JP2010122003A - Navigation device, navigation method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device 20 capable of informing a user that a boundary is about to be passed before the boundary of an area is passed. <P>SOLUTION: This navigation device 20 includes: a map information holding part 25 for holding link data 253 which is information on a link showing a road included in the mesh, and boundary information 27 which is information showing the boundary of the area included in a domain of the mesh, in each mesh which is a map domain determined beforehand; a present position calculation part 24 for calculating a present position and a traveling direction of a vehicle; and a boundary informing part 23 for informing a driver by a voice or a display that the boundary is about to be passed, when a position relation between the present position of the vehicle and the boundary existing in front of the vehicle satisfies a condition determined beforehand, on reference to the present position of the vehicle calculated by the present position calculation part 24 and the boundary information 27 in the map information holding part 25. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a navigation apparatus and method, and more particularly to a technique for notifying that a boundary between regions is passed.

  Patent Document 1 below discloses a technique for detecting when a vehicle crosses a prefectural border and notifying a driver or the like.

JP-A-8-14924

  By the way, in the United States, the speed limit of a car may differ from state to state. In addition, not only in the United States, there are cases where local regulations differ from region to region, such as administrative divisions. In this way, when the ordinances differ from region to region, if the boundary of the region is exceeded, check whether the region's ordinance on the other side of the boundary is observed before crossing the boundary. May be necessary. In the above-mentioned patent document 1, the fact is notified after passing through the boundary, and the driver may enter the other area through the boundary without being aware of it.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to notify the user that the boundary is passed before the boundary of the region is passed.

  In order to solve the above-mentioned problem, a first aspect of the present invention is a map information holding means for holding link data that is information relating to a link indicating a road on a map and boundary information that is information indicating a boundary of a region. Current position calculating means for calculating the current position and the traveling direction, the current position and the traveling direction calculated by the current position calculating means, and the boundary information held in the map information holding means, And a boundary notification means for notifying by voice or display that the vehicle passes through the boundary when the positional relationship with the boundary existing in the forward direction of the current position satisfies a predetermined condition. A navigation device is provided.

  According to a second aspect of the present invention, there is provided a navigation method in a navigation apparatus having map information holding means, wherein link data which is information relating to a link indicating a road on a map held in the map information holding means is referred to. The current position calculating step for calculating the current position and the traveling direction, the current position calculated in the current position calculating step, and the boundary information that is information indicating the boundary of the area held in the map information holding means are referred to. And a boundary notification step of notifying that the vehicle passes through the boundary when the positional relationship between the current position and the boundary existing ahead of the current position satisfies a predetermined condition. Provide a navigation method.

  The third aspect of the present invention is calculated by a current position calculation function that calculates a current position and a traveling direction with reference to link data that is information about a link indicating a road on a map, and a current position calculation function. With reference to boundary information that is information indicating the current position and the boundary of the region, the boundary is determined when the positional relationship between the current position and the boundary existing in front of the current position satisfies a predetermined condition. There is provided a program characterized by realizing a navigation function having a boundary notification function for notifying of passing.

  According to the navigation device of the present invention, it is possible to notify the user that the vehicle passes through the boundary before passing through the boundary of the region.

  First, a first embodiment of the present invention will be described.

  FIG. 1 is a system configuration diagram illustrating an example of a configuration of a navigation system 10 according to the first embodiment. The navigation system 10 includes an input device 11, a display device 12, a speaker 13, a sensor 14, and a navigation device 20. The navigation device 20 includes a route search unit 21, a route guidance unit 22, a boundary notification unit 23, a current position calculation unit 24, and a map information holding unit 25.

  The map information holding unit 25 indicates, for each mesh that is a predetermined map area, a link table that includes information related to a link indicating a road included in the mesh, and a boundary of a region included in the area of the mesh. Holds boundary information that is information. The map information holding unit 25 holds map data in addition to the link table and boundary information.

  In the link table 250, for example, as shown in FIG. 2, mesh data 251 including information about a link indicating a road is stored for each mesh indicating a predetermined map area. Each mesh data 251 includes a mesh ID 252 for identifying each mesh, link data 253 that is data relating to a link in the mesh, and the like.

  Each link data 253 includes a link ID 254 for identifying each link, a start node coordinate 255 of the link, an end node coordinate 256 of the link, a road type 257 of the link, a link length 258 of the link, Start connection link 259 which is identification information of other links connected to the start node, end connection link 260 which is identification information of other links connected to the end node of the link, name 261 of the link, etc. Is stored.

  In the boundary information 27, for example, as shown in FIG. 3, the mesh ID 271 of the mesh including the boundary line, the starting point 272 of the boundary line, the boundary, and the boundary ID 270 for identifying each boundary line are associated. An end point 273 of the line, a left side region 274 indicating the name of the region on the left side from the start point to the end point of the boundary line, and a left side region 274 indicating the name of the region on the right side from the start point of the boundary line to the end point Stored.

  The sensor 14 is, for example, a GPS (Global Positioning System) receiver, an orientation sensor, a distance sensor, a vehicle speed sensor, and the like, and measures a GPS signal transmitted from a geodetic satellite, a traveling direction of the vehicle, a moving distance of the vehicle, a vehicle speed, and the like. Then, the measurement information is supplied to the current position calculation unit 24.

  The current position calculation unit 24 is based on measurement information supplied from the sensor 14 and link data stored in the map information holding unit 25 every time the vehicle on which the navigation device 20 is mounted moves a predetermined distance (for example, 10 m). For example, the current position and the traveling direction of the vehicle are calculated by map matching or the like, and information indicating the calculated current position and traveling direction of the vehicle is provided to the route search unit 21, the route guidance unit 22, and the boundary notification unit 23.

  When the search information including the coordinates of the departure point, the destination point, and the waypoint, search conditions, and the like is received from the user via the input device 11 such as a touch panel, the route search unit 21 stores the information in the map information holding unit 25. Based on the search information, a route from the departure point to the destination point is searched using an algorithm such as Dijkstra method, and the search result is displayed on the display device 12. Then, the route search unit 21 uses the route specified by the user via the input device 11 among the searched routes as a guide route, and sends the guide route to the boundary notification unit 23. Note that the route search unit 21 may perform route search using the current position of the vehicle as a departure point.

  When the route guidance unit 22 receives information indicating the guidance route from the route search unit 21, the route guidance unit 22 acquires map data near the current position of the vehicle stored in the map information holding unit 25, and uses the acquired map data. The route guidance is started by displaying a car mark indicating the current position of the vehicle on the displayed map. In addition, when the vehicle arrives at the destination point, the route guidance unit 22 notifies the boundary notification unit 23 to that effect. For example, when the current position of the vehicle enters a range within a predetermined distance (for example, 100 m) from the destination point, the route guidance unit 22 determines that the vehicle has arrived at the destination point.

  Further, the route guidance unit 22 refers to the current position of the vehicle calculated by the current position calculation unit 24 and the link data stored in the map information holding unit 25, and is within a predetermined distance ahead of the vehicle on the guidance route. In addition, when there is a guidance point where the traveling direction is to be indicated, an image relating to the guidance point is displayed on the display device 12, and a voice indicating guidance is reproduced via the speaker 13 to guide the direction to be advanced. To do.

  When the boundary notification unit 23 receives information indicating the guidance route from the route guidance unit 22, the route guidance unit 22 performs route guidance until the route guidance unit 22 notifies that the vehicle has arrived at the destination point. It keeps saying that And the boundary notification part 23 determines whether route guidance is performed for every predetermined timing. When the route guidance is performed, the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24 and the data in the map information holding unit 25, and the current position of the vehicle on the guidance route. It is determined whether or not a boundary line exists within a first distance in front of the vehicle from the position (for example, within 10 km).

  For example, as illustrated in FIG. 4A, when the boundary line 30 exists on the guidance route 31 within 10 km ahead of the current position 32 of the vehicle, the boundary notification unit 23 has notified the boundary ID of the boundary line 30. Otherwise, the driver is notified that the vehicle is going to pass the boundary line 30 and the boundary ID of the boundary line 30 is registered in the memory in the navigation device 20 as the notified boundary ID. .

  The boundary notification unit 23 displays on the display device 12 that the vehicle is scheduled to pass the boundary line, or notifies the driver by voice through the speaker 13. At this time, the boundary notification unit 23 refers to the boundary information in the map information holding unit 25 to calculate the distance from the current position of the vehicle to the boundary line scheduled to pass, and the vehicle is scheduled to pass the boundary line. In addition, the calculated distance may be notified to the user, for example, “*** km ahead, the boundary of the region”.

  Further, the boundary notification unit 23 refers to the boundary information in the map information holding unit 25 when notifying that the vehicle is scheduled to pass the boundary line, for example, “*** km ahead, Y town. ”,“ *** km ahead, the boundary between X city and Y town ”or“ Currently it is X city. *** km ahead, Y town. ” You may be notified.

  On the other hand, when the route guidance is not performed, the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24 and the data in the map information holding unit 25, and the road on which the vehicle is traveling It is determined whether a boundary line exists within a second distance shorter than the first distance (for example, within 1 km) forward from the current position of the vehicle on the road having the same name.

  For example, as shown in FIG. 4B, when the boundary line 30 exists within 1 km forward from the current position 32 of the vehicle on the road 33 having the same name as the road 33 on which the vehicle is traveling, the boundary notification unit 23 If the boundary ID of the boundary line 30 is not registered as notified, the driver is notified that the vehicle is going to pass the boundary line 30 and the boundary ID of the boundary line 30 has been notified. The boundary ID is registered in the memory in the navigation device 20.

  Note that the boundary notification unit 23 may delete the boundary ID registered as notified from the memory after a predetermined time (for example, one hour) has elapsed since registration. As a result, the boundary notification unit 23 passes the boundary line again when the driver detours near the boundary line or when the driver passes the same road again after exceeding the boundary line. The driver can be notified that it is scheduled.

  FIG. 5 is a flowchart illustrating an example of the operation of the navigation device 20 according to the first embodiment. For example, the navigation apparatus 20 starts the operation shown in this flowchart at a predetermined timing such as when the engine of the vehicle is started.

  First, the boundary notification unit 23 determines whether route guidance is performed by the route guidance unit 22 (S100). When the route guidance is performed (S100: Yes), the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24 and the data in the map information holding unit 25, and the current position of the vehicle. It is determined whether or not a boundary line exists on the guidance route within 10 km ahead of the position (S101).

  When a boundary line exists on the guidance route within 10 km ahead of the current position of the vehicle (S101: Yes), the boundary notification unit 23 determines whether the boundary ID of the boundary line is registered in the memory as being notified. Determine (S102). When the boundary ID of the boundary line has not been registered in the memory as being notified (S102: No), the boundary notification unit 23 indicates that the vehicle is scheduled to pass the boundary line, along with the distance to the boundary line. The driver is notified by voice or display (S103). Then, the boundary notification unit 23 registers the boundary ID of the boundary line as a notified boundary ID in the memory in the navigation device 20 (S104), and executes the process shown in step S100 again.

  When there is no boundary line on the guidance route within 10 km ahead of the current position of the vehicle (S101: No), or when the boundary ID of the boundary line is registered in the memory as being notified (S102: Yes), The boundary notification unit 23 executes the process shown in step S100 again.

  When route guidance is not performed in step S100 (S100: No), the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24 and the data in the map information holding unit 25, It is determined whether or not a boundary line exists within 1 km forward from the current position of the vehicle on a road having the same name as the road on which the vehicle is traveling (S105).

  When there is a boundary line within 1 km forward from the current position of the vehicle on a road having the same name as the road on which the vehicle is traveling (S105: Yes), the boundary notification unit 23 performs the process shown in step S102. Execute. On the other hand, on the road having the same name as the road on which the vehicle is traveling, if there is no boundary line within 1 km forward from the current position of the vehicle (S105: No), the boundary notification unit 23 returns to step S100 again. Perform the indicated process.

  The first embodiment of the present invention has been described above.

  As is clear from the above description, according to the navigation device 20 of the present embodiment, it is possible to notify the user that the boundary is passed before passing the boundary of the region.

  Next, a second embodiment of the present invention will be described.

  FIG. 6 is a system configuration diagram showing an example of the configuration of the navigation system 10 according to the second embodiment. Except for the points described below, in FIG. 6, the components denoted by the same reference numerals as those in FIG. 1 have the same or similar functions as those in FIG.

  When the boundary notification unit 23 receives information indicating the guidance route from the route guidance unit 22, the route guidance unit 22 performs route guidance until the route guidance unit 22 notifies that the vehicle has arrived at the destination point. It keeps saying that And the boundary notification part 23 calculates the average speed of a vehicle with reference to the vehicle speed information from the sensor 14 for every predetermined timing. The boundary notification unit 23 then determines whether route guidance is being performed.

  When route guidance is performed, the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24, the data in the map information holding unit 25, and the calculated average speed of the vehicle, A point on the guide route that passes after a predetermined time (for example, after 30 minutes) is calculated. Then, the boundary notification unit 23 determines whether or not a boundary line exists on the guidance route from the current position of the vehicle to the calculated point.

  For example, as illustrated in FIG. 7A, when the boundary line 30 exists on the guidance route 31 to the point 34 scheduled to pass after 30 minutes, the boundary notification unit 23 notifies the boundary ID of the boundary line 30. If not registered, the driver is notified that the vehicle is scheduled to pass the boundary line 30 and the boundary ID of the boundary line 30 is registered in the memory in the navigation device 20 as the notified boundary ID. To do.

  The boundary notification unit 23 displays on the display device 12 that the vehicle is scheduled to pass the boundary line, or notifies the driver by voice through the speaker 13. Further, at this time, the boundary notification unit 23 calculates a required time until the vehicle passes the boundary line 30 using the calculated average speed, and indicates the calculated required time together with the fact that the vehicle is scheduled to pass the boundary line. For example, the user may be notified, for example, “*** minutes later, the boundary of the region.”

  In addition, the boundary notification unit 23 refers to the boundary information in the map information holding unit 25 when notifying that the vehicle is scheduled to pass the boundary line, for example, “*** min. ”,“ *** minutes later, it is the boundary between X city and Y town ”, or“ currently it is X city. *** minutes later, it is Y town ”. You may be notified.

  On the other hand, when route guidance is not performed, the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24, the data in the map information holding unit 25, and the calculated average speed of the vehicle. Then, a point on the guide route that passes after a predetermined time (for example, after 10 minutes) is calculated. Then, the boundary notification unit 23 determines whether or not a boundary line exists on the guidance route from the current position of the vehicle to the calculated point.

  For example, as shown in FIG. 7B, when a boundary line 30 exists on a road 33 having the same name as the road 33 on which the vehicle is traveling, up to a point 35 scheduled to pass 10 minutes later, The unit 23 notifies the driver that the vehicle is scheduled to pass through the boundary line 30 unless the boundary ID of the boundary line 30 is registered as notified. The 30 boundary IDs are registered in the memory in the navigation device 20 as the notified boundary IDs.

  FIG. 8 is a flowchart showing an example of the operation of the navigation device 20 in the second embodiment. For example, the navigation apparatus 20 starts the operation shown in this flowchart at a predetermined timing such as when the engine of the vehicle is started.

  First, the boundary notification unit 23 refers to the vehicle speed information from the sensor 14 and calculates the average speed of the vehicle (S200). Then, the boundary notification unit 23 determines whether route guidance is being performed (S201). When the route is being guided (S201: Yes), the boundary notification unit 23 refers to the current position of the vehicle calculated by the current position calculation unit 24, the data in the map information holding unit 25, and the calculated average speed of the vehicle. Then, a point on the guide route that passes after 30 minutes is calculated (S202).

  Next, the boundary notification unit 23 determines whether or not a boundary line exists on the guidance route from the current position of the vehicle to the calculated point (S203). When a boundary line exists on the guidance route from the current position of the vehicle to the calculated point (S203: Yes), the boundary notification unit 23 registers the boundary ID of the boundary line as already notified in the memory. It is determined whether or not there is (S204).

  When the boundary ID of the boundary line is not registered in the memory as notified (S204: No), the boundary notification unit 23 calculates the time required to pass the boundary line using the average speed of the vehicle, The driver is notified by voice or display that the vehicle is scheduled to pass the boundary line together with the calculated required time (S205). Then, the boundary notification unit 23 registers the boundary ID of the boundary line as a notified boundary ID in the memory in the navigation device 20 (S206), and executes the process shown in step S200 again.

  When there is no boundary line between the current position of the vehicle and the calculated point (S203: No), or when the boundary ID of the boundary line is registered in the memory as being notified (S204: Yes), The boundary notification unit 23 executes the process shown in step S200 again.

  In step S201, when the route is not being guided (S201: No), the boundary notifying unit 23 calculates the current vehicle position calculated by the current position calculating unit 24, the data in the map information holding unit 25, and the calculated average vehicle. Referring to the speed, a point on the guide route that passes after 10 minutes is calculated (S207), and the process shown in step S203 is executed.

  The second embodiment of the present invention has been described above.

  As is clear from the above description, also in the navigation device 20 of the present embodiment, the user can be notified that the boundary is passed before the boundary of the region is passed.

  The navigation device 20 in the first or second embodiment described above is realized by a computer 40 having a configuration as shown in FIG. 9, for example. The computer 40 includes a central processing unit (CPU) 41, a random access memory (RAM) 42, a read only memory (ROM) 43, a hard disk drive (HDD) 44, an input interface (I / F) 45, an output interface (I / F). F) 46 and a media interface (I / F) 47.

  The CPU 41 operates based on a program stored in the ROM 43 or the HDD 44 and controls each part. The ROM 43 stores a boot program executed by the CPU 41 when the computer 40 is started up, a program depending on the hardware of the computer 40, and the like. The HDD 44 stores programs executed by the CPU 41, data, and the like.

  The input interface 45 receives a signal from the input device 11 or the sensor 14 and sends it to the CPU 41. The CPU 41 controls the input device 11 and the sensor 14 via the input interface 45 and acquires a signal from the input device 11 or the sensor 14 via the input interface 45. The output interface 46 outputs the data acquired from the CPU 41 to the display device 12 or the speaker 13. The CPU 41 controls the display device 12 and the speaker 13 via the output interface 46 and outputs the generated data to the display device 12 or the speaker 13 via the output interface 46.

  The media interface 47 reads a program or data stored in the recording medium 48 and provides it to the CPU 41 via the RAM 42. The CPU 41 loads the program from the recording medium 48 onto the RAM 42 via the media interface 47 and executes the loaded program. The recording medium 48 is, for example, an optical recording medium such as a DVD (Digital Versatile Disk) or PD (Phase change rewritable disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory. Etc.

  The CPU 41 of the computer 40 executes the programs loaded on the RAM 42, thereby performing the functions of the route search unit 21, route guidance unit 22, boundary notification unit 23, current position calculation unit 24, and map information holding unit 25. Realize. The ROM 43 or the HDD 44 stores data in the map information holding unit 25.

  The computer 40 reads these programs from the recording medium 48 and executes them. As another example, the computer 40 is provided with a communication function, and the computer 40 acquires these programs via a wired or wireless communication line. You may make it do.

  In the second embodiment, when calculating a point on the guide route that passes after a predetermined time from the current position of the vehicle, the boundary notification unit 23 considers not only the average speed of the vehicle but also traffic congestion information ahead. Then, a point on the guide route that passes after a predetermined time may be calculated.

  Further, in the first embodiment described above, when route guidance is performed, whether there is a boundary line within 10 km ahead, or when route guidance is not performed, the boundary line is within 1 km ahead. However, the present invention is not limited to this, and the threshold value of the distance may be changed according to the type of road that is running.

  For example, when traveling on an expressway, if route guidance is performed, a boundary line exists within 30 km ahead, and if route guidance is not performed, a boundary line exists within 10 km ahead. If the route guidance is being performed, if there is a boundary line within 1 km ahead, if there is no route guidance, if the route guidance is not being performed You may make it each determine whether a boundary line exists within 300 m.

It is a system configuration figure showing an example of the composition of navigation system 10 concerning a 1st embodiment. It is a figure which shows an example of the data structure of the link table 250 stored in the map information holding | maintenance part 25. FIG. It is a figure which shows an example of the data structure of the boundary information 27 stored in the map information holding | maintenance part 25. FIG. It is a conceptual diagram for demonstrating an example of the scene which notifies presence of a boundary in 1st Embodiment. It is a flowchart which shows an example of operation | movement of the navigation apparatus 20 in 1st Embodiment. It is a system configuration figure showing an example of the composition of navigation system 10 concerning a 2nd embodiment. It is a conceptual diagram for demonstrating an example of the scene which notifies presence of a boundary in 2nd Embodiment. It is a flowchart which shows an example of operation | movement of the navigation apparatus 20 in 2nd Embodiment. It is a hardware block diagram which shows an example of the computer 40 which implement | achieves the function of the navigation apparatus 20.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Navigation system, 11 ... Input device, 12 ... Display device, 13 ... Speaker, 14 ... Sensor, 20 ... Navigation device, 21 ... Route search part, 22. ..Route guidance unit, 23 ... Boundary notification unit, 24 ... Current position calculation unit, 25 ... Map information holding unit, 27 ... Boundary information, 40 ... Computer, 41 ... CPU 42 ... RAM, 43 ... ROM, 44 ... HDD, 45 ... input interface, 46 ... output interface, 47 ... media interface, 48 ... recording medium

Claims (10)

Map data holding means for holding link data, which is information relating to a link indicating a road on a map, and boundary information, which is information indicating a boundary of a region;
A current position calculating means for calculating a current position and a traveling direction;
Referring to the current position and the traveling direction calculated by the current position calculating means and the boundary information held in the map information holding means, the current position and the current position are ahead of the traveling direction. A navigation device comprising boundary notification means for notifying by voice or display that the vehicle passes through the boundary when the positional relationship with the boundary satisfies a predetermined condition. The navigation device according to claim 1,
Route search means for searching for a route from the departure point to the destination point with reference to the link data;
Route guidance means for guiding the route searched by the route search means based on the current position;
The boundary notification means includes
When the route is guided by the route guiding means, if the boundary exists within the first distance ahead of the current position in the traveling direction on the route, the route is passed. A navigation device characterized by notifying. The navigation device according to claim 2,
The boundary notification means includes
When the route is not guided by the route guiding means, if the boundary exists within a second distance shorter than the first distance forward of the current position in the traveling direction, the boundary is A navigation device characterized by notifying passing. The navigation device according to any one of claims 1 to 3,
The boundary notification means includes
A navigation device characterized by passing a boundary and notifying a driver of a distance from the current position to the boundary. The navigation device according to claim 1,
Route search means for searching for a route from the departure point to the destination point with reference to the link data;
Route guidance means for guiding the route searched by the route search means based on the current position;
Speed calculating means for calculating a moving speed of the current position;
A path boundary detecting means for detecting the boundary existing on the path;
The boundary notification means includes
When the route is guided by the route guiding unit, the moving time from the current position to the boundary on the route is shorter than the first time using the moving speed calculated by the speed calculating unit. A navigation device that notifies that the vehicle passes through the boundary when it is determined. The navigation device according to claim 5,
The boundary notification means includes
When the route is not guided by the route guidance unit, the travel time from the current position to the boundary on the route using the travel speed calculated by the speed calculation unit is shorter than the first time. A navigation device characterized in that when it is determined that the time is shorter than the short second time, it is notified that the boundary is passed. The navigation device according to claim 5 or 6, wherein
The boundary notification means includes
A navigation device characterized by notifying the calculated travel time to the boundary on the route along with passing through the boundary. The navigation device according to claim 1,
2. The navigation apparatus according to claim 1, wherein the boundary information held by the map information holding means is information related to boundaries on administrative divisions. A navigation method in a navigation device comprising map information holding means,
A current position calculating step of calculating a current position and a traveling direction with reference to link data which is information regarding a link indicating a road on a map held in the map information holding means;
Referring to the current position calculated in the current position calculating step and boundary information that is information indicating the boundary of the area held in the map information holding means, the current position and a position ahead of the current position And a boundary notification step of notifying that the vehicle passes through the boundary when the positional relationship with the boundary to be satisfied satisfies a predetermined condition. A current position calculation function that calculates a current position and a traveling direction with reference to link data that is information on a link indicating a road on the map, and the current position calculated by the current position calculation function and the boundary of the region Boundary notification for notifying that the vehicle passes through the boundary when the positional relationship between the current position and the boundary existing ahead of the current position satisfies a predetermined condition with reference to boundary information that is information indicating A program characterized by realizing a navigation function having functions.

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