mobile body at or above a predetermined charge rate.

[0128] In another aspect of the route search device of the above means 1, the output means outputs, as the recommended route, a route that includes a toll road at least in part and has the smallest total cost, from among the plurality of candidate routes.

[0129] In another aspect of the route search device of the above-mentioned means 1, the acquisition means further acquires information regarding the location and congestion status of one or more charging facilities included in each of the candidate routes, and the output means outputs the recommended route based on the information.

[0130] In another aspect of the route search device of the above-mentioned means 1, the output means outputs, as the recommended route, the route with the smallest total cost from among the candidate routes for which charging at the charging facility is detected based on the information.

[0131] In another aspect of the route search device of the above-mentioned means 1, the output means sets the route with the smallest total cost as the recommended route from among the candidate routes determined based on the information to be possible for travelling the entire route while maintaining the battery charge rate of the mobile body at or above a predetermined charge rate by charging at the charging facility.

[0132] In another aspect of the route search device of the above means 1, the predetermined charging rate is a charging rate designated by a user.

[0133] In another aspect of the route search device of the above-mentioned means 1, the output means outputs a route that includes one or more charging facilities as a stop-off point as the recommended route.

[0134] In another aspect of the route search device of the above-mentioned means 1, the electricity charge for the movement of the mobile body includes an electricity charge based on the amount of electricity required for the movement of the mobile body and an electricity charge for charging at a charging facility.

[0135] In another preferred embodiment of the means 1, a route search method executed by a computer acquires a starting point and a destination, calculates a total cost for a plurality of routes from the starting point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving a mobile object, and outputs one or more candidate routes including the route with the smallest total cost as a recommended route. This makes it possible to suitably determine a route with low costs for traveling the entire route.

[0136] In yet another preferred embodiment of the means 1, the program causes a computer to execute a process of acquiring a departure point and a destination, calculating a total cost for multiple routes from the departure point to the destination, including the time or distance required to reach the destination, tolls on toll roads, parking fees for parking facilities on toll roads, and electricity charges for moving the mobile object, and outputting one or more candidate routes including the route with the smallest total cost as a recommended route. By executing this program on a computer, the above-mentioned route search device can be realized. This program can be stored in a storage medium and used.

[0137] (Measure 2) Charging parking fees at facilities such as service areas (SAs) and parking areas (PAs) on expressways and motorways (hereinafter referred to as "toll roads") is being considered. In this case, it becomes necessary to consider the parking fees at the toll road parking facilities in addition to the toll road toll when planning a route to a destination. In addition, in the above case, it is expected that users will want to keep the costs incurred for traveling the entire route, including parking fees at the toll road parking facilities, as low as possible. In addition, in the above case, it is expected that users will want to select a route that avoids facilities that are found to be congested while traveling to a destination, for example.

[0138] The invention of means 2 has been made to solve the above-mentioned problems, and its main purpose is to provide a route search device that can suitably determine a route that avoids facilities that are found to be congested while traveling to a destination, while taking into account the cost of traveling the entire route.

[0139] The route search device of means 2 includes a first acquisition means for acquiring a departure point and a destination, a cost calculation means for calculating a total cost for a plurality of routes from the departure point to the destination, including the cost of the time or distance required to reach the destination, the toll fee for the toll road, and the parking fee for parking facilities on the toll road, an output means for outputting one route from the departure point to the destination based on the result of the calculation, a second acquisition means for acquiring congestion information including information related to the congestion status of facilities located beyond the current position of a mobile body moving along the one route, and a determination means for determining whether to output a new route different from the one route based on the congestion information.

[0140] In the route search device of the above-mentioned means 2, the acquisition means acquires a departure point and a destination. The cost calculation means calculates a total cost for multiple routes from the departure point to the destination, including the cost of the time or distance required to reach the destination, the toll fee for a toll road, and the parking fee for a parking facility on the toll road. The output means outputs one route from the departure point to the destination based on the calculation result. The second acquisition means acquires congestion information including information regarding the congestion status of facilities located beyond the current position of a mobile object traveling along the one route. The determination means determines whether to output a new route different from the one route based on the congestion information. This makes it possible to preferably determine a route that avoids facilities that are found to be congested during the journey to the destination, while taking into account the cost of traveling the entire route.

[0141] In one aspect of the route search device of the above-mentioned means 2, the second acquisition means acquires, as the congestion information, information relating to the congestion status of a charging facility for charging the mobile body, and the output means outputs the new route when it is determined based on the congestion information that there is no available space at the charging facility.

[0142] In another aspect of the route search device of the above means 2, the output means further outputs route comparison information including information that allows the new route and the one route to be compared.

[0143] In another aspect of the route search device of means 2 above, the route comparison information includes information indicating the difference between the parking fee when traveling along the new route and the parking fee when traveling along the one route.

[0144] In another aspect of the route search device of the above means 2, the output means outputs the route with the smallest total cost as the one route.

[0145] In another aspect of the route search device of the above-mentioned means 2, the total cost further includes a cost for electricity charges relating to the movement of the mobile object.

[0146] In another aspect of the route search device of the above-mentioned means 2, the electricity charge for the movement of the mobile body includes an electricity charge according to the amount of electricity required for the movement of the mobile body and an electricity charge for charging at a charging facility.

[0147] In another preferred embodiment of Means 2, a route search method executed by a computer acquires a starting point and a destination, calculates a total cost for multiple routes from the starting point to the destination, including the cost of the time or distance required to reach the destination, tolls for toll roads, and parking fees for parking facilities on toll roads, outputs one route from the starting point to the destination based on the results of the calculation, acquires congestion information including information on the congestion status of facilities located ahead of the current position of a mobile object moving along the one route, and determines whether to output a new route different from the one route based on the congestion information. This makes it possible to suitably determine a route that avoids facilities that are found to be congested during the trip to the destination, while taking into account the cost of traveling the entire route.

[0148] In yet another preferred embodiment of means 2, the program causes a computer to execute the following processes: acquire a departure point and a destination; calculate a total cost for multiple routes from the departure point to the destination, including the time or distance required to reach the destination, tolls for toll roads, and parking fees for parking facilities on the toll roads; output one route from the departure point to the destination based on the results of the calculation; acquire congestion information including information on the congestion status of facilities located ahead of the current location of a mobile object moving along the one route; and determine whether to output a new route different from the one route based on the congestion information. By executing this program on a computer, the above-mentioned route search device can be realized. This program can be stored in a storage medium and used. [Explanation of symbols]

[0149] 1. Navigation devices 3. Server equipment 10. Standalone positioning device 20 System Controller 22 CPU 31 Data Storage Unit 38 Communication Equipment 40 Display Unit 44 Display 50 Audio Output Unit 60 Input Device

Claims

1. An acquisition means for acquiring a departure point and a destination point; a cost calculation means for calculating a total cost for a plurality of routes from the departure point to the destination, the total cost including the required time or distance to the destination, tolls on toll roads, parking fees at parking facilities on toll roads, and electricity charges for moving the mobile object; an output means for outputting one or more candidate routes including the route with the smallest total cost as a recommended route; A route search device having the above configuration.

2. 2. The route search device according to claim 1, wherein the output means outputs as the recommended route a route that will result in a battery charge rate of the mobile body being equal to or higher than a predetermined charge rate when the entire route is traveled.

3. 2. The route search device according to claim 1, wherein the output means outputs, as the recommended route, a route that can be traveled entirely while maintaining a charging rate of the battery of the mobile body at or above a predetermined charging rate.

4. 2. The route search device according to claim 1, wherein the output means outputs, as the recommended route, a route that includes at least a toll road among the plurality of candidate routes and that has the smallest total cost.

5. the acquisition means further acquires information relating to a location and a congestion status of one or more charging facilities included in the candidate route; The route search device according to claim 1 , wherein the output means outputs the recommended route based on the information.

6. The route search device according to claim 5, wherein the output means outputs, as the recommended route, a route with the smallest total cost from among the candidate routes for which charging at the charging facilities is detected based on the information.

7. 6. The route search device according to claim 5, wherein the output means sets, as the recommended route, the route with the smallest total cost among the candidate routes determined based on the information as being possible to travel the entire route while maintaining the battery charge rate of the mobile body at or above a predetermined charge rate by charging at the charging facility.

8. The route search device according to claim 3 or 7, wherein the predetermined charging rate is a charging rate designated by a user.

9. The route search device according to claim 1 , wherein the output means outputs, as the recommended route, a route that includes one or more charging facilities as stop-off points.

10. 2. The route search device according to claim 1, wherein the electricity charges related to the movement of the mobile body include an electricity charge according to the amount of electricity required for the movement of the mobile body and an electricity charge for charging at a charging facility.

11. A computer-implemented route search method, comprising: Obtain the origin and destination, calculating a total cost for a plurality of routes from the departure point to the destination, including the cost of a required time or distance to the destination, a toll fee for a toll road, a parking fee for a parking facility on the toll road, and an electricity charge for moving the mobile body; A route search method that outputs one or more candidate routes including the route with the smallest total cost as a recommended route.

12. Obtain the origin and destination, calculating a total cost for a plurality of routes from the departure point to the destination, including the cost of a required time or distance to the destination, a toll fee for a toll road, a parking fee for a parking facility on the toll road, and an electricity charge for moving the mobile body; A program that causes a computer to execute a process of outputting one or more candidate routes including the route with the smallest total cost as a recommended route.

13. A storage medium storing the program according to claim 12.

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