1239384 (1) 九、發明說明 【發明所屬之技術領域】 本發明是關於顯現道路的位置以及道路徑的連接關係 之道路資料。 【先前·技術】 過去的導航裝置是設成從有複數條線道右轉之際在於 右轉的跟前經導引而靠到最右側的線道。另外還設成從有 複數條線道左彎之際在於左彎的跟前經導引而靠到最左側 的線道（例如參考日本專利文獻1 )。這種導引方法的具 體例則是例如搭載有導航裝置的車輛正在如第9圖所示之 模式圖的道路（靠右行駿的道路）上行駛中時，導航裝置 在於十字路口 V的跟前（例如400 m前）經導引而變更 到右轉線道，在於來到十字路口 V之前（例如2 0 m前） 進行右轉的導引。 〔曰本專利文獻1〕日本專利特開2000— 251197號 公報 【發明內容】 然則相同行駛方向的2種車道（由1個以上的線道所 構成）用分隔島來分隔時，會有從十字路口左右轉時受到 以下的限制的情況。例如，用第1 0圖所示之道路（右側 通行的道路）的模式圖來作說明，在於十字路口 W駛入 圖面左方之際，禁止從快車道5 1 (此處則是把靠逆向線 1239384 (2) 道的車道稱爲『快車道』）右轉，只能從慢車道5 2 (此 處則是把靠路肩的車道稱爲『慢車道』）右轉。 因而爲了要從圖面左方駿入到十字路口 W之際進行 右轉，必須預先移行到慢車道5 2。而且該移行只限於分 隔島5 6的缺口。 另-外在於十字路口 W，從圖面左方駿入到十字路口 w 之際，禁止從慢車道5 2左轉，只能從快車道5 1左轉。 因而爲了要從圖面左方進入到十字路口 W之際進行 左轉，必須預先移行到快車道5 1。而且該移行只限於分 隔島5 6的缺口。 不過過去的導航裝置，由於要把用這種分隔島來將慢 車道與快車道分隔之道路，與複數條線道所構成之沒有分 隔島的道路一起識別來進行導引，所以受到上述過的限制 而沒有適當的導引。也就是在於分隔島的缺口移行到適當 的車道沒有進行導引。因而會發生不在藉由分隔島的存在 來導引的地點移行到適當的車道，就無法在想要右轉或是 左轉的十字路口進行右轉或是左轉之問題。理由是把分隔 成慢車道、快車道的道路，與複數種線道所構成之沒有分 隔島的道路一起辨識來進行導引，過去的導航裝置所應用 的道路資料本身卻沒有對於上述過的限制仍能進行適當的 導引的構成之故。 本發明鑑於上述的問題，其目的是提供對相同行駛方 向的複數種車道各別用分隔島來分隔之道路執行適當的導 引之技術，以及提供能執行導引所構成之道路資料等。 -6 - (3) 1239384 用來解決上述課題之路徑設定裝置，其路徑設定手段 能把用不能通行的分隔島來分隔之相同行駿方向的複數種 車道區別來設定路徑，路徑已設定爲從複數種車道當中道 路交通法規上不能右轉的車道右轉時，從比該要右轉的地 點更之前之分隔島的缺口不能右轉的車道，變更到道路交 通法規上能右轉的車道，而從能右轉的車道右轉、或是把 路徑設定爲從複數種車道當中道路交通法規上不能左轉的 車道左轉時，從比該要右轉的地點更之前之分隔島的缺口 不能左轉的車道，變更到道路交通法規上能左轉的車道， 而從能左轉的車道左轉。 然而此處所言及的『分隔島的缺口』意指車輛能變更 車道的地方，也是指在於十字路口處分隔島有缺口的地方 ，或在於十字路口處以外分隔島有缺口的地方。另外此處 所言及的『車道』由1條線道所構成，由複數條線道所構 成皆可。 若爲這種路徑設定裝置，路徑設定爲在於相同行駛方 向的複數種車道用分隔島來分隔之道路的十字路口，即使 是右轉專用的車道也要預先變更到能右轉的車道，因而根 據該路徑行駿的車輛能順利進行右轉。另外路徑設定爲即 使是左轉專用的車道也要預先變更到能左轉的車道，因而 根據該路徑行駿的車輛能順利進行左轉。 然則把具備有複數種車道的道路作爲路徑來設定之際 ，如同有專屬右轉或是左轉的十字路口之十字路口附近以 外的地方有關任一的車道都能設定的區間，路徑設定手段 (4) 1239384 設成選擇推測車速最快的車道來設定路徑較佳。推測車速 最快的車道，一般對於靠右行駛的國家或地區是行駛方向 的最左側的車道，對於靠左行駛的國家或地區則是行駛方 向的最右側的車道。 如此，若是選擇推測車速最快的車道來設定路徑，則 根據該路徑的導引行駛的車輛就能盡快到達目的地。 然且還可以具備有取得有關複數種車道而把各別的車 道區別的交通資訊之交通資訊取得手段，路徑設定手段把 有複數種車道的道路作爲路徑來設定之際，任一的車道都 能設定的區間，若是交通情報取得手段能取得交通資訊則 根據所取得的交通資訊選擇車道來設定路徑亦可。此處所 言及的交通資訊係指塞車資訊或施工資訊或故障停車資訊 〇 若爲這種的路徑設定裝置，設定爲依交通資訊來選擇 車道之路徑，因而根據該路徑行駛的車輛能順暢的行駛。 然則設定進行車道變更的地方之際，該地方若爲有專 屬右轉或是左轉的十字路口之十字路口附近之分隔島的缺 口，則設定爲任何的地方皆可，但最好是路徑設定裝置的 路徑設定手段，把路徑設定爲在於有進行車道變更的理由 之來到十字路口之前之分隔島的缺口進行前述的車道變更 較佳。 一般是盡可能不要變更車道則速度較少變動而能順暢 的行駛，不過在十字路口進行右轉或是左轉之際，無論如 何都無法避免要讓速度降低。因而若是依照路徑設定裝置 -8- 1239384 (5) 行駛的路徑配合接近十字路口時速度的降低來設定能進行 車道變更的路徑，則根據該路徑行駛的車輛，能較少變動 速度，而能順暢的行駛。 然則即使目的地設定在駕駛者不能停車的車道上，實 際上那種地方也很難停車。因此必須從目的地再度朝行駛 方向搜尋能移到駕駛者本身能停車的車道之分隔島的缺口 ，利用該分隔島的缺口來使車輛移到能停車的車道。因而 有可能大幅超過目的地。爲了防止這種情況，路徑設定裝 置其路徑設定手段，把路徑設定爲在具備有複數種車道的 道路上爲目的地時，路徑在於複數種車道當中能停車的車 道上就結束較佳。 若是駕駛者根據這種設定的路徑駕駛，則不必進行到 達目的地後重新朝行駛方向搜尋能移到駕駛者本身能停車 的車道之分隔島的缺口，而利用該分隔島的缺口來使車輛 移到能停車的車道。因此也不致於大幅超過目的地。 然則路徑設定裝置所設定的路徑，也可以透過通訊網 路發訊給搭載在車輛上的導航裝置，不過也可以在路徑設 定裝置及導引手段都設置的狀態下構成車輛用導航裝置。 然後車輛用導航裝置還具備有：取得該車輛用導航裝 置的有關現在位置的資訊之現在位置資訊取得手段、及根 據該現在位置資訊取得手段所取得的資訊來特定該車輛用 導航裝置的現在位置之現在位置特定手段，而導引手段設 成逐一導引從根據現在位置資訊取得手段所取得的資訊來 特定的現在位置至進行車道變更之分隔島的缺口之間的有 -9 - (6) 1239384 關分隔島的缺口的個數之資訊較佳。然而此處所言及的『 之間的有關分隔島的缺口的個數之資訊』可以是之間之分 隔島的缺口的個數之該資訊’也可以是其個數量含中含有 只要1個之所變更車道之分隔島的缺口的數量。具體上例 如也可以是把『直到變更車道爲止還有2個分隔島的缺口 』或『.請從第3個分隔島的缺口駛入右側』之內容，有時 以聲音輸出有時以顯示輸出。另外『逐一導引』意指例如 把隨著接近十字路口而變化的直到變更車道爲止之分隔島 的缺口的個數變化之來不斷導引。 另外也可以設成導引從現在位置至進行車道變更的缺 口爲止的距離。也就是車輛用導航裝置還具備有：取得導 航裝置的有關現在位置的資訊之現在位置資訊取得手段、 及根據該現在位置資訊取得手段所取得的資訊來特定該車 輛用導航裝置的現在位置之現在位置特定手段，而導引手 段也可以設成逐一報知從根據現在位置資訊取得手段所取 得的資訊來特定的現在位置至進行車道變更之分隔島的缺 口之間的有關分隔島的缺口的個數之資訊。然而此處所言 及的『逐一導引』意指例如隨著接近十字路口而變化的直 到變更車道爲止之分隔島的缺口的個數以一定的單位（ 100 m爲單位等）變化來不斷導引。 如此’設成導引用來特定進行車道變更之分隔島的缺 口之資訊’則駕駛者容易辨認進行車道變更之分隔島的缺 口，其他還能心裡有準備要進行車道變更，因而能安全地 變更車道。 -10- (7) 1239384 另外也可以設成讓內藏有路徑設定裝置的電 有上述路徑裝置的路徑設定手段功能之程式。若 成，例如在軟碟、光磁碟、CD - ROM、硬碟 R A Μ等電腦所能讚取的記錄媒體中記錄程式， 把該程式安裝在電腦中並啓動就能有本發明的路 置功能。另外，程式也能用網路來傳輸，因而路 置的功能也容易升級。 另外也可以設成讓內藏有車輛用導航裝置的 行有上述導航裝置的路徑設定手段功能之程式。 這種構成仍達到同樣的效果。 爲了解決上述課題所形成之道路資料是由至 還有呈現位置及道路間的連接關係之資料所構成 料，也是關於用車輛不能通行的分隔島來分隔的 方向之複數種車道，區別各別的車道並作爲前述 成之道路資料。也就是對於用車輛不能通行的分 隔的相同行駛方向之複數種車道，也與單一的道 對各別的車道，準備至少呈現道路的位置及道路 關係之資料。 若爲應用這種道路資料的導航裝置，能把相 向的複數種車道個別用分隔島來分隔的道路區別 而能進行適當的導引。 然則關於複數種車道之在於十字路口的連接 關複數種車道的資料爲在十字路口複數種車道所 道彼此間不直接連接，而是藉由與複數種車道交 腦來執行 爲這種構 、ROM、 若有必要 徑設定裝 徑設定裝 電腦來執 即使設成 少道路的 之道路資 相同行駛 資料所構 隔島來分 路相同， 間的連接 同行駛方 來導引， ，例如有 相鄰的車 叉的其他 -11 - (8) 1239384 道路來連接所構成的道路資料。換言之，即是由依車道的 數量來構成複數種車道與跟這些車道相交叉的其他1種道 路的連接點之資料來構成的道路資料。 若爲這種道路資料，導航裝置能導引在於十字路口之 車道間移行。因而導航裝置能積極地使車道變更來依車道 的特性進行路徑導引。 另外有關複數種車道之在於十字路口的連接，例如有 關複數種車道的資料爲在於十字路口複數種車道所相鄰的 車道彼此間直接連接來構成之道路資料。換言之則是複數 種的車道在於十字路口相鄰的車道彼此間一時變成1種車 道來構成之道路資料。具體例可以是A、B、c、D的4個 車道依序排列時，在於十字路口內A與B、C與D直接連 接來構成，也可以是在於十字路口內直接連接A B C D的 全部車道來構成。 即使是這種道路資料，導航裝置在於十字路口仍能導 引車道間的移行。因而導航裝置能積極地讓車道變更來依 車道的特性進行路徑導引。另外連接點比申請專利範圍第 2項還少，所以道路資料的資料量變少。另外在於十字路 口內車道直接連接，所以路徑設定之際車道間的變動邏輯 也變單純。 然而道路資料也可以用在於十字路口直接連接複數種 車道彼此間的連接點來與和複數種車道交叉的其他道路相 連接來構成。 若爲這種構成，能減少道路之連接點的量，所以能減 -12- (9) 1239384 少道路資料的容量。另外若是道路之連接點的量變少則搜 尋路徑之際也減輕處理。 然則用車輛不能通行的分隔島來分隔之相同行駛方向 的複數種車道當中，有關用分隔島來分隔的2種車道之資 料’除了十字路口外在於分隔島的缺口，直接連接這些車 道彼此間來構成較佳。另外也可以藉由連接車道路連接2 種車道來構成。這連接道路是指與2種的車道有所不同， 只存在於分隔島之缺口的地方之道路。 以這種方式，若是在於分隔島的缺口也連接2種的車 道’導航裝置能執行用分隔島的缺口來變更車道的導引， 因而能夠更積極地進行車道變更而依車道的特性來進行路 徑導引。 這樣的車道資料可以記憶在記錄道路資料之道路資料 記憶媒體中。例如具體的資料記憶媒體包括有CD - ROM 或D V D — R 〇 Μ或記憶卡等。 然且應用這種資料的裝置，如同申請專利範圍第8項 ’包括應用申請專利範圍第1項〜第7項的其中1項之道 路資料來實現路徑導引功能之導航裝置較佳。 若爲這種導航裝置，可以對於相同行駿方向的複數種 車種車道各別用分隔島來分隔之道路，執行所適當的導引 〇 另外也可以讓內藏有導航裝置的電腦來執行有上述的 導航裝置功能之程式。若爲這種裝置，例如把程式記錄在 軟碟、光磁碟、CD — ROM、硬碟、ROM、RAM等電腦所 -13- 1239384 (10) 能讀取的記錄媒體中，若有必要把該程式安裝在電腦中並 啓動，因而能具有本發明之導航裝置的功能。另外程式也 能用網路來傳輸，導航裝置的功能也容易升級。 【實施方式】 以_下用圖面來說明本發明的實施例。然而本發明的實 施形態，並不侷限於下述的實施例，只要屬於本發明的技 術範圍內，得以採用種種的形態。另外下述的實施例是靠 右行駛的國家或地區的狀況，至於靠左行駛的國家或地區 的狀況之實施例作適度左右相反思考即可。 第1圖爲表示實施例中之導航裝置20的槪略構成之 方塊圖。導航裝置20搭載在車輛上，具備有：檢測車輛 的現在位置之位置檢測器2 1 ;及用來輸入來自使用者的 各種指示之操作開關群22 ;及與操作開關群22相同，能 輸入各種指示而與導航裝置20不同一體之遠端控制終端 (以下稱爲遙控器）23a ;及輸入來自遙控器23a的訊號 之遙控感測器23b ;及有時從與導航裝置20不同的裝置 輸入資訊，有時又能對另外的裝置輸入資訊之外部資訊輸 入部24 ;及從已記錄地圖資料或各種的資訊之外部記憶 媒體，輸入地圖資料等之地圖資料輸入器2 5 ;及用來顯 示地圖或各種資訊之顯示部2 6 ;及用來輸入各種的導引 聲音等之聲音輸出部2 7 ;及依照來自上述過的位置檢測 器21、操作開關群22、遙控器感測器23b、外部資訊輸 入部24、地圖資料輸入器25的輸入來進行各種處理，來 -14- (11) 1239384 控制外部資訊輸入部2 4、顯示部2 6、聲音輸出部2 7之控 制電路2 9。 位置檢測器21具備有：用GPS天線來接收來自GPS (Global Positioning System)用的人工衛星之發訊電波 ’偵出車輛的位置、方位 '速度等之GPS收訊機21a、及 偵出加_諸在車輛之旋轉運動的大小之陀螺儀21b、及由車 輛跟前後方向的加速度等來偵出所行駛的距離之距離感測 器2 1 c、及由地磁來偵出行駿方位之地磁感測器2 1 d。然 而這些各個感測器2 1 a〜2 1 d其構成上由於有種種不同性 質的誤差，因而一面互補一面使用。 操作開關群22由與顯示部26成一體所構成並設置在 顯示畫面上之觸控式面板以及設置在顯示部26的周圍之 機械式按鍵開關等所構成。然而觸控式面板、顯示部26 經積疊成一體化，觸控式面板包括有感壓方式、電磁感應 方式、靜電電容方式、或是這些方式的組合之方式等的各 種方式，採用該任何一種皆可。 外部資訊輸入部24擔負連接在其他的外部機器等且 在於那些機器之間輸入輸出資訊之功能。該資訊的一種包 括有藉由天線（未圖示）來從VICS( Vehicle Information Communication System)中心所取得的父通資訊。這交通 資訊是指有關每條線道的塞車資訊或施工資訊或區間時間 之資訊。 地圖資料輸入器2 5是用來輸入已記憶在記憶媒體（ 未圖示）中的各種資料之裝置。記憶媒體中記憶有地圖資 -15- (12) 1239384 料（道路資料、地形資料、標示資料、十字路口資料、設 施資料等）、導引用的聲音資料、聲音辨識資料等。記憶 這種資料之記錄媒體的種類一般是依該資料量來選用 CD - ROM或DVD，不過也可以選用硬碟等的磁性記憶裝置 或記憶卡等的其他媒體。 此處，以道路資料當中，特別是由複數種車道所構成 的道路爲例子來作說明。第2圖爲靠右行駛的道路之模式 圖。如第2圖所示，快車道5 1及慢車道5 2的行駛方向爲 十字路口 α —十字路口；3的方向，快車道53及慢車道54 的行駛方向爲十字路口 /3 —十字路口^的方向，快車道 5 1、慢車道52、快車道53、慢車道54各別的車道由2線 道所構成。另外快車道5 1與慢車道52的交界爲中央線 5 5，在快車道5 1與慢車道5 2之間有車輛不能通行的分隔 島56，在快車道53與慢車道54之間有車輛不能通行的 分隔島57。然而十字路口 α及十字路口 /5爲不能從快車 道5 1及快車道53右轉，只能從慢車道52及慢車道54右 轉的十字路口。另外十字路口 α及十字路口 /3爲不能從快 車道5 1及快車道53左轉，只能從慢車道52及慢車道54 左轉的十字路口。 另外快車道5 1、慢車道52、快車道53、慢車道54 的各車道，在於十字路口 α，與由單側有2線道所構成的 一般道65及一般道66相交叉，在於十字路口 /5，與快車 道61、慢車道62、快車道63、慢車道64相交叉，一般 道65、一般道66、快車道61、慢車道62、快車道63、 -16- (13) 1239384 慢車道64各別的車道由2線道所構成。 然後快車道5 1以假想道路線7 1來資料化，慢車道 5 2以假想道路線7 2來資料化，快車道5 3以假想道路線 73來資料化，慢車道54以假想道路線74來資料化，快 車道6 1以假想道路線8 1來資料化，慢車道6 2以假想道 路線82來資料化，快車道63以假想道路線8 3來資料化 ’慢車道6 4以假想道路線8 4來資料化，一般道6 5以假 想道路線8 5來資料化’ 一般道6 6以假想道路線8 6來資 料化。此處所言及的『資料化』是指以可記憶在媒體中的 數位資料來呈現實際道路的特徵。一般的例子來說則是用 中心點、連接點、形狀點來呈現。 如第2圖所示，在於十字路口 α，假想道路線71與 假想道路線8 5和假想道路線8 6相交叉而有交叉點，假想 道路線7 2與假想道路線8 5和假想道路線8 6相交叉而有 交叉點’假想道路線73與假想道路線85和假想道路線 86相交叉而有交叉點，假想道路線74與假想道路線85 和假想道路線8 6相交叉而有交叉點。另外在於十字路口 冷，假想道路線71與假想道路線8 1〜8 4個別相交叉而 有連接點’假想道路線72與假想道路線8丨〜84各別相 交叉而有連接點’假想道路線73與假想道路線8 1〜84 各別相交叉而有連接點’假想道路線74與假想道路線8 } 〜84各別相交叉而有連接點。另外存在於十字路口 α與十 字路口沒之間之分隔島5 6的缺口 7是以假想連接道路線 8 7 (相當於申請專利範圍所記載的連接道路）來連接假想 -17- (14) 1239384 道路線71與假想道路線7 2，分隔島5 7的缺口（5則是以 假想連接道路線8 8 (相當於申請專利範圍所記載的連接 道路）來連接假想道路線7 3與假想道路線7 4。 如此，快車道5 1、慢車道5 2、快車道5 3、慢車道5 4 各別都與單一的道路相同進行資料化。然後有關快車道 5 1及慢車道5 2之道路資料爲在於十字路口 α、十字路口 /5、分隔島的缺口 <5都能變更車道之道路資料，有關快車 道5 3及慢車道5 4之道路資料則爲在於十字路口 ^、十字 路口 /3、分隔島的缺口 5都能變更車道之道路資料。 用第3圖之道路的模式圖來說明其他的例子。第3圖 的模式圖當中與第2圖相同的部位則是與第3圖相同附註 相同的圖號，而其說明則省略。如第3圖所示，快車道 5 1以假想道路線9 1來資料化，慢車道5 2以假想道路線 92來資料化，快車道53以假想道路線93來資料化，慢 車道54以假想道路線94來資料化，快車道6丨以假想道 路線8 1來資料化，慢車道62以假想道路線82來資料化 ’快車道03以假想道路線83來資料化，慢車道64以假 想道路線84來資料化，一般道65以假想道路線85來資 料化’一般道66以假想道路線86來資料化。 然後十字路口 α內假想道路線9】與假想道路線92連 接而部分成一體化，在於該一體化之部分的一端a、b分 別與假想道路線6 5及假想道路線6 6相連接。另外十字路 口 α內假想道路線9 3與假想道路線9 4連接而部分成一 p 化，在於該一體化之部分的一端c、d分別與假想道路線 -18 - (15) 1239384 6 5及假想道路線6 6相連接。 然後十字路口 /3內假想道路線9 1與假想道路線92 接而部分成一體化，在於該一體化之部分的一端e與假 道路線6 1及假想道路線62相連接，在於一體化之部分 一端f與假想道路線6 3及假想道路線6 4相連接。另外 字路口 /3內假想道路線93與假想道路線94連接而部分 一體化，在於該一體化的部分之一端g與假想道路線 及假想道路線62相連接，在於一體化之部分的一端h 假想道路線6 3及假想道路線6 4相連接。 另外分隔島的缺口 r ，假想道路線9 1與假想道路 92在於連接點i直接連接；分隔島的缺口 5，假想道路 93與假想道路線94在於連接點j直接連接。 如此，快車道5 1、慢車道5 2、快車道5 3、慢車道 各別都與單一的道路相同被資料化。然後快車道5 1及 車道52成爲在於十字路口 α、十字路口 /?、分隔島的 口（5能變更車道之道路資料，快車道5 3及慢車道5 4則 爲在於十字路口 α、十字路口 /5、分隔島的缺口 6能變 車道之道路資料。另外由於連接點比第2圖的情況還少 所以道路資料的資料量變少。另外十字路口 α、十字路 /3內假想道路線9 1與假想道路線92、假想道路線93 假想道路線94爲直接連接，因而路徑設定之際之車道 的移動邏輯也變單純（也就是如同第2圖不經由所交叉 其他道路之假想道路線8 1〜86也能變更車道）。 回到第1圖，顯示部26爲彩色顯示裝置，包括有 連 想 的 十 成 61 與 線 線 54 慢 缺 成 更 ϊ □ 與 間 的 液 -19- (16) 1239384 曰曰顯不益、有機EL顯不器、CRT等，採用任何一種皆可 。顯示部26的顯示畫面上，可以重疊顯示呈現以位置檢 測器2 1所偵出的車輛之現在位置及由地圖資料輸入部2 5 所輸入之地圖資料所特定之現在地的標記；直到目的地爲 止的感應路徑、名稱、標地物、各種設施的標記等之附加 資料。另外也可以顯示設施的導覽。 聲音輸出部2 7可以輸出由地圖資料輸入部2 5所輸入 之設施的導覽或各種導覽的聲音、或者藉由外部資訊輸入 部2 4所收訊之交通資訊讀取聲音。 麥克風2 8係使用者輸入聲音（發話）則根據該所輸 入的聲音來輸出電的訊號。使用者對該麥克風28輸入各 種的聲音就能操作導航裝置。 控制電路29係以CPU、ROM、RAM、1/ 0以及連接 這些構成之匯流排線所組成之普遍的微電腦爲中心所構成 ，根據記憶在ROM及RAM的程式來執行各種處理。例如 進行的處理有：根據來自位置檢測器2 1的各檢測訊號以 座標和行駛方向的一來算出車輛的現在位置，把藉由地 圖資料輸入部25所讀入之現在位置附近的地圖等顯示在 顯示部2 6之顯示處理、或根據儲存在地圖資料輸入部2 5 的地點資料及依照操作開關群22或遙控器23a等的操作 所設定的目的地，來算出現在位置至目的地的最適當路徑 ，導引該算出的路經之路徑導引處理等。 到此爲止雖然已針對導航裝置2 0作說明過，不過再 次把導航裝置20的各個部位與聲請專利範圍中所用的專 -20- (17) 1239384 業用語的對應加以說明。位置檢測器2 1相當於現在位置 資訊手段，地圖資料輸入部2 5及控制電路2 9相當於現在 位置特定手段及路徑設定手段，顯示部26、聲音輸出部 2 7、地圖資料輸入部2 5以及控制電路2 9相當於導引手段 ，外部資訊輸入部2 4相當於交通資訊取得手段。 (1 )路徑設定處理 用第4圖的流程圖來說明控制電路2 9所執行的路徑 設定處理。路徑設定處理係使用者操作操作開關群22或 遙控器23a就開始進行。 處理開始則首先用操作開關群2 2或遙控器2 3 a，從 操作開關群22或遙控器23a取得使用者所輸入的目的地 資訊（S 1 1 0 )。然而此時，讓地圖或地名或選單顯示在顯 示部26好讓使用者容易輸入目的地資訊。 其次根據來自位置檢測器2 1的檢測訊號，特定搭載 有導航裝置20之車輛的現在位置（S115)。 其次設定從S 1 1 5所特定的現在位置至根據S〗丨〇所取 得的目的地資訊所特定的目的地爲止之路徑（S 1 2 0 )。設 定這路徑之際把用不能通行的分隔島來分隔之相同行駛方 向的車道有2種之道路設成路徑時，利用第2圖及第3圖 說明過的車道已被區別之道路資料來搜尋路經並設定。然 後2種車道當中通過靠逆向線道的車道（以下稱爲『快車 道』）來設定路徑。另外目的地在這種快車道上時，把目 的地變更到靠路肩的車道上（以下稱爲『慢車道』）來設 -21 - (18) 1239384 定路徑。然而設定路徑之際的運算法則是採用廣知的 Dijkstra 法等。 其次對藉由外部資訊輸入部24從VICS所取得的交 通資訊，判斷是否爲有關（S120)所設定的車道及與該快 車道相對應的慢車道之交通資訊（S123) °從VICS中心 所取得的交通資訊爲快帛道與慢車道都已獨立的交通資訊 。沒有該交通資訊時前進到S135，有該交通資訊時則前 進到S 1 2 5。 S125爲判斷所對應的慢車道的交通量是否比S12〇所 設定的快車道還少（s 12 5)。然而丨受車道的父通麗比快車 道還少時前進到S130 ’慢車道的交通量比快車道還少時 則前進到S 1 3 5。 S 1 3 0爲S 1 20所設定的路徑當中所對應的慢車道的交 通量比快車道還少的快車道’經修正來通過慢車道（S I 3 0 )，前進到S 1 3 5。 S 1 3 5爲判斷至此爲止的步驟所算出的路徑當中是否 有違反交通規則的左右轉。有關交通規則的資訊藉由地圖 資料輸入部2 5從記憶媒體中讀入。另外此處所言及違反 交通規則的左右轉是指只以有快車道及慢車道的道路上的 左右轉當作對象。具體上’有時判斷是否有從不能右轉的 快車道右轉的狀況，有時判斷是否有從不能左轉的慢車道 左轉的狀況。有違反交通規則的左右轉時前進到S丨4 〇， 沒有違反父通規則的左右轉時則結束本處理（路徑設定處 理）。 •22- (19) 1239384 s 1 4 0爲依S 1 3 5的判斷結果，把路徑修 違反交通規則的左右轉。具體上，關於從不 道右轉的路徑，把路徑修正爲在於該所右轉 口之前之分隔島的缺口就從快車道變更到慢 道右轉。另外關於從不能左轉的慢車道左轉 徑修正爲在於該所左轉之來到十字路口之前 口就從慢車道變更到快車道而從快車道左轉 地方修正完成則結束本處理（路徑設定處理 (2)路徑導引處理 用第5圖的流程圖來說明控制電路2 9 導引處理。路徑導引處理係結束路徑設定處 用者的指示或是自動開始處理。 開始處理則首先根據來自位置檢測器2 ，來特定搭載有導航裝置20之車輛的現在 〇 接著判斷S2 1 0所特定的現在位置是否 定處理所設定的路徑之目的地（S2 1 5 )。也 要進一步來繼續路徑導引處理。現在位置爲 束本處理（路徑導引處理），現在位置不是 進到S 2 2 0。 S220爲根據S210所特定的現在位置及 理所設定的路徑，來判斷現在位置是否爲要 這個判斷是指例如判斷屬於現在位置之路徑 正成不會發生 能右轉的快車 之來到十字路 車道而從慢車 的路徑，把路 之分隔島的缺 。全部的違反 )° 所執行的路徑 理後，依照使 1的檢測訊號 位置（S210 ) 爲經由路徑設 就是判斷是否 目的地時就結 目的地時則前 經由路徑定處 導引的地方。 上的地點，是 -23- (20) 1239384 否有時爲進行線道變更之地點的跟前地點’有時爲左右轉 之地點的跟前地點。現在位置爲要導引的地方時前進到 S 2 2 5，現在位置不是想要導引的地方時則返回到S 2 1 0 ° S22 5爲根據經由路徑設定處理所設定過的路徑來進 行導引。這個導引有時是經由使導引內容顯示在顯示部 2 6來進行，有時是使聲音輸出到聲音輸出部2 7來進行。 導引結束就返回到S210。 經過這些步驟，路徑導引處理直到搭載有導航裝置 2 0的車輛到達目的地爲止都在執行。 (3 )具體例1 其次說明經由路徑設定處理所設定的路徑及經由路徑 導引處理所導引的導引之具體例子。第6圖爲靠右行駛的 道路之模式圖。如第6圖所示，快車道5 1及慢車道5 2的 行駛方向爲十字路口 十字路口 C —十字路口 D的方向 ，快車道53及慢車道54的行駛方向爲十字路口 十字 路口 C—十字路口 B的方向，在快車道51與快車道53的 交界有中央線5 5。另外在快車道5 1與慢車道5 2之間有 車輛不能通行的分隔島5 6，在快車道5 3及慢車道5 4也 有車輛不能通行的分隔島57。然而分隔島56及分隔島57 設有缺口來讓車輛在於十字路口或十字路口以外的數個地 點能夠通行。另外十字路口 C及十字路口 D爲不能從快 車道5 1右轉而只能從慢車道5 2右轉的十字路口。 將地點A設爲現在位置，將地點e設爲目的地，而 -24- (21) 1239384 經由路徑設定處理的的路徑用箭頭來表示。這路徑係如 箭頭所示，從地點A出發後，在於十字路口 B右轉駛 入快車道5 1，在於十字路口 C從快車道5丨變更到慢車道 5 2，在於十字路口 D右轉而到達地點e之路徑。然後路 徑導引處理所執行的導引爲搭載有導航裝置2 〇的車輛從 地點A出發後，經導引而來到十字路口 b就從十字路口 B右轉駛入快車道5 1，在於十字路口 c的跟前經導引而 在於十字路口 C變更車道移往慢車道52，經導引而在於 十字路口 D的跟前變更線道靠到右線道，經導引而來到 十字路口 D就右轉。 列舉從聲音輸出部2 7所輸出之導引聲音的具體例。 在於來到十字路口 B之前以『請在十字路口 B越過慢車 道右轉駛入快車道』的聲音來導引，在於來到十字路口 c 之前以『請在十字路口 C從快車道變更到慢車道』的聲音 來導引。另外在於來到十字路口 D之前則是以『請變更 到右線道並在於十字路口 D右轉』的聲音來導引。與這 些的導引聲音連動來使道路圖顯示在顯示部26，而導航 裝置20進行導引。 (4)具體例2 第7圖爲靠右行駛的道路之模式圖。第7圖的模式圖 當中與第6圖相同的部位附註與第6圖相同的圖號，而說 明則省略。十字路口 K爲不能從快車道5 1右轉而只能從 慢車道5 2右轉之十字路口。 -25- 1239384 (22) 將地點Η設爲現在位置，將地點L設爲目的地，而 經由路徑設定處理的路徑用箭頭 來表示。這路徑係如箭 頭 所示，從地點Η出發後，在於十字路口 I右轉駛入快 車道5 1，在於分隔島的1個缺口之缺口 J從快車道變更 到慢車道52，在於十字路口 Κ右轉而到達地點L之路徑 〇 然後路徑導引處理所執行的導引是從地點Η出發@ ，在於來到十字路口 I之前經導引而從十字路口 I右轉駛 入快車道5 1，經導引而在於分隔島5 6的缺口 J變更車道 移行到慢車道5 2，經導引而在於十字路口 Κ跟前變更線 道靠到右線道後在於十字路口 Κ右轉。 列舉從聲音輸出部2 7所輸出之導引聲音的具體例。 在於來到十字路口 I之正前以『請在十字路口 I越過慢車 道右轉駿入快車道』的聲音來導引，到達分隔島5 6的缺 口 J之前，例如從現在位置至分隔島5 6的缺口 J之間具 有之分隔島的缺口爲2個的地點則是依照『請在第3個分 隔島的缺口變更到慢車道』的聲音來導引從現在位置至分 隔島5 6的缺口 J爲止的缺口之數量。然後在從現在位置 至分隔島5 6的缺口 J之間具有之分隔島的缺口之數量改 變的時間點再度導引該數量。然後車輛到達進行車道變更 之分隔島的缺口則以『這個分隔島的缺口』的聲音來導引 。與這些導引聲音連動來讓道路圖顯示在顯示部26，而 導航裝置20進行導引。 -26· (23) 1239384 (5 )具體例3 第8圖爲靠右行駛的道路之模式圖。第8圖的模式 當中與第6圖相同的部位附註與第6圖相同的圖號，而 明則省略。 將地點P設爲現在位置’將十字路口 S中心部設爲 的地' 而經由路徑設定處理的路徑用箭頭 來表示。目 地是從十字路口 S的中心地點變更到已越過慢車道5 2 的十字路口 S之地點T來設定路徑。這個地點τ也可 設定在慢車道5 2上之十字路口 S的跟前處。如箭頭 示，路徑爲從地點P出發後，在於十字路口 Q右轉駛 快車道5 1在於分隔島的缺口 R從快車道5 1變更到慢車 5 2，越過十字路口 S而到達地點T之路徑。然後經由路 導引處理所導引的導引係從地點P出發後，在於來到十 路口 Q之前經導引而從十字路口 Q右轉駛入快車道5 ;i 經導引而在於分隔島5 6的缺口 R變更車道移行到慢車 52，在於越過十字路口 S處進行到達的導引。 列舉從聲音輸出部27所輸出之導引聲音的具體例 。在於來到十字路口 Q之前以『請在十字路口 q越過 車道右轉駛入快車道』的聲音來導引，到達分隔島5 6 缺口 R前，例如從現在位置至分隔島5 6的缺口 r之間 距離爲3 0 0 m之地點則是依照『請在前面3 〇 〇 m處之分 島5 6的缺口變更到慢車道』的聲音來導引從現在位置 分隔島5 6的缺口 R的距離。然後從現在位置至分隔島 的缺口 R之間的距離成爲預定的距離（例如爲2〇0 ^ 圖 說 S 的 上 以 所 入 道 徑 字 道 子 慢 的 的 隔 至 56 -27- (24) 1239384 1 ο 〇 m )之際再度導引該距離。之後車輛到達進行車道變 更之分隔島的缺口就以『這個分隔島的缺口』的聲音來導 引。來到十字路口 S之前則是以『請變更到右線道』的聲 音來導引，到達地點T就以『已到達十字路口 S。越過十 字路□ S的慢車道上』的聲音來導引。與這些導引聲音連 動來讓道路圖顯示在顯示部26 ’而導航裝置20進行導引 〇 至目前爲止已說明了本實施例的導航裝置20，依據 導航裝置20，達到以下的效果。首先即使受限於在於相 同行駛方向的2種車道用分隔島來分隔之道路的十字路口 只能從慢車道右轉，由於預先從快車道變更到慢車道來進 行導引，因而搭載有導航裝置20的車輛仍能順利進行右 轉。另外受限於只能從快車道左轉時，也是預先從慢車道 變更到快車道來進行導引，因而搭載有導航裝置2 0的車 輛仍能順利進行左轉。 另外由於以快車道優先來設定路徑，因而通過低速行 駛車輛或停車車輛很多而無法順暢行駛的慢車道減少，搭 載有導航裝置2 0的車輛也能盡快到達目的地。另外由於 依交通資訊來選擇車道，執行能夠更順暢行駛的路徑導引 ，因而搭載有導航裝置2 0的車輛能順暢行駛，也能盡快 到達目的地。 以下說明其他的實施例。 (1 )上述實施例中，以相同行駛方向有2種車道的 情況爲例子作說明過，不過即使是由更多的車道所構成的 -28- (25) 1239384 情況，若是經導引而不從右轉專用的車道而從能右轉的車 道右轉，經導引不從左轉專用的車道而從能左轉的車道左 轉即可。若爲這種構成就能解決「發明內容」欄中所提出 的問題。 (2 )上述實施例中，導航裝置20有路徑設定功能及 導引功能，不過也可以構成具備只有路徑設定功能的伺服 器、及搭載在各種車輛上只有導引功能的導航裝置之導舟几 系統。也就是設成導航裝置對伺服器傳送現在位置的資訊 及目的地的資訊，伺服器已可以根據這些資訊來設定路徑 後傳送給導航裝置。即使是這種構成也能達到與上述實施 例相同的效果。 (3 )上述實施例中，以相同行駛方向有2種車道的 情況爲例子作說明過，不過即使是由更多的車道所構成的 情況，關於各別的車道，若爲與單一的車道相同變成資料 化來構成道路資料即可。若爲這種構成，導航裝置20能 經導引不從右轉專用的車道而從能右轉的車道右轉，並經 導引不從左轉專用的車道而從能左轉的車道左轉。 【圖式簡單說明】 第1圖爲表示實施例之導航裝置的槪略構成之方塊圖 〇 第2圖爲用來說明道路資料之模式圖。 第3圖爲用來說明道路資料之模式圖。 第4圖爲表示路徑設定處理的處理流程之流程圖。 -29- 1239384 (26) 第5圖爲表示路徑設定處理的處理流程之流程圖。 第6圖爲表示用來說明路徑的設定以及導引的具體例 之模式圖。 第7圖爲表示用來說明路徑的設定以及導引的具體例 之模式圖。 第.8圖爲表示用來說明路徑的設定以及導引的具體例 之模式圖。 第9圖爲用來說明過去的導航裝置的動作之模式圖。 第1〇圖爲用來說明課題之模式圖。 【主要元件符號說明】 2 0 :導航裝置 2 1 :位置檢測器 2 1a : GPS收訊機 2 1 b :陀螺儀 2 1 c :距離感測器 2 1 d :地磁感測器 22 :操作開關群 2 3 a :遙控器 2 3 b :遙控感測器 2 4 :外部資訊輸入輸出部 2 5 :地圖資料輸入器 2 6顯示部 2 7 :聲音輸出部 -30- (27) 1239384 28 : 29 : 麥克風 控制電路 -311239384 (1) IX. Description of the invention [Technical field to which the invention belongs] The present invention relates to road data showing the position of a road and the connection relationship between road paths. [Previous · Technology] In the past, navigation devices were set to turn right when there were multiple lanes. In addition, when a plurality of lanes are turned to the left, the left lane is guided to the leftmost lane by being guided forward (for example, refer to Japanese Patent Document 1). A specific example of this guidance method is, for example, when a vehicle equipped with a navigation device is driving on a road (a road on the right side of the road) shown in the schematic diagram in FIG. 9, the navigation device is in front of intersection V. (For example, 400 m in front) The right turn lane is changed after being guided, and the right turn is guided before reaching the intersection V (for example, 20 m in front). [Japanese Patent Document 1] Japanese Patent Laid-Open No. 2000-251197 [Summary of the Invention] However, when two lanes (consisting of more than one lane) in the same driving direction are separated by a separation island, there will be a crossroad When the mouth turns left and right, the following restrictions apply. For example, use the schematic diagram of the road (the road on the right) shown in Figure 10 for illustration. When the intersection W enters the left side of the drawing, it is forbidden to go from the expressway 5 1 (here is the The lane on the reverse line 1239384 (2) is called the "fast lane") and can only turn right from the slow lane 5 2 (here, the lane on the shoulder is called the "slow lane"). Therefore, in order to make a right turn from the left of the drawing to the intersection W, you must shift to the slow lane 5 2 in advance. Moreover, the transfer is limited to the gap of the islands 56. The other one is the intersection W. When entering from the left of the drawing to the intersection w, it is forbidden to turn left from the slow lane 5 2 and only to turn left from the fast lane 51. Therefore, in order to make a left turn when entering the intersection W from the left of the drawing, it is necessary to move to the express lane 51 in advance. Moreover, the transfer is limited to the gap of the islands 56. However, in the past, the navigation device used the separated island to separate the slow lane from the fast lane, and guided it along with the road without the divided island formed by a plurality of lanes. Restricted without proper guidance. That is, the gap in the separation island is shifted to the appropriate lane without guidance. Therefore, the problem of not being able to make a right or left turn at a crossroad where you want to turn right or left cannot occur if you do not move to the appropriate lane by the location guided by the existence of a separate island. The reason is that the roads divided into slow lanes and fast lanes are identified and guided together with the roads without separate islands formed by a plurality of lanes, and the road data used by the previous navigation device itself does not have the above restrictions. The reason is still able to carry out proper guidance. In view of the above-mentioned problems, the present invention aims to provide a technique for performing appropriate guidance on a plurality of lanes in the same driving direction, each of which is separated by a separation island, and a method of providing road data which can be implemented by guidance. -6-(3) 1239384 A path setting device for solving the above-mentioned problems. The path setting means can set a path by distinguishing multiple lanes in the same direction separated by impassable islands. The path has been set from Among the plural types of lanes, when lanes that cannot be turned right under road traffic regulations are turned right, lanes that cannot be turned right from gaps in the separation island that are earlier than the place to be turned right are changed to lanes that can turn right under road traffic regulations. When turning right from a lane that can turn right, or setting the path to turn left from a lane that cannot be turned left by road traffic regulations among multiple lanes, the gap on the previous island from the place where you should turn right cannot The left-hand lane is changed to the left-hand lane in road traffic regulations, and the left-hand lane is left. However, the “gap of the separation island” mentioned here means the place where the vehicle can change lanes, and also refers to the place where the separation island has a gap at the intersection, or the place where the separation island has a gap outside the intersection. In addition, the “lane” mentioned here is composed of one lane, and may be composed of plural lanes. In the case of such a route setting device, the route is set at the intersection of a plurality of lanes in the same driving direction separated by a separation island, and even a lane dedicated to a right turn must be changed in advance to a lane that can turn right. Vehicles on this route can turn right smoothly. In addition, the route is set so that even a lane dedicated to left turn must be changed to a lane capable of turning left in advance. Therefore, vehicles traveling along this route can turn left smoothly. However, when a road with a plurality of lanes is set as a path, the path setting means (such as a section that can be set for any lane other than near an intersection with a right-turn or left-turn intersection) can be set. 4) 1239384 is set to select the lane with the fastest estimated speed to set the path better. It is estimated that the lane with the fastest speed is generally the leftmost lane in the direction of travel for the country or region to the right, and the rightmost lane in the direction of travel for the country or region to the left. In this way, if the lane with the fastest estimated speed is selected to set the route, the vehicle guided by the route can reach the destination as soon as possible. However, it is also possible to provide a traffic information acquisition means for obtaining traffic information on a plurality of lanes and distinguishing the individual lanes. When the route setting means sets a road having a plurality of lanes as a route, any lane can be used. If the set section can obtain traffic information by means of traffic information acquisition, it is also possible to select a lane and set a route based on the obtained traffic information. The traffic information mentioned here refers to traffic congestion information, construction information, or faulty parking information. ○ For this type of route setting device, it is set to select the route of the lane according to the traffic information, so the vehicles traveling on the route can run smoothly. However, when setting a place for changing lanes, if the place is a gap in a separate island near the intersection with an exclusive right or left turn intersection, it can be set to any place, but it is best to set the path The device's route setting means sets the route to perform the aforementioned lane change in the gap of the separation island before arriving at the intersection due to the reason for the lane change. Generally, if you do not change lanes as much as possible, you can drive smoothly without changing the speed. However, when you make a right or left turn at an intersection, you cannot avoid reducing the speed. Therefore, if the path setting device is set in accordance with the route setting device-8-1239384 (5) and the speed reduction when approaching the intersection is set, the lanes that can be changed according to the route can be changed with less speed and smooth. Driving. However, even if the destination is set on a lane where the driver cannot stop, it is actually difficult to stop in that kind of place. Therefore, it is necessary to search again from the destination in the driving direction for the gap in the separation island that can be moved to the lane where the driver can park, and use the gap in the separation island to move the vehicle to the parking lane. It is therefore possible to significantly exceed the destination. In order to prevent this, the route setting means uses route setting means to set the route as a destination on a road having a plurality of lanes, and it is preferable that the route ends on a lane where parking is possible among the plurality of lanes. If the driver is driving according to this set route, there is no need to search for the gap in the separation island that can move to the lane where the driver can stop after reaching the destination, and use the gap in the separation island to move the vehicle. To the parking lane. Therefore, it does not significantly exceed the destination. However, the route set by the route setting device may be transmitted to the navigation device mounted on the vehicle through the communication network, but the vehicle navigation device may be configured in a state where the route setting device and the guidance means are both installed. The vehicle navigation device further includes a current position information acquisition means for obtaining information on the current position of the vehicle navigation device, and a current position of the vehicle navigation device is specified based on the information obtained by the current position information acquisition means. The current position specific means, and the guide means are set to guide one by one from the specified current position based on the information obtained by the current position information acquisition means to the gap of the separation island where the lane is changed. (6) 1239384 The information on the number of gaps in the island of separation is better. However, the "information about the number of gaps in the separated islands" mentioned here may be the information of the number of gaps in the separated islands. Change the number of notches in the lane separation island. Specifically, for example, the contents of "there are two gaps in the separation island until the lane is changed" or ". Please drive from the gap in the third separation island to the right" may be output by sound, sometimes by display . In addition, "one-by-one guidance" means, for example, to continuously guide the number of gaps in the separation island that changes as the vehicle approaches the intersection until the lane is changed. It is also possible to set the distance from the current position to the gap where the lane is changed. That is, the vehicle navigation device further includes a current position information acquisition means for acquiring information on the current position of the navigation device, and a current position specifying the current position of the vehicle navigation device based on the information obtained by the current position information acquisition means. The location-specific means, and the guidance means may be set to report the number of gaps on the separation island from the current location specified by the information obtained by the current location information acquisition means to the gap on the separation island where the lane is changed. Information. However, the “one-by-one guidance” mentioned here means that, for example, the number of gaps in the separation island until the lane is changed as it approaches the intersection, and the number of gaps in the island is continuously guided in a certain unit (100 m, etc.). In this way, “the information provided to guide the gaps of the separation islands used to specify lane changes” makes it easy for the driver to identify the gaps of the separation islands for lane changes, and others can be prepared to change lanes, so they can safely change lanes. . -10- (7) 1239384 In addition, it can also be set to a program that allows the built-in path setting device to have the function of the path setting means of the above path device. If it succeeds, for example, a program can be recorded in a recording medium that can be praised by computers such as floppy disks, optical and magnetic disks, CD-ROMs, and hard disks, and the program can be installed in the computer and activated to have the circuit arrangement of the present invention. Features. In addition, the program can also be transmitted over the network, so the functions of the road can be easily upgraded. It is also possible to provide a program that has the function of setting means of the above-mentioned navigation device built in the vehicle navigation device. This composition still achieves the same effect. The road data formed in order to solve the above-mentioned problems is composed of the data showing the position and the connection relationship between the roads. It is also about a plurality of lanes in the direction separated by a separation island where vehicles cannot pass. The lanes are used as the road information for the aforementioned achievements. That is, for a plurality of lanes in the same driving direction separated by vehicles that cannot pass through, and a single lane, separate lanes are prepared to present information on at least the position and relationship of the road. In the case of a navigation device using such road data, it is possible to distinguish the roads of the opposite plural lanes by separate islands, and to appropriately guide them. However, the information about the plurality of lanes lies in the connection of the intersections. The data of the plurality of lanes is that the lanes at the intersections are not directly connected to each other, but are implemented by intersecting the plurality of lanes. If there is a need to set up a computer, you can use a road to set up roads with the same road data and separate islands to separate the roads. The connections between the roads should be guided by the driver. For example, there are adjacent Fork other -11-(8) 1239384 road to connect the road information constituted. In other words, it is road data composed of data on the number of lanes that form the junction of multiple lanes and other roads that intersect these lanes. With this kind of road information, the navigation device can guide movement between lanes at intersections. Therefore, the navigation device can actively change the lane to perform route guidance according to the characteristics of the lane. In addition, the plural lanes are connected at intersections. For example, the data about plural lanes is road data formed by the adjacent lanes of plural lanes at intersections being directly connected to each other. In other words, it is road data composed of plural lanes in which adjacent lanes at intersections become one lane at a time. A specific example may be that the four lanes A, B, c, and D are arranged in sequence, which is formed by directly connecting A and B, C, and D at the intersection, or it may be that all the lanes directly connected to ABCD at the intersection Make up. Even with this kind of road information, the navigation device at the intersection can still guide the movement between lanes. Therefore, the navigation device can actively change the lane to perform route guidance according to the characteristics of the lane. In addition, there are fewer connection points than the second item in the scope of patent application, so the amount of road data is reduced. In addition, the lanes at the intersection are directly connected, so the logic of changing lanes becomes simpler when the route is set. However, the road data may also be constructed by connecting the junctions between a plurality of lanes directly at intersections and other roads that intersect with a plurality of lanes. With this structure, the number of road junctions can be reduced, so the capacity of road data can be reduced by -12- (9) 1239384. In addition, if the number of road junctions is reduced, the process is reduced when searching for a route. However, among the plurality of lanes in the same driving direction, which are separated by a separate island through which vehicles cannot pass, information about the two lanes separated by a separate island 'is the gap in the separate island except for the intersection, and these lanes are directly connected to each other to form Better. In addition, it can also be constructed by connecting two types of lanes. This connection road is a road that differs from the two types of lanes and exists only in the gap of the island. In this way, if two types of lanes are connected in the gap of the island, the navigation device can perform the guidance of changing the lane using the gap of the island, so that the lane can be changed more actively and the route can be performed according to the characteristics of the lane guide. Such lane data can be stored in a road data storage medium in which road data is recorded. For example, specific data storage media include CD-ROM or DVD-ROM or memory card. However, a device using such information is the same as a navigation device that uses route information of one of items 1 to 7 of the scope of patent application to implement the route guidance function. If it is such a navigation device, it is possible to perform appropriate guidance for a plurality of vehicle types in the same direction and separate roads separated by separate islands. In addition, a computer with a navigation device may be used to implement the above. Navigation device function program. If it is such a device, for example, the program is recorded on a floppy disk, magneto-optical disk, CD-ROM, hard disk, ROM, RAM, etc. 13-12384384 (10) A recording medium that can be read, if necessary, The program is installed in a computer and started, so it can have the function of the navigation device of the present invention. In addition, programs can also be transmitted over the Internet, and the functions of the navigation device can be easily upgraded. [Embodiment] An embodiment of the present invention will be described below with reference to the drawings. However, the embodiments of the present invention are not limited to the following embodiments, and various forms can be adopted as long as they are within the technical scope of the present invention. In addition, the following embodiment is a situation of a country or a region driving on the right, and an embodiment of a situation of a country or a region driving on the left can be considered with a moderate right and left opposite thinking. Fig. 1 is a block diagram showing a schematic configuration of the navigation device 20 in the embodiment. The navigation device 20 is mounted on a vehicle, and includes a position detector 21 that detects the current position of the vehicle, and an operation switch group 22 for inputting various instructions from the user. The same as the operation switch group 22, various inputs can be input. A remote control terminal (hereinafter referred to as a remote controller) 23a that is different from the navigation device 20 as instructed; and a remote sensor 23b that inputs a signal from the remote controller 23a; and sometimes inputs information from a device different from the navigation device 20 , And sometimes an external information input section 24 capable of inputting information to another device; and a map data input device 2 5 for inputting map data, etc. from an external storage medium that has recorded map data or various kinds of information; and used to display maps Or various information display sections 2 6; and sound output sections 2 7 for inputting various guidance sounds; and the position detector 21, the operation switch group 22, the remote control sensor 23b, and the external device according to the above. The information input unit 24 and the map data input unit 25 perform various processes to control the external information input unit 2 4. Display unit 2 6. Sound output unit 2 7 Circuit 29. The position detector 21 is provided with a GPS receiver 21a that detects a vehicle's position, azimuth, and speed using a GPS antenna to receive radio waves transmitted from an artificial satellite for GPS (Global Positioning System), and Various gyroscopes 21b in the rotation of the vehicle, a distance sensor 2 1 c that detects the distance traveled by the acceleration of the vehicle in the front-rear direction, and a geomagnetic sensor that detects the direction of the traveler by the geomagnetism 2 1 d. However, these various sensors 2 1 a to 2 1 d are used in a complementary manner due to various errors in their properties. The operation switch group 22 is composed of a touch panel integrated with the display section 26 and provided on the display screen, and a mechanical key switch provided around the display section 26 and the like. However, the touch panel and the display portion 26 are stacked and integrated. The touch panel includes various methods such as a pressure sensing method, an electromagnetic induction method, an electrostatic capacitance method, or a combination of these methods. Any one can be used. The external information input unit 24 has a function of inputting and outputting information between other external devices and the like, and is connected between those devices. One type of this information includes parent communication information obtained from a VICS (Vehicle Information Communication System) center through an antenna (not shown). This traffic information refers to traffic jam information or construction information or interval time information for each lane. The map data input device 25 is a device for inputting various data stored in a storage medium (not shown). Map data is stored in the memory media. (15) (12) 1239384 materials (road data, topographical data, marking data, intersection data, facility data, etc.), guide reference sound data, sound identification data, etc. The type of recording medium for memorizing such data is generally based on the amount of data. CD-ROM or DVD is used, but magnetic storage devices such as hard disks or other media such as memory cards can also be used. Here, the road data is used as an example to describe a road composed of a plurality of lanes. Figure 2 is a schematic diagram of a road driving on the right. As shown in Figure 2, the driving direction of the fast lane 51 and the slow lane 52 is the intersection α—the intersection; in the direction of 3, the traveling direction of the fast lane 53 and the slow lane 54 is the intersection / 3—the intersection ^ Direction, fast lane 51, slow lane 52, fast lane 53, and slow lane 54 are each composed of two lanes. In addition, the junction of the fast lane 51 and the slow lane 52 is the central line 55. There is an impassable separation island 56 between the fast lane 51 and the slow lane 52, and there is a vehicle between the fast lane 53 and the slow lane 54. Impassable Separated Island 57. However, intersection α and intersection / 5 are intersections that cannot turn right from expressway 51 and expressway 53 and can only turn right from slow lane 52 and slow lane 54. In addition, the intersection α and the intersection / 3 are intersections that cannot turn left from the expressway 51 and the expressway 53 and can only turn left from the slow lane 52 and the slow lane 54. In addition, each lane of the fast lane 51, the slow lane 52, the fast lane 53, and the slow lane 54 lies at the intersection α, and intersects the general road 65 and the general road 66 composed of two lanes on one side, and lies at the intersection / 5, intersects fast lane 61, slow lane 62, fast lane 63, and slow lane 64, general lane 65, normal lane 66, fast lane 61, slow lane 62, fast lane 63, -16- (13) 1239384 slow Lane 64 is composed of two lanes. Then the fast lane 5 1 is documented with an imaginary road line 7 1, the slow lane 5 2 is documented with an imaginary road line 7 2, the fast lane 5 3 is documented with an imaginary road line 73, and the slow lane 54 is documented with an imaginary road line 74 For information, the express lane 6 1 is documented with an imaginary road line 8 1, the slow lane 6 2 is documented with an imaginary road line 82, and the fast lane 63 is documented with an imaginary road line 8 3. Road lines 84 are documented, and general roads 65 are documented with imaginary road lines 85. General roads 6 6 are documented with imaginary road lines 86. "Data" mentioned here refers to the characteristics of the actual road represented by digital data memorable in the media. The general example is to use the center point, connection point and shape point for presentation. As shown in FIG. 2, at the intersection α, the imaginary road line 71 intersects with the imaginary road line 85 and the imaginary road line 86 and there is an intersection, the imaginary road line 72 and the imaginary road line 85 and the imaginary road line 8 and 6 intersect with intersections' The imaginary road line 73 intersects with the imaginary road line 85 and the imaginary road line 86 and has an intersection, and the imaginary road line 74 intersects with the imaginary road line 85 and the imaginary road line 8 6 point. In addition, because the intersection is cold, the imaginary road line 71 and the imaginary road line 8 1 to 8 4 individually intersect and have a connection point 'the imaginary road line 72 and the imaginary road line 8 丨 to 84 each intersect and there are connection points' imaginary road The route 73 intersects with the imaginary road line 8 1 to 84 and has a connection point. The imaginary road line 74 and the imaginary road line 8} to 84 each have a connection point. In addition, the gap 7 in the island 5 6 at the intersection α and the intersection is not connected to the imaginary -17- (14) 1239384 by the imaginary connection road line 8 7 (equivalent to the connection road described in the scope of the patent application). The gap between road line 71 and virtual road line 7 2 and island 5 7 (5 is the virtual road link 8 8 (corresponding to the connecting road described in the patent application) to connect virtual road line 7 3 and virtual road line 7 4. In this way, fast lane 5 1, slow lane 5 2, fast lane 5 3, slow lane 5 4 are all the same as a single road for data. Then the road data about fast lane 5 1 and slow lane 5 2 For the gaps at the intersection α, the intersection / 5, and the separation island < 5 can change the road data of the lane, and the road data of the fast lane 53 and the slow lane 54 are at the intersection ^, the intersection / 3, and the gap 5 of the island can change the lane's road data. Another example will be described using the schematic diagram of the road in FIG. 3. In the schematic diagram of FIG. 3, the same parts as those in FIG. 2 are denoted by the same reference numerals as those in FIG. 3, and descriptions thereof are omitted. As shown in FIG. 3, the fast lane 51 is dataized by an imaginary road line 91, the slow lane 52 is dataized by an imaginary road line 92, the fast lane 53 is dataized by an imaginary road line 93, and the slow lane 54 is dataized by The imaginary road line 94 is used as data, the fast lane 6 丨 is used as data for the imaginary road line 81, and the slow lane 62 is used for data as the imaginary road line 82. The imaginary road line 84 is documented, and the general road 65 is documented with an imaginary road line 85. The general road 66 is documented with an imaginary road line 86. Then, the virtual road line 9 in the intersection α is connected to the virtual road line 92 and is partially integrated. One end a, b of the integrated part is connected to the virtual road line 65 and the virtual road line 66 respectively. In addition, the imaginary road line 9 3 and the imaginary road line 94 in the intersection α are connected to form a p, and the ends c and d of the integrated part are respectively connected to the imaginary road line -18-(15) 1239384 6 5 and the imaginary road. Road lines 6 6 are connected. Then, the imaginary road line 91 in the crossroads / 3 is partially integrated with the imaginary road line 92. One end e of the integrated part is connected to the imaginary road line 61 and the imaginary road line 62. Part of one end f is connected to the virtual road line 63 and the virtual road line 64. In addition, the imaginary road line 93 and the imaginary road line 94 in the intersection / 3 are partially integrated, because one end g of the integrated part is connected to the imaginary road line and the imaginary road line 62, and is at one end h of the integrated part. The virtual road line 63 and the virtual road line 64 are connected. In addition, the gap r of the island is directly connected to the virtual road 92 at the connection point i; the gap 5 of the island is directly connected to the virtual road 93 at the connection point j. In this way, the fast lane 51, the slow lane 5 2, the fast lane 5 3, and the slow lane are all documented in the same way as a single road. Then the fast lane 51 and lane 52 are at the intersection α, the intersection / ?, and the separation island (5 can change the lane information of the lane, the fast lane 5 3 and the slow lane 54 are at the intersection α, the intersection / 5. The gap 6 of the separation island can change the road data of the lane. In addition, the amount of road data is reduced because the connection points are less than the situation in Figure 2. In addition, the intersection α and the imaginary road line 9 in the crossroad / 3 The imaginary road line 92, the imaginary road line 93, and the imaginary road line 94 are directly connected, so the movement logic of the lane when the route is set becomes simple (that is, the imaginary road line 8 does not pass through other roads as shown in FIG. 2) 86 can also change lanes). Returning to the first figure, the display section 26 is a color display device, which includes the imaginary 61% and the line 54. It is slower and more frequent. □ 和 间 的 液 -19- (16) 1239384 You can use any of them, such as display, organic EL display, CRT, etc. On the display screen of the display section 26, the current position of the vehicle detected by the position detector 21 and the map can be displayed on the display. Material input section 2 5 The current location mark specified by the map data input; additional information such as the sensing path, name, landmark, various facility marks, etc. up to the destination. In addition, it can also display the facility guide. Sound The output unit 27 can output the sounds of the facility guide or various navigations input by the map data input unit 25, or the traffic information read by the external information input unit 24. Microphone 2 8 series When the user inputs a voice (speech), an electric signal is output according to the input voice. The user can operate the navigation device by inputting various sounds to the microphone 28. The control circuit 29 uses a CPU, ROM, RAM, 1/0 And a general microcomputer composed of a bus line connecting these components is constructed as a center, and various processes are executed according to programs stored in ROM and RAM. For example, the processes performed include: according to each detection signal from the position detector 21 The current position of the vehicle is calculated based on the coordinates and the driving direction, and a map and the like of the current position read by the map data input unit 25 are displayed. The display processing of the display section 26, or the location set in the map data input section 2 5 and the destination set in accordance with operations such as the operation switch group 22 or the remote control 23a, is used to calculate the most appropriate position from the current position to the destination. Route, route guidance processing that guides the calculated route, etc. Although the navigation device 20 has been described so far, the various parts of the navigation device 20 and the claim range used in the patent application are again -20- (17) 1239384 Correspondence of business terms. The position detector 21 is equivalent to the current position information means, the map data input unit 25 and the control circuit 29 are equivalent to the current position specifying means and the path setting means, and the display unit 26 and sound The output unit 27, the map data input unit 25, and the control circuit 29 correspond to guidance means, and the external information input unit 24 corresponds to traffic information acquisition means. (1) Path setting processing The path setting processing executed by the control circuit 29 will be described with reference to the flowchart in FIG. 4. The route setting process is started when the user operates the operation switch group 22 or the remote controller 23a. When the process is started, first, the operation switch group 22 or the remote controller 2 3 a is used, and the destination information input by the user is obtained from the operation switch group 22 or the remote controller 23 a (S 1 1 0). However, at this time, a map or place name or menu is displayed on the display section 26 so that the user can easily input destination information. Next, based on the detection signal from the position detector 21, the current position of the vehicle equipped with the navigation device 20 is specified (S115). Next, a path (S 1 2 0) from the current position specified by S 1 15 to the destination specified by the destination information obtained from S 〖丨 〇 is set. When setting this route, if there are two types of roads in the same driving direction that are separated by impassable islands, use the road data in which the lanes described in Figures 2 and 3 have been distinguished to search. Pass and set. Among the two types of lanes, the route is set by a lane that runs in the opposite lane (hereinafter referred to as a "fast lane"). In addition, when the destination is on this fast lane, change the destination to the lane on the shoulder of the road (hereinafter referred to as the "slow lane") to set a route of -21-(18) 1239384. However, the algorithm used to set the path is the widely known Dijkstra method. Next, it is determined whether the traffic information obtained from the VICS through the external information input unit 24 is relevant (S120) and the traffic information of the slow lane corresponding to the fast lane (S123) ° obtained from the VICS center The traffic information for is separate traffic information for fast lanes and slow lanes. If there is no such traffic information, proceed to S135, if there is no such traffic information, proceed to S 1 2 5. S125 is to determine whether the corresponding slow lane traffic is less than the fast lane set in S120 (s 12 5). However, if the traffic lane ’s father Tongli is less than the fast lane, the traffic advances to S130 ’When the slow lane has less traffic than the fast lane, it advances to S 1 3 5. Among the paths set by S 1 3 0 for S 1 20, the corresponding slow lane has less traffic than the fast lane. The fast lane ′ is modified to pass through the slow lane (S I 3 0) and proceed to S 1 3 5. S 1 3 5 determines whether there is a left or right turn in violation of the traffic rules among the routes calculated so far. Information on traffic regulations is read from a memory medium by the map data input section 25. In addition, the right and left turns mentioned here and in violation of the traffic rules refer to the right and left turns on roads with fast lanes and slow lanes only. Specifically, it is sometimes determined whether there is a right turn from a fast lane that cannot turn right, and sometimes whether a left turn from a slow lane that cannot turn left is sometimes determined. If there is a right or left turn that violates the traffic rules, the process proceeds to S 丨 4. If there is a left or right turn that does not violate the parent traffic rule, this process ends (route setting processing). • 22- (19) 1239384 s 1 40 is the result of judgment based on S 1 3 5 and turns left or right in violation of traffic rules. Specifically, for a right-turning path, the path was modified so that the gap in the island before the right-turning exit of the office changed from the fast lane to the slow-turning right. In addition, the correction of the left-turn path from the slow lane that cannot turn left is to change the lane from the slow lane to the fast lane before the left turn at the intersection, and the process ends when the correction is completed from the left lane of the fast lane (path setting Process (2) Path guidance process The control circuit 2 9 guidance process will be described using the flowchart in FIG. 5. The path guidance process ends the user's instructions at the path setting or automatically starts the process. To start the process, first follow the instructions from the The position detector 2 determines the current position of the vehicle equipped with the navigation device 20, and then determines the destination of the route set by the current position denial processing specified by S2 10 (S2 1 5). The route guidance needs to be further continued. Leading process. The current position is the bundle process (path guidance process), and the current position is not advanced to S 2 2 0. S220 is to determine whether the current position is based on the current position specified by S210 and the path set by the theory. Judgment refers to, for example, judging that the path belonging to the current position is right, and that a fast train that can turn right will come to the crossroad lane, and the path from the slower lane will be divided. The absence of an island. All violations) ° After the path is executed, the detection signal position (S210) is set to 1 via the path. If the destination is determined, the destination will be guided by the path. local. The location above is -23- (20) 1239384 No Sometimes it is the location immediately before the location where the lane change is made. Sometimes it is the location immediately before the location where the lane is turned left or right. When the current position is the place to be guided, proceed to S 2 2 5; When the current position is not the place to be guided, return to S 2 1 0 ° S22 5 is to guide according to the path set through the path setting process. lead. This guidance may be performed by displaying the guidance content on the display section 26, or may be performed by outputting sound to the sound output section 27. After the guidance is completed, the process returns to S210. After these steps, the route guidance processing is executed until the vehicle equipped with the navigation device 20 reaches the destination. (3) Specific Example 1 Next, a specific example of the route set by the route setting process and the guidance guided by the route guidance process will be described. Figure 6 is a schematic diagram of a road driving on the right. As shown in FIG. 6, the driving directions of the fast lane 51 and the slow lane 52 are in the direction of the intersection C—the intersection D, and the driving directions of the fast lane 53 and the slow lane 54 are the intersection C—the intersection In the direction of the entrance B, there is a central line 5 5 at the junction of the fast lane 51 and the fast lane 53. In addition, between the fast lane 51 and the slow lane 52, there are separate islands 5 6 that cannot pass through the vehicle, and between the fast lane 53 and the slow lane 54, there are also separate islands 57 that cannot pass through the vehicle. However, the separation island 56 and the separation island 57 are provided with gaps to allow vehicles to pass at the intersection or at several locations outside the intersection. In addition, intersection C and intersection D are intersections that cannot turn right from express lane 51 and can only turn right from slow lane 5 2. Let point A be the current position, point e be the destination, and -24- (21) 1239384 the route processed by the route setting is indicated by an arrow. This path is shown by the arrow. After starting from point A, turn right at the intersection B into the fast lane 51, change the intersection C from the fast lane 5 丨 to the slow lane 5 2 and turn right at the intersection D The path to point e. Then, the guidance performed by the route guidance processing is that the vehicle equipped with the navigation device 2 0 departs from the location A, and after reaching the intersection b after being guided, turns right from the intersection B into the express lane 51, which is at the intersection The front of intersection c is guided to change lanes at intersection C to slow lane 52, and the changed lane at front of intersections D is guided to the right lane. After guidance, to crossroads D is to the right turn. A specific example of the guidance sound output from the sound output section 27 is given. It is guided by the sound of "Please cross the slow lane at the intersection B and turn right into the fast lane" before arriving at the intersection B. It is "Please change from the fast lane to the slow lane at the intersection C" before coming to the intersection c The sound of the lane "to guide. In addition, before coming to the intersection D, I was guided by the sound "Please change to the right lane and turn right at the intersection D". In conjunction with these guidance sounds, a road map is displayed on the display section 26, and the navigation device 20 guides. (4) Specific example 2 FIG. 7 is a schematic diagram of a road driving on the right. In the schematic diagram of FIG. 7, the same parts as those in FIG. 6 are denoted by the same reference numerals as those in FIG. 6, and explanations are omitted. Intersection K is an intersection that cannot turn right from the fast lane 51 and can only turn right from the slow lane 5 2. -25- 1239384 (22) Set the location Η to the current location and the location L to the destination, and the route processed by the route setting is indicated by an arrow. This path is shown by the arrow. After starting from location 转, turn right at the intersection I into the fast lane 51. The gap J in a gap in the separation island is changed from the fast lane to the slow lane 52 at the intersection K Turn right to reach the route at point L. Then the guidance performed by the route guidance process is to start from location @, before turning to intersection I, turn right and enter express lane 51 from intersection I, After being guided, the lane J in the separation island 56 is changed to the slow lane 52, and after being guided, the intersection K is changed in front of the lane and the lane is turned to the right. A specific example of the guidance sound output from the sound output section 27 is given. Before coming to the intersection I, use the sound of "Please cross the slow lane and turn right into the fast lane at the intersection I" to guide, before reaching the gap J of the separation island 5 6, for example, from the current position to the separation island 5 The gap between the gaps of 6 between J and the gap of 2 islands is based on the sound of "Please change the gap of the 3rd island to the slow lane" to guide the gap from the current position to the island 5 6 The number of gaps up to J. Then, at the point in time when the number of gaps in the separation island between the current position and the gaps J in the separation island 56 is changed, the number is again guided. Then the vehicle arrives at the gap of the separation island where the lane is changed, and is guided by the sound of "the gap of this separation island". In conjunction with these guidance sounds, a road map is displayed on the display unit 26, and the navigation device 20 performs guidance. -26 · (23) 1239384 (5) Specific example 3 Figure 8 is a schematic diagram of a road driving on the right. In the pattern of FIG. 8, the same parts as those in FIG. 6 are denoted by the same reference numerals as those in FIG. 6, and the description is omitted. The point P is set to the current position, 'the center of the intersection S is set to', and the path through the path setting process is indicated by an arrow. The purpose is to change the route from the center point of intersection S to the point T of intersection S which has crossed the slow lane 5 2. This point τ may also be set in front of the intersection S on the slow lane 52. As shown by the arrow, the path is the right turn at the intersection Q after the point P, and the fast lane 5 1 lies in the gap R of the separation island from the fast lane 5 1 to the slow lane 5 2 and crosses the intersection S to reach the point T . Then, after the guidance system guided by the road guidance process starts from the point P, it turns to the right from the intersection Q and enters the express lane 5 after arriving at the tenth intersection Q; i The notch R of 5 6 changes the lane and moves to the local train 52, which is to guide the arrival by crossing the intersection S. A specific example of the guidance sound output from the sound output section 27 is listed. Before arriving at the intersection Q, use the sound of “Please cross the lane at the intersection q and turn right into the express lane” to guide you to the gap R of the separation island 5 6, such as the gap r from the current position to the separation island 5 6 The distance between 300 meters is based on the sound of "Please change the gap of the island 5 6 at the previous 3000m to the slow lane" to guide the gap R of the island 5 6 from the current position. distance. Then, the distance from the current position to the gap R of the separation island becomes a predetermined distance (for example, 2000 ^ The figure above S is slowly separated by the path diameter entered to 56 -27- (24) 1239384 1 ο 〇m) when the distance is re-guided. After the vehicle arrives to make a lane change, the gap in the island is guided by the sound of "the gap in this island". Before you come to the intersection S, you will be guided by the sound of "Please change to the right lane". When you reach the point T, you will say "You have reached the intersection S." Cross the cross lane □ S on the slow lane ”to guide. In conjunction with these guidance sounds, the road map is displayed on the display section 26 'and the navigation device 20 guides. The navigation device 20 of this embodiment has been described so far. According to the navigation device 20, the following effects are achieved. First of all, even if the intersection is limited to two lanes separated by islands in the same direction of travel, you can only turn right from the slow lane. Since the fast lane is changed to the slow lane for guidance in advance, it is equipped with a navigation device. 20 vehicles can still turn right. In addition, when you can only turn left from the fast lane, you also change from the slow lane to the fast lane to guide in advance. Therefore, vehicles equipped with the navigation device 20 can still turn left smoothly. In addition, the priority is given to fast lanes, so there are fewer slow lanes that cannot be driven smoothly by many low-speed vehicles or parked vehicles. Vehicles equipped with navigation device 20 can also reach their destinations as quickly as possible. In addition, because lanes are selected based on traffic information and route guidance is performed for smoother driving, vehicles equipped with navigation device 20 can drive smoothly and reach their destination as quickly as possible. Other embodiments will be described below. (1) In the above embodiment, the case where there are two lanes in the same driving direction has been described as an example, but even if it is a -28- (25) 1239384 case composed of more lanes, if it is not guided, Turn right from the lane that can be turned right and turn right from the lane that can turn right. After being guided, you can turn left from the lane that can turn left instead of the dedicated lane. With this structure, the problems raised in the "Invention" column can be solved. (2) In the above embodiment, the navigation device 20 has a route setting function and a guidance function, but it can also constitute a server with a route setting function only and a navigation boat equipped with a navigation device having only a guidance function mounted on various vehicles. system. That is, the navigation device is set to send the current location information and destination information to the server. The server can already set the route based on these information and send it to the navigation device. Even with this configuration, the same effects as those of the above embodiment can be achieved. (3) In the above embodiment, the case where there are two lanes in the same driving direction has been described as an example, but even if it is composed of more lanes, the respective lanes are the same as a single lane. It can be turned into data to compose road data. With this configuration, the navigation device 20 can turn right from a lane that can be turned right without being guided to the right, and can turn left from a lane that can be turned left without being guided from the left-only lane by being guided. . [Brief description of the drawings] Fig. 1 is a block diagram showing a schematic configuration of the navigation device of the embodiment. Fig. 2 is a schematic diagram for explaining road data. Figure 3 is a schematic diagram for explaining road data. FIG. 4 is a flowchart showing a processing flow of the route setting processing. -29- 1239384 (26) Fig. 5 is a flowchart showing the processing flow of the route setting process. Fig. 6 is a schematic diagram showing a specific example of setting and guidance of a route. Fig. 7 is a schematic diagram showing a specific example of setting and guidance of a route. Fig. 8 is a schematic diagram showing a specific example of setting and guidance of a route. Fig. 9 is a schematic diagram for explaining the operation of a conventional navigation device. Fig. 10 is a schematic diagram for explaining the problem. [Description of main component symbols] 2 0: navigation device 2 1: position detector 2 1a: GPS receiver 2 1 b: gyroscope 2 1 c: distance sensor 2 1 d: geomagnetic sensor 22: operation switch Group 2 3 a: remote control 2 3 b: remote sensor 2 4: external information input / output section 2 5: map data input device 2 6 display section 2 7: sound output section -30- (27) 1239384 28: 29 : Microphone Control Circuit-31