A method of selecting a travel route including receiving message information formed in a hierarchical structure and including traffic information, receiving a first position value and a second position value corresponding to first and second positions, searching for travel routes between the first and second positions, classifying the travel routes from the first position to the second position into a plurality of individual road links, calculating a route cost for a first road link that includes the first position and a second road link directly connected to the first road link based on an average link speed for the first and second road links, respectively, calculating a route cost for each additional road link after the first and second road links up to a last road link including the second position based on one of a current traffic congestion status information and a predicted traffic congestion status information, and calculating a total route cost for all of the road links for the travel routes from the first position to the second position.