A method of selecting a travel route, which includes 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, dividing the travel routes from the first position to the second position into a plurality of individual road links, calculating a time required to travel each road link along the travel routes from the first position to the second position based on at least one of current traffic congestion status information and prediction traffic congestion status information, and calculating a total time required to travel all of the road links for the travel routes from the first position to the second position.