JP2007033209A - Navigation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system capable of surveying a path passing through an actual outlet of a facility with higher precision. <P>SOLUTION: In the case that the present position is within a facility which is contained in a map data, whether or not a path data of the facility exists is judged (S30). In the case there is, links of the path data in the facility are traced and a route passing through the facility outlet is searched (S40). In the case there is not, whether or not the facility outlet is learned is judged (S50). If not learned, a guide coordinates which ends route guide in the case that the facility is set as a destination is determined in the coordinates of the facility outlet (S60). If learned, the learned coordinates are determined as the facility outlet coordinates (S70). Then, the route is searched setting the determined facility outlet coordinates as the coordinate of the start point (S80). By determining the facility outlet even in the case that no path data in the facility exists, the route passing through the actual outlet of the facility can be searched with higher precision. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a navigation device capable of searching for a route from a departure place to a destination.

The facility data including the location of the facility on the map and the exit location of the facility is stored in the map data storage means as part of the map data, and the vehicle is located in the facility where the facility data is stored in the map data storage means In this case, a navigation device that searches for a route so as to pass through an exit of a facility is known (for example, Patent Document 1).
JP 2005-037275 A

  In the case of the navigation device of Patent Document 1, in order to search for a route passing through the facility exit, the location of the facility exit needs to be stored in the map data storage means. Since it is difficult to store the exit positions for all the facilities in the map data storage means, the actual situation is that the exit positions are stored only for some facilities. Therefore, there may be a situation where the vehicle is located in a facility where the exit location is not stored. In this case, a route passing through the facility exit is not searched, and generally a point on the road adjacent to the facility is not found. The route from is searched. If the searched route does not pass through the exit of the actual facility, the user has to determine the route from the exit of the facility to the start point of the searched route by himself / herself.

  The present invention has been made based on this situation, and an object of the present invention is to provide a navigation device that can search for a route passing through an actual exit of a facility with higher accuracy.

  In order to achieve the object, when the present coordinates of the vehicle are in the facility stored in the map data, the route to the destination through the facility exit coordinates of the facility is obtained. A navigation device comprising route search means for searching, and performing route guidance based on the route searched by the route search means and the current coordinates of the vehicle, wherein route guidance is provided when the facility is set as a destination First facility exit determining means for determining the guide coordinates set as coordinates for ending the facility as coordinates of the facility exit, and a point where the coordinates of the vehicle are within the facility from the road stored in the map data Any one of the 2nd facility exit determination means which determines these coordinates as a coordinate of the said facility exit is provided, It is characterized by the above-mentioned.

  According to the first aspect of the present invention, the first facility exit determining means for determining the facility guidance coordinates as the facility exit coordinates, and the point where the vehicle has entered the facility from the road stored in the map data The facility exit is determined by any one of the second facility exit determining means for determining the coordinates as the coordinates of the facility exit. Here, in a navigation device having a route guidance function, the facility guidance coordinates are always set, and whether the vehicle has come off the road stored in the map data and is located in the facility. Since the determination is made sequentially, the facility exit is always determined by the first facility exit determining means and the second facility exit determining means. Therefore, a route passing through the actual exit of the facility can be searched with higher accuracy.

  In the navigation device according to claim 1, the map data includes coordinates of facility exits for some facilities, and the route search means includes a vehicle If the current coordinates of the facility are in the facility stored in the map data and the coordinates of the facility exit of the facility are included in the map data, the facility exit included in the map data When the route passing the coordinates is searched and the current coordinates of the vehicle are in the facility stored in the map data, but the coordinates of the facility exit of the facility are not included in the map data, the first facility A route passing through the coordinates of the facility exit determined by the exit determining means or the second facility exit determining means is searched for.

  Thus, when the current coordinates of the vehicle are in a facility where the coordinates of the facility exit are included in the map data, if the coordinates of the facility exit included in the map data are used preferentially, the map Since the coordinates of the facility exit included in the data are considered to be the coordinates of the actual facility exit almost certainly, the path through the actual exit of the facility can be searched with higher accuracy.

  The invention according to claim 3 for achieving the object further comprises route search means for searching for a route from the departure place to the destination based on map data, the route searched by the route search means, A navigation device that provides route guidance based on the current coordinates of a vehicle, wherein the coordinates of the vehicle are on the road stored in the map data from within the facility stored in the map data. And the facility exit learning means that learns the coordinates of the facility exit of the facility, the route search means is in the facility where the current coordinates of the vehicle are stored in the map data, and the facility exit of the facility is When learning is performed by the facility exit learning means, a route passing through the facility exit learned by the facility exit learning means is searched.

  According to the third aspect of the present invention, the facility exit learning means learns the coordinates of the vehicle from the inside of the facility to the road on the map data as the facility exit coordinates. The coordinates of the facility exit learned in this way are considered to represent the coordinates of the actual facility exit with high accuracy, so when you visit the facility for the second time or later, the actual location of the facility exit with high accuracy is considered. The route through the exit can be searched.

  According to a fourth aspect of the present invention, in the navigation device according to the third aspect, the map data includes coordinates of facility exits for some facilities, and the route search means When the current coordinates are in the facility stored in the map data and the facility exit coordinates of the facility are included in the map data, the facility exit coordinates included in the map data When the route of the vehicle is searched and the current coordinates of the vehicle are in the facility where the coordinates of the facility exit are not included in the map data, but the facility exit coordinates of the facility are learned by the facility exit learning means Is characterized in that a route passing through the facility exit coordinates learned by the facility exit learning means is searched.

  Also in the fourth aspect, since both the facility exit coordinates learned by the facility exit learning means and the facility exit coordinates included in the map data are used, the proportion of facilities where the facility exit coordinates are determined increases. . Accordingly, a route passing through the actual exit of the facility can be searched with higher accuracy.

  Here, as in claim 5 or 6, the navigation apparatus having the facility exit learning means or the navigation having the facility exit coordinates for some facilities in addition to the facility exit learning means. The apparatus preferably further includes any one of the first facility exit determining means and the second facility exit determining means.

  That is, the invention according to claim 5 is the navigation device according to claim 3, wherein the guide coordinates set as coordinates for ending route guidance when the facility is set as a destination are used as the coordinates of the facility exit. First facility exit determining means for determining, and second facility exit determining means for determining the coordinates of a point where the coordinates of the vehicle are within the facility from the road stored in the map data as coordinates of the facility exit The route search means is in a facility where the current coordinates of the vehicle are stored in the map data, but the facility exit learning means has learned the coordinates of the facility exit of the facility. If not, the route is searched so as to pass through the coordinates of the facility exit determined by the first facility exit determining means or the second facility exit determining means. The features.

  According to a sixth aspect of the present invention, in the navigation device according to the fourth aspect, when the facility is set as a destination, guide coordinates set as coordinates for ending route guidance are determined as the coordinates of the facility exit. First facility exit determining means, and second facility exit determining means for determining, as coordinates of the facility exit, coordinates of a point where the coordinates of the vehicle are within the facility from the road stored in the map data The route search means further includes any one of the vehicle coordinates in the facility where the map data does not include the facility exit coordinates, and the facility exit coordinates of the facility are the facility exit coordinates. If not learned by the learning means, passing through the coordinates of the facility exit determined by the first facility exit determining means or the second facility exit determining means, Wherein the searching for the road.

  Since the invention according to claim 5 or 6 has either one of the first facility exit determination means and the second facility exit determination means that can always determine the coordinates of the facility exit, The route through the exit can be searched. Further, the coordinates of the facility exit included in the map data rather than the coordinates of the facility exit determined by the first facility exit determining means and the second facility exit determining means (in the case of the invention according to claim 6, In addition to the facility exit coordinates included in the map data, the facility exit coordinates learned by the facility exit learning means are preferentially used, so the route through the actual facility exit can be searched with higher accuracy. .

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of a car navigation apparatus to which the present invention is applied.

  In FIG. 1, the car navigation device includes a position detector 1, a map data input device 6, an operation switch group 7, an external memory 9, a display device 10, a transceiver 11, a voice controller 12, a speaker 13, a voice recognition device 14, and a microphone. 15, a remote control sensor 16, a remote control terminal (hereinafter referred to as a remote control) 17, and a control device 8 to which these devices are connected.

  The control device 8 is a normal computer and includes a well-known CPU, ROM, RAM, I / O, and a bus line for connecting these components. In the ROM, a program to be executed by the control device 8 is written, and a CPU or the like executes predetermined arithmetic processing according to this program.

  The position detector 1 is based on a geomagnetic sensor 2 for detecting the absolute azimuth of the vehicle, a gyroscope 3 for detecting the relative azimuth of the vehicle, a distance sensor 4 for detecting the travel distance of the vehicle, and radio waves from the satellite. And a GPS receiver 5 for a global positioning system (GPS) for measuring the position of the vehicle. These sensors 2, 3, 4, 5 are all well known. Each of these sensors 2, 3, 4, 5 has an error of a different property, so that the plurality of sensors 2, 3, 4, 5 are configured to be used while complementing each other. Depending on the accuracy, the position detector 1 may be constituted by a part of the above-described components, and a steering rotation sensor (not shown), a vehicle speed sensor of each rolling wheel, or the like may be used.

  The map data input device 6 includes a storage medium (not shown) such as a DVD-ROM or a CD-ROM, and stores digital map data including road data, background data, character data, facility data, and the like. These data are input to the control device 8.

  The road data includes node data, which is data indicating a road network connection relationship at a node such as an intersection, and link data, which is data about a road connecting the nodes. In addition, as facility data, the representative coordinates of the facility and the guide coordinates that end the route guidance when the facility is set as a destination (the facility coordinates are generally used as the guide coordinates) And area data (also referred to as polygon data) that is a set of polygons that enclose the area (range) of the facility in a closed loop. In addition, in the facility data for some facilities, a passage in the facility (for example, a parking lot passage in the facility) is represented by a plurality of links and a plurality of nodes like the road data described above, At least one of the plurality of nodes includes in-facility passage data set as the facility exit.

  The operation switch group 7 includes a touch switch integrated with the display device 10 or a mechanical switch or the like provided around the display device 10, and changes the scale of the map displayed on the display device 10, menu display selection, destination It is used for various inputs such as setting, route route guidance start, current position correction, display screen change, and volume adjustment. The remote controller 17 is provided with a plurality of operation switches (not shown), and the same input operation as that of the operation switch group 7 can be performed by operating the operation switches. A signal representing an input operation input to the remote controller 17 is supplied to the control device 8 via the remote controller sensor 16.

  The external memory 9 as a storage device is, for example, a memory card or a hard disk, and includes a writable storage medium. The external memory 9 stores various data such as a home position set by the user, text data, image data, audio data, and the like.

  The display device 10 is configured by, for example, a liquid crystal display or an organic EL display. In a predetermined map display area of the display device 10, a vehicle position mark corresponding to the current position of the vehicle is generated around the vehicle around which the map data is generated. It is displayed superimposed on the road map. In addition, the display device 10 can additionally display other information displays such as the current time and traffic jam information.

  The transceiver 11 is a communication device for communication connection with the outside, and is provided from a VICS (Vehicle Information and Communication System) (registered trademark) center via beacons laid on the road or FM broadcast stations in various places. Connected to a VICS sensor that receives road traffic information, weather information, date information, facility information, and advertisement information, and transmits the road traffic information and the like to the control device 8. Information processed by the control device 8 can also be output from the transceiver 11.

  The speaker 13 outputs a predetermined voice (guidance for guidance, explanation of screen operation, voice recognition result, etc.) to the outside based on the voice output signal input from the voice controller 12.

  The microphone 15 inputs the voice uttered by the operator to the voice recognition device 14 as an electrical signal. The voice recognition device 14 collates the operator's input voice inputted from the microphone 15 with lexical data (comparison reference pattern) in a recognition dictionary (not shown) stored therein, and obtains the one with the highest degree of matching. The recognition result is input to the voice controller 12.

  The voice controller 12 controls the voice recognition device 14 and controls talkback output (voice output) through the speaker 13 for an operator who has input voice. Moreover, the process which inputs the recognition result of the speech recognition apparatus 14 to the control apparatus 8 is also performed.

  Based on the information from the voice recognition device 14, the control device 8 performs predetermined processing for the utterance of the operator and predetermined processing for the input operation of the operation switch group 7 or the remote controller 17 (for example, storage processing of map data in the memory 9). Map scale change processing, menu display selection processing, destination setting processing, route search execution processing, route guidance start processing, current position correction processing, display screen change processing, volume adjustment processing, etc.). Further, route guidance voice information and the like processed by the control device 8 are appropriately notified from the speaker 13 via the voice controller 12.

  FIG. 2 is a block diagram showing a main part of the control function of the control device 8. As shown in FIG. 2, the control device 8 includes map matching means 20, route guidance means 22, facility exit learning means 24, destination setting means 26, and route search means 28.

  The map matching means 20 determines the coordinates of the own vehicle position based on the signal detected by the position detector 1, and based on the determined coordinates of the own vehicle position from the map data input device 6 Load the map data. Then, by comparing the coordinates of the vehicle position with the area data of the road data and facility data included in the map data, it is determined which road on the map data or in which facility the vehicle is located. Judge every period. In addition, by comparing the shape of the travel locus of the vehicle with the shape of the road around the location of the vehicle, the position having the highest correlation with the travel locus of the vehicle is determined as the road on which the vehicle is traveling. The coordinates of the vehicle position determined based on the signal from the device 1 are also corrected.

  The route guidance unit 22 reads map data around the vehicle position determined by the map matching unit 20 from the map data input device 6 and searches the vehicle position on the read map data and the route search unit 28. The predetermined route guidance is executed by comparing with the route obtained.

  The facility exit learning unit 24 stores, in the external memory 9, the coordinates when the map matching unit 20 determines that the coordinates of the own vehicle are on the road from the facility as the facility exit coordinates of the facility.

  The destination setting means 26 displays a predetermined destination setting screen on the display device 10 or outputs a predetermined sound for requesting the destination setting from the speaker 13 so that the user operates the operation switch group 7 or the remote controller 17. The point specified by doing or the point input from the microphone 15 is set as the destination.

  When the departure place is set by the user, the route search means 28 inputs the route from the departure place to the destination set by the destination setting means 26 from the map data input device 6. One or a plurality of lines are searched using a known technique such as the Dijkstra method based on the map data. Then, the searched route is displayed on the display device 10.

  On the other hand, when the departure place is not set by the user, or when the current place is set as the departure place, the process shown in FIG. 3 is executed and the route to the destination set by the destination setting means 26 is determined. Explore.

  In FIG. 3, first, in step S10, it is determined whether or not the current position of the vehicle is in the facility. If the determination in step S10 is negative, one or more routes from the departure point to the destination are obtained in the same manner as when the departure point is set by the user in step S20. Search this book.

  If the current location of the vehicle is in the facility (if step S10 is affirmed), the current location is not on the map data link, and as a result, the current location may not be set as the departure location. Step S30 and subsequent steps are executed.

  In step S30, it is determined whether the facility data of the facility includes in-facility passage data. If the determination in step S30 is affirmative, in step S40, the route to the node set as the facility exit is determined by following the link of the in-facility passage data, and the node (facility exit) The route from the destination to the destination is searched in the same manner as in step S20 described above.

  On the other hand, if the facility data does not include in-facility passage data and the determination in step S30 is negative, in step S50, the coordinates of the facility exit learned by the facility exit learning means 24 described above are external It is further determined whether or not it is stored in the memory 9.

  If the determination in step S50 is negative, in step S60 corresponding to the first facility exit determining means, the guide coordinates of the facility where the vehicle is currently located are determined as the facility exit coordinates, and then step S70. Execute. As described above, the facility coordinates are generally set at the facility entrance, and the facility entrance often serves as an exit. Represents coordinates.

  On the other hand, if the determination in step S50 is affirmative, in step S70, the learned coordinates are determined as the facility exit coordinates. In step S80, the coordinates of the facility exit determined in step S60 or S70 are set as the starting point, that is, the route to the destination is made to pass through the coordinates of the facility exit in the same manner as in steps S20 and S40. Explore.

  And after performing any of step S20, S40, and S80, the searched path | route is displayed on the display apparatus 10 in step S90.

  As described above, according to the present embodiment described above, in step S60, the guide coordinates set for each facility are determined as the coordinates of the facility exit, so that the facility exit can be determined without fail. Therefore, a route passing through the actual exit of the facility can be searched with high accuracy. Also, if there is in-facility passage data of the facility where the vehicle is located (that is, if the coordinates of the facility exit are included in the map data), or if the coordinates of the facility exit are learned, it will be included in the map data Since the route passing through the facility exit coordinates is preferentially used by using the coordinates of the facility exit being learned and the coordinates of the learned facility exit (steps S40, S70 to S80), it is more highly accurate. The route through the actual exit of the facility can be searched.

  Next, a second embodiment of the present invention will be described. Note that, in the following description, the same reference numerals are given to the same components as those in the first embodiment, and the description thereof is omitted.

  The navigation device of the second embodiment also has the configuration shown in FIG. 1, but the control content of the control device 8 is different from that of the first embodiment. FIG. 4 is a block diagram showing a main part of the control function of the control device 8 in the second embodiment. The control device 8 of the second embodiment differs from the first embodiment in that it further includes facility entrance determination means 30.

  The facility entrance determining means 30 determines the coordinates when the map matching means 20 determines that the coordinates of the host vehicle are within the facility from the road as the coordinates of the facility entrance of the facility, The coordinates are stored in the external memory 9.

  FIG. 5 is a flowchart showing processing executed in place of FIG. 3 when the same conditions as in FIG. 3 are satisfied in the route guidance unit 22 in the second embodiment.

  The flowchart shown in FIG. 5 differs from the flowchart shown in FIG. 3 described above in that the current location is in the facility (YES in step S10), there is no passage data in the facility (NO in step S30), and the facility exit is learned. If not (NO in step S50), only step S65 is executed instead of step S60.

  The step S65 corresponds to the second facility exit determining means, and determines the facility entrance coordinates determined by the facility entrance determining means 30 as the facility exit coordinates. In addition, since step S65 is a step that is executed when step S10 is affirmed, that is, when the current location is in the facility, the coordinates of the facility entrance are always determined when step S65 is performed. . Further, since the facility entrance often serves as the exit, the coordinates of the facility entrance represent the coordinates of the facility exit with relatively high accuracy.

  As described above, according to the second embodiment described above, in step S65, the facility entrance determination means 30 determines the facility entrance coordinates, which are always determined when a vehicle enters the facility, as the facility exit coordinates. Therefore, you can always determine the facility exit. Therefore, a route passing through the actual exit of the facility can be searched with high accuracy. Also in the second embodiment, if there is in-facility passage data of the facility where the vehicle is located or if the coordinates of the facility exit are learned, the coordinates of the facility exit included in the in-facility passage data Since the route through the facility exit coordinates is searched by using the learned facility exit coordinates preferentially (steps S40, S70 to S80), the route passes through the actual exit of the facility with higher accuracy. The route can be searched.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention, and also the summary other than the following is also included. Various modifications can be made without departing from the scope.

  For example, in the above-described embodiment, the facility data of some facilities includes in-facility passage data, but the facility data of any facility may not include in-facility passage data. If the facility data of any facility does not include in-facility passage data, steps S30 and S40 are omitted in FIG. 3 or FIG. Also in this case, the facility exit can always be determined in step S60 or S65, and if there is in-facility passage data of the facility where the vehicle is located or if the coordinates of the facility exit have been learned, the in-facility passage Since the route passing through the facility exit coordinates is searched by using the facility exit coordinates and the learned facility exit coordinates included in the data preferentially (steps S40, S70 to S80), the facility actuality is highly accurate. The route through the exit can be searched.

  In the above-described embodiment, the facility exit learning unit 24 may be omitted. When the facility exit learning means 24 is omitted, steps S50 and S70 are omitted in FIG. 3 or FIG. Also in this case, the facility exit can always be determined in step S60 or S65, and when there is in-facility passage data, the route through the facility exit can be searched by following the link of the in-facility passage data (step S40) The route through the actual exit of the facility can be searched with high accuracy.

  Moreover, the facility passage data may not be included in the facility data of any facility, and the facility exit learning means 24 may be omitted. Even in this case, the facility exit can always be determined in step S60 or S65, so that a route passing through the actual exit of the facility can be searched with high accuracy.

  Moreover, step S60 can be omitted in the first embodiment, or step S65 can be omitted in the second embodiment. When step S60 or S65 is omitted, if a negative determination is made in step S50, the starting point is a point on the road adjacent to the facility as in the conventional case. Even in this way, if the facility exit is learned or there is passage data in the facility, the route through the facility exit can be searched, so the route through the actual exit of the facility is searched with higher accuracy than before. can do.

  Furthermore, even when the facility data of any facility does not include in-facility passage data, step S60 of the first embodiment can be omitted, or step S65 of the second embodiment can be omitted. Even in this case, it is considered that the facility exit coordinates learned by the facility exit learning means 24 represent the coordinates of the actual facility exit with high accuracy, so when visiting the facility for the second time or later, The path through the actual exit of the facility can be searched with high accuracy.

  In the above-described embodiment, the map data is stored in a storage medium such as a DVD-ROM or a CD-ROM provided in the map data input device 6, but part or all of the map data is transmitted through a communication line. It may be delivered. In this case, the facility data included in the map data may be sequentially updated, so that the proportion of the facility data including the in-facility passage data may be increased.

1 is a block diagram showing an overall configuration of a car navigation device to which the present invention is applied. It is a block diagram which shows the principal part of the control function of the control apparatus 8 of FIG. 3 is a flowchart showing processing executed when a departure place is not set by a user or when a current place is set as a departure place in the route guidance means 22 of FIG. It is a block diagram which shows the principal part of the control function of the control apparatus 8 in 2nd Embodiment. FIG. 6 is a flowchart illustrating processing executed in place of FIG. 3 in the second embodiment.

Explanation of symbols

24: Facility exit learning means 28: Route searching means 30: Facility entrance determining means S60: First facility exit determining means S65: Second facility exit determining means

Claims (6)

When the current coordinates of the vehicle are in the facility stored in the map data, the vehicle is provided with route search means for searching for a route to the destination through the coordinates of the facility exit of the facility, and is searched by the route search means. A navigation device for performing route guidance based on the route and the current coordinates of the vehicle,
First facility exit determining means for determining, as the facility exit coordinates, guide coordinates set as coordinates for ending route guidance when the facility is set as a destination;
And a second facility exit determining means for determining, as the facility exit coordinates, coordinates of a point where the coordinates of the vehicle are located in the facility from the road stored in the map data. A navigation device characterized by the above. The map data includes the coordinates of facility exits for some facilities,
When the current coordinates of the vehicle are within the facility stored in the map data and the coordinates of the facility exit of the facility are included in the map data, the route search means includes the map data in the map data. A route that passes through the coordinates of the included facility exit is searched, and the current coordinates of the vehicle are within the facility stored in the map data, but the facility exit coordinates of the facility are not included in the map data The navigation device according to claim 1, wherein a route passing through the coordinates of the facility exit determined by the first facility exit determining unit or the second facility exit determining unit is searched. A navigation device comprising route search means for searching a route from a departure point to a destination based on map data, and performing route guidance based on the route searched by the route search means and the current coordinates of the vehicle. ,
Facility exit learning means for learning the coordinates when the vehicle coordinates are on the road stored in the map data from the facility stored in the map data as the facility exit coordinates of the facility;
If the current coordinates of the vehicle are in the facility where the map data is stored and the facility exit of the facility is learned by the facility exit learning means, the route search means learns the facility exit A navigation device characterized by searching for a route passing through a facility exit learned by means. The map data includes the coordinates of facility exits for some facilities,
When the current coordinates of the vehicle are within the facility stored in the map data and the coordinates of the facility exit of the facility are included in the map data, the route search means includes the map data in the map data. A route that passes through the coordinates of the included facility exit is searched, and the current coordinates of the vehicle are in the facility where the coordinates of the facility exit are not included in the map data. 4. The navigation apparatus according to claim 3, wherein when the learning is performed by the learning means, a route passing through the coordinates of the facility exit learned by the facility exit learning means is searched. First facility exit determining means for determining, as the facility exit coordinates, guide coordinates set as coordinates for ending route guidance when the facility is set as a destination;
And further comprising any one of second facility exit determining means for determining the coordinates of the point where the vehicle coordinates are located in the facility from the road stored in the map data as the facility exit coordinates,
The route search means is in the facility where the current coordinates of the vehicle are stored in the map data, but when the facility exit learning means has not learned the facility exit coordinates of the facility, the route search means The navigation apparatus according to claim 3, wherein a route is searched so as to pass through the coordinates of the facility exit determined by the facility exit determining means or the second facility exit determining means. First facility exit determining means for determining, as the facility exit coordinates, guide coordinates set as coordinates for ending route guidance when the facility is set as a destination;
And further comprising any one of second facility exit determining means for determining the coordinates of the point where the vehicle coordinates are located in the facility from the road stored in the map data as the facility exit coordinates,
The route search means is in a facility where the current coordinates of the vehicle do not include the facility exit coordinates in the map data, and the facility exit coordinates of the facility are not learned by the facility exit learning means. 5. The navigation device according to claim 4, wherein a route is searched so as to pass through the coordinates of the facility exit determined by the first facility exit determining unit or the second facility exit determining unit.

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