| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for selecting a minimum cost course as an optimal course in a short time. SOLUTION: A map storing section 301 stores a map data required for course search and point setting reads out from a recorder 103. A point setting section 302 sets start and goal nodes on a map, respectively, at the current position of a vehicle detected at a position detecting section 201 and a goal inputted by an input device 101. A course searching section 303 performs searching by a known Dijkstra method using start and goal nodes, being set at the point setting section 302 sequentially fro the lowest layer, as search starting points and determines a minimum cost course from a start node to a goal node. A search result data storing section 304 records an intermediate data an course information during search. In parallel with processing at the point setting section 302, a map read parallel processing section 401 reads a map data being used for first search into the map storing section 301. |
