To provide a mobile terminal,a system and a method which detect an appropriate re-route timing.

One aspect of the present invention concerns a mobile terminal having an autonomous navigation function, the mobile terminal including: a map application part for map-matching the current position of the mobile terminal on a route from a departure place to a destination of a user of the mobile terminal in map information; a measurement part for detecting a movement of the mobile terminal and providing sensor information showing a movement of the user; a position calculation part for calculating the amount of travel of the mobile terminal from a reference position based on the sensor information and calculating the current position of the mobile terminal based on the calculated amount of travel and the reference position; and a re-route detection part for requesting the map application part to perform re-retrieval of the route when it is determined that a first distance between the calculated current position of the mobile terminal and the reference position is larger enough than a second distance between the map-matched current position of the mobile terminal and the reference position by comparing the first distance with the second distance.