JP5358937B2 - POSITION LOCATION DEVICE, INFORMATION TRANSMISSION DEVICE, NAVIGATION DEVICE, POSITION LOCATION PROGRAM, AND INFORMATION TRANSMISSION PROGRAM - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve highly-accurate position locating of a mobile by setting the optimum boundary position by using a simple and inexpensive mechanism. <P>SOLUTION: A series of flow shown in figures (1)-(4) is generated for congestion or signal stop. The figure (1) shows a state wherein a light shielding area is formed by a front vehicle 1000 stopping in a light irradiation area, and the mobile 101 is advancing into the light irradiation area. The figure (2) shows a state wherein the mobile 101 enters the light irradiation area and stops in the light irradiation area. Since a light signal from a light beacon 102 is shielded, the situation may cause wrong detection. The figure (3) shows a state wherein the front vehicle 1000 has started after the stopping state of the front vehicle 1000 and the mobile 101. The figure (4) shows a state wherein the mobile 101 has started following start of the front vehicle 1000. The light signal from the light beacon 102 is shielded normally by a light receiving device, and the position of the mobile 101 is located. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  According to the present invention, a light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and a light receiving unit when the incident angle of the optical signal with respect to the installation surface of the light receiving unit exceeds a predetermined incident angle. TECHNICAL FIELD The present invention relates to a position locating device, a light receiving device, an information transfer device, a navigation device, a moving body, a position locating program, and an information transfer program using a light receiving device mounted on a moving body composed of a shielding portion that shields an optical signal to the portion. .

  In recent years, advanced safety services that reduce traffic accidents by gathering information, warnings, and intervention control for vehicles based on position information of moving bodies such as vehicles have attracted attention. Specifically, for example, the advanced safety service provides position information, signal information, sign information, etc. of its own and other vehicles to a vehicle that has entered a predetermined range (for example, within 100 m from the center) from an intersection or a curve. By doing so, it is a service that prevents traffic accidents caused by driver blind spots, carelessness and oversight.

  In such advanced safety services, highly accurate location is required for the position of the own vehicle that is provided to other vehicles or compared with the positions of other vehicles, signals (or stop lines), signs, etc. . Specifically, for example, if the order of the position of another vehicle provided by the advanced safety service and the position of the other vehicle viewed by the driver are different, the driver may be confused or uncomfortable. Therefore, it is desirable that the position determination error of each vehicle is equal to or less than a half vehicle (for example, about 2.5 m).

  Currently, as a vehicle location technology, there is a GPS (Global Positioning System) used in a car navigation system. However, when surrounded by trucks and buses with high vehicle heights, or when driving in urban areas where skyscrapers are prone, GPS satellites have poor visibility and multipaths may occur. Location may be inaccurate.

  On the other hand, it is known that autonomous navigation in which the moving distance of a vehicle is measured by a vehicle speed pulse, an acceleration sensor, a gyro sensor, or the like has few errors if traveling within a predetermined range. Specifically, for example, the error of the travel distance by autonomous navigation is 2.0 m or less if the vehicle travels in the advanced safety service area (for example, about 100 m) that provides the above-described advanced safety service. Therefore, by performing accurate positioning at the approach position of the advanced safety service area, it is possible to always perform highly accurate positioning (for example, an error of 2.5 m or less) within the advanced safety service area by autonomous navigation. .

  As an accurate position locating technology at the advanced safety service area approach position, UWB (Ultra Wide Band), magnetic marker, ultrasonic positioning and the like can be cited.

  In addition, instead of UWB, magnetic markers, ultrasonic positioning, etc., position determination at the advanced safety service area entry position is also performed using an optical beacon that is an existing infrastructure facility. Position location using an optical beacon is a method of correcting the positioning result of a vehicle by GPS using, for example, positional information of the optical beacon included in an optical signal transmitted from the optical beacon.

  So far, regarding the reception of optical signals transmitted from optical beacons, a proposal has been made to provide a cover on the light receiving portion of the in-vehicle device in order to block the optical signals from outside the communication area of the optical beacons through which the vehicle passes ( For example, see the following Patent Document 1.)

  Further, it has been proposed to detect that the vehicle has passed the boundary of the communication area where the in-vehicle device and the optical beacon communicate, and correct the current position of the vehicle at the time of detection to the boundary position (for example, , See Patent Document 2 below).

JP 11-296793 A JP 2003-107143 A

  However, in the above-described prior art, when UWB, a magnetic marker, ultrasonic positioning, or the like is used in order to accurately perform positioning, it is necessary to mount a new device on the vehicle, which imposes a burden and cost on the driver. It will be.

  On the other hand, when positioning is performed using an optical beacon that has already been equipped with infrastructure equipment in order to reduce the burden on the driver and cost, an error occurs depending on the range of the communication area of the optical beacon. That is, an error occurs because the position where the optical signal is received is different from the installation position of the optical beacon.

  Specifically, for example, the predetermined communication area of the optical beacon is about 3 to 4 m in the traveling direction and the vehicle width direction of the vehicle, so that the error in the position determination of the vehicle is 3 to 4 m at the maximum. That is, in Patent Document 1, even if an optical signal from the outside of the communication area such as the opposite lane is blocked, an error in positioning of the vehicle occurs depending on the range of the communication area of the optical beacon that has transmitted the received optical signal. End up.

  Further, in Patent Document 2, instead of the installation position of the optical beacon, the current position of the vehicle at the time when the boundary of the communication area is detected by receiving the optical signal is corrected to the predetermined boundary position in the optical beacon. . However, the range of the optical signal communication area varies depending on weather conditions such as rain and fog, contamination of the optical signal transmission / reception unit, reduction in reception sensitivity due to shielding by a wiper, etc., and may be up to about 12 m. is there.

  For this reason, if an error occurs between the detected boundary position and the predetermined boundary position, an error in the position determination of the vehicle becomes large. That is, even if the position is not the predetermined boundary position, an error occurs between the detected boundary position and the predetermined boundary position by receiving the optical signal from the optical beacon.

  If there is an error in the location of the vehicle and it is impossible to locate the current position, the driver will misrecognize the positional relationship between the vehicle and the features such as traffic lights and intersections, causing unnecessary confusion. It will cause a sense of incongruity.

  In particular, in advanced safety services, when using the relative positional relationship between the host vehicle and another vehicle to promote safe driving of the vehicle, the location of the current position of the other vehicle provided by the other vehicle is determined. Errors can endanger the driver.

  In order to solve the above-mentioned problems caused by the prior art, the present invention achieves highly accurate positioning of a moving body by setting an optimum boundary position by an inexpensive and simple mechanism, thereby effectively utilizing existing equipment. It is an object of the present invention to provide a position locating device, a light receiving device, an information transfer device, a navigation device, a moving body, a position locating program, and an information transfer program.

  In order to solve the above-described problems and achieve the object, the first device and the program are provided for a light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an installation surface of the light receiving unit. When the incident angle of the optical signal is equal to or greater than a predetermined incident angle, a light receiving device mounted on the movable body including a shielding portion that shields the optical signal to the light receiving portion is used. An apparatus and a program for locating a position, the receiving means for sequentially receiving information about the installation position of a communication device that has transmitted the optical signal included in the optical signal from the shielding detection source of the optical signal, and the reception A means for specifying the current position of the moving body based on the installation position, an output means for outputting a specifying result specified by the specifying means, and the moving body Detection means for detecting a specific behavior, and position determination control means for controlling to prohibit the specification based on the installation position or the output of the specific result when the specific behavior is detected by the detection means, It is a requirement to prepare.

  According to the first apparatus and program, the position determination result can be automatically obtained only in the case of normal light shielding detection without providing an erroneous detection determination function.

  The second device is a light receiving device provided in the moving body, the first light receiving unit receiving a light signal transmitted from a communication device installed away from the moving body, and the communication device. When the incident angle of the optical signal with respect to the installation surface of the first light receiving unit becomes greater than or equal to a predetermined incident angle, the second light receiving unit that receives the optical signal transmitted from the first light receiving unit And a shielding part that shields the optical signal.

  According to the second device, normal light shielding and abnormal light shielding can be automatically distinguished.

  Further, the third device and the program include a detecting unit that detects the amount of light received by the first and second light receiving units of the light receiving device that is the second device, and each of the detection units that are detected by the detecting unit. Based on the amount of received light, determination means for determining whether or not the moving body has passed near the installation position of the communication device, and information regarding the installation position of the communication device included in the optical signal, Transmission means for transmitting to a position location of a moving body, and transmission for controlling transmission of information relating to the installation position to the position location when the determination means determines that a predetermined position has been passed from a communication device And a control means.

  According to the third device and program, it is possible to realize automation of erroneous detection determination and prevent occurrence of a delay at the time of erroneous detection determination.

  In addition, the fourth device and the program include a receiving unit that sequentially receives information on an installation position of the communication device that has transmitted the optical signal included in the optical signal, and the first of the light receiving device that is the second device. Detecting means for detecting the amount of light received by the first and second light receiving sections, and whether the moving body has passed a predetermined position from the communication device based on each amount of received light detected by the detecting means; A determination unit that determines whether or not, an identification unit that identifies a current position of the moving body based on the installation position, and an output that outputs the identification result calculated by the identification unit, each time the reception unit receives the determination unit. Control based on the installation position or output of the result of the identification when the determination unit determines that the communication device has not passed the predetermined position. A position location control means may be a requirement that comprises a.

  According to the fourth device and program, it is possible to realize automation of erroneous detection determination and to prevent occurrence of delay at the time of erroneous detection determination.

  Further, the fifth device and the program include a light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is a predetermined incident angle In the case of the above, using the light receiving device mounted on the moving body that includes the shielding portion that shields the optical signal to the light receiving portion, the information obtained from the light receiving device is used as the position location target of the moving body. And a detection unit that detects shielding of the optical signal based on an amount of light received sequentially from the light receiving device, and when the shielding is detected by the detection unit Determining means for determining whether or not the mobile body has passed a predetermined position from the communication device that has transmitted the optical signal, and information regarding the installation position of the communication device included in the optical signal, A transmission means for transmitting to the position location of the mobile body, and a control for transmitting information relating to the installation position to the position location when it is determined by the determination means that the communication device has passed a predetermined position. And a transmission control means for performing the processing.

  According to the fifth device and program, automation of erroneous detection determination can be realized using an existing optical beacon.

  Further, in the fifth device and program, the determination unit is a communication in which the moving body transmits the optical signal when shielding is detected by the detecting unit based on a moving speed of the moving body. It may be determined whether or not a predetermined position has been passed from the device.

  According to the fifth device and program, automation of erroneous detection determination can be realized by utilizing the behavior when the moving body follows the vehicle ahead.

  In the fifth apparatus and program, the determination means may identify the communication device included in the optical signal obtained last time and the communication device included in the optical signal obtained this time. Based on the identity with the information, when the detection unit detects shielding, it may be determined whether or not the moving body has passed a predetermined position from the communication device that has transmitted the optical signal. Good.

  According to the fifth apparatus and program, automation of erroneous detection determination can be realized by using existing information called information content transmitted from an optical beacon.

  Further, in the fifth device and program, the determination means is based on a moving distance of the moving body from the time of detection of the optical signal obtained previously by the detection means to the time of detection of the optical signal obtained this time. When the shielding is detected by the detection unit, it may be determined whether or not the moving body has passed a predetermined position from the communication device that has transmitted the optical signal.

  According to the fifth apparatus and program, automation of erroneous detection determination can be realized by using an existing optical beacon installation interval.

  The fifth apparatus and program further include counting means for starting counting of vehicle speed pulses of the moving body each time the optical signal is obtained, and the transmission control means is predetermined from the communication device by the determination means. When it is determined that the position has passed, it is possible to control to transmit the count result counted by the counting means together with the information on the installation position to the position location destination.

  According to the fifth apparatus and program, it is possible to correct the movement distance corresponding to the delay caused by the erroneous detection determination.

  Further, the sixth device and the program include a light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is a predetermined incident angle An apparatus and a program for locating the position of the moving body using a light receiving device mounted on the moving body that includes a shielding portion that shields the optical signal to the light receiving portion when it is as described above, Receiving means for sequentially receiving information regarding the installation position of the communication device that has transmitted the optical signal included in the optical signal, and the received light amount of the optical signal sequentially obtained from the light receiving device; Detecting means for detecting shielding; and determining means for determining whether or not the moving body has passed a predetermined position from a communication device that has transmitted the optical signal when shielding is detected by the detecting means. Each time it is received by the receiving means, the specifying means for specifying the current position of the moving body based on the installation position, the output means for outputting the specifying result specified by the specifying means, and the communication by the determining means When it is determined that the device does not pass through a predetermined position, it is necessary to include position location control means for performing control so as to prohibit the specification based on the installation position or the output of the specification result.

  According to the sixth device and program, it is possible to realize automation of erroneous detection determination using an existing optical beacon.

  In the sixth device and the program, the determination unit may be a communication device that transmits the optical signal when the moving unit detects shielding based on the moving speed of the moving unit. It may be determined whether or not a predetermined position has been passed.

  According to the sixth device and program, automation of erroneous detection determination can be realized by using the behavior when the moving body follows the vehicle ahead.

  Further, in the sixth device and program, the determination means includes identification information of the communication device included in the optical signal obtained last time and identification information of the communication device included in the optical signal obtained this time. Based on the identity, when the shielding is detected by the detection means, it may be determined whether or not the moving body has passed a predetermined position from the communication device that transmitted the optical signal. .

  According to the sixth apparatus and program, automation of erroneous detection determination can be realized by using existing information called information content transmitted from an optical beacon.

  Further, in the sixth device and program, the determination means is based on a moving distance of the moving body from the time of detection of the optical signal obtained previously by the detection means to the time of detection of the optical signal obtained this time. When the shielding is detected by the detection unit, it may be determined whether or not the moving body has passed a predetermined position from the communication device that has transmitted the optical signal.

  According to the sixth device and program, automation of erroneous detection determination can be realized by using an existing optical beacon installation interval.

  The sixth apparatus and program further include a counting unit that starts counting vehicle speed pulses of the moving body each time the optical signal is obtained, and the positioning control unit is controlled by the determination unit from the communication device. When it is determined that the vehicle has passed a predetermined position, it is necessary to perform control so as to specify the current position of the moving body based on the installation position and the counting result counted by the counting means.

  According to the sixth apparatus and program, it is possible to correct the moving distance corresponding to the delay caused by the erroneous detection determination.

  According to this device, program, recording medium, and method, the optimal boundary position is set by an inexpensive and simple mechanism to realize highly accurate positioning of the moving body, thereby effectively utilizing existing equipment. There is an effect that can be.

  Exemplary embodiments of the position locating device, the light receiving device, the information transfer device, the navigation device, the moving body, the position locating program, and the information transfer program will be described below in detail with reference to the accompanying drawings. First, the basic configuration of the position location system will be described. This basic configuration is common to the embodiments described later.

(Basic configuration of location system)
The position location system is a system that locates (positions) the position of a moving body such as a vehicle, and can be applied to advanced safety services. The advanced safety service includes, for example, a service that supports the safe driving of the driver of a vehicle (hereinafter referred to as “target vehicle”) for which the advanced safety service is provided. Specific examples of the advanced safety service include a vehicle position display service, a signal information providing service, a regulation information utilization service, and the like.

  Here, the vehicle position display service is a service for displaying the position of another vehicle near the intersection on the display device of the target vehicle, for example. In addition, the signal information providing service is a service that provides signal color information during lighting, guides the stop position, and performs intervention control on the vehicle operation according to the position of the target vehicle with respect to the installation position of the traffic light. In addition, the regulation information utilization service is a service that guides the presence of a stopped vehicle or a low-speed traveling vehicle ahead in the traveling direction, for example, on a road such as a curve where there is no prospect. Such an advanced safety service can support safe driving by the driver of the target vehicle.

  FIG. 1 is an explanatory diagram showing the configuration of the position location system according to this embodiment. In FIG. 1, the position locating system according to the embodiment of the present invention uses a light transmitted from an optical beacon 102 that is a roadside communication device to indicate the position of a moving body 101 such as a vehicle traveling in an advanced safety service area 110. It is a system that can be positioned using a signal. The advanced safety service area 110 is an area where the above-described advanced safety service can be provided, and can be provided at any position on a general road.

  The optical beacon 102 is installed on the road side. Here, the road side represents a road or a construction with a fixed position relative to the road. Specifically, the optical beacon 102 is installed on, for example, a road, a structure around the road, a pedestrian bridge that crosses the road, another road that intersects above the road, such as an overpass.

  The optical beacon 102 transmits an optical signal including road traffic information such as traffic jam information, link travel time information, regulation information, parking lot information, and section travel time information edited by the center device 150. The optical beacon 102 transmits an optical signal including road traffic information about a road nearest to the installation position of the optical beacon 102 (for example, a running road and a road connected to the road). Road traffic information is represented in the form of simple graphics or text information.

  The optical beacon 102 transmits an optical signal including installation position information of the optical beacon 102 in addition to road traffic information. The installation position information represents the installation position of the optical beacon 102, and specifically includes, for example, information for specifying a regional mesh (mesh code) defined as a longitude and latitude grid on the map.

  Specifically, the installation position information may be position coordinates representing the installation position of the optical beacon 102, for example. Further, the installation position information may specifically be coordinate information relative to the position coordinates of a reference position such as an intersection closest to the optical beacon 102, for example.

  The optical beacon 102 may transmit an optical signal including information regarding the communication area of the optical beacon 102. The information related to the communication area is information representing the range in which each optical beacon 102 transmits an optical signal, and includes information representing the boundary position of the communication area, for example. Specifically, the boundary position of the communication area can be represented by, for example, a regional mesh (mesh code), position coordinates, coordinates relative to the position coordinates of the reference position, and the like.

  The vehicle 101 is equipped with a position location system. The position location system includes a light receiving device that receives an optical signal transmitted from the optical beacon 102, and performs position location of the vehicle 101 based on information included in the optical signal received by the light receiving device. Details of the position location system will be described later (see FIG. 6-1).

  Examples of the optical signal used for communication between the position location system and the optical beacon 102 include an uplink (hereinafter referred to as “UL”) signal and a downlink (hereinafter referred to as “DL”) signal. The UL signal is a signal transmitted from the position location system to the optical beacon 102 and includes, for example, a vehicle ID that is identification information of the vehicle 101.

  The DL signal is a signal that is transmitted from the optical beacon 102 toward the communication area of the optical beacon 102 and can be received by the vehicle 101 that travels within the communication area. For example, as described above, the DL signal indicates the installation position of the optical beacon 102. It contains information that represents it. The DL signal includes, for example, the standard of information provided by the DL signal, the type (current position information, etc.), the provided time (the time when the provided information was edited at the center, etc.), and the like.

  The DL signal can be composed of a plurality of frames. Each frame includes, for example, a predetermined code string that specifies information to be provided. The position location system stores, for example, a code table in which each code string is associated with the processing contents when the code string is received, and the information included in the optical signal can be analyzed using the code table. it can.

  A signal received by the position location system when entering the communication area of the optical beacon 102 includes various frames. Specifically, the frame is, for example, a designated frame including a code string representing a message (light beacon area notification message) notifying that the vehicle has entered the light beacon area, or a DL signal received by the vehicle 101, It includes a position information frame including a code string representing current position information indicating the installation position.

  The location frame is received by the location system as a series of signals. That is, when a signal including a designated frame is received, the signal includes a position information frame. When receiving a signal including the designated frame, the position information frame is received after the designated frame is received.

  Next, the communication area of the optical beacon 102 will be described. FIG. 2 is an explanatory diagram showing the contents of the communication area of the optical beacon 102. In FIG. 2, a communication area (DL area) 201 using a DL signal partially overlaps a communication area (UL area) 202 using a UL signal. The UL area 202 entirely overlaps with the DL area 201.

  The UL area 202 is provided at a position within a predetermined range from the time of entering the communication area of the optical beacon 102 in the moving direction of the vehicle 101 moving in the direction approaching the optical beacon 102. The DL area 201 is longer than the UL area 202 in the longitudinal movement direction of the vehicle 101. That is, the vehicle 101 can receive the DL signal from the optical beacon 102 for a longer time than the distance at which the UL signal is transmitted to the optical beacon 102.

  Next, the configuration of the light receiving device will be described. FIG. 3A is an explanatory diagram illustrating an outline of the light receiving device. 3A, the light receiving device 300 includes a light receiving element 301 and a shielding portion 302. The light receiving element 301 receives an optical signal incident on the light receiving surface 301a among the optical signals transmitted from the optical beacon 102, and outputs an electrical signal based on the received optical signal. The light receiving element 301 can be realized by, for example, a photoelectric conversion element that photoelectrically converts a received optical signal to generate an electrical signal. The light receiving element 301 can be configured using various known photoelectric conversion elements, and description thereof is omitted here.

  The shielding unit 302 limits the incident angle of the optical signal incident on the light receiving surface 301a with respect to the light receiving surface 301a. The shielding unit 302 shields an optical signal that is incident on the light receiving surface 301a at an angle greater than or equal to a predetermined angle. The shielding unit 302 in this embodiment is provided such that the shielding unit 302 shields all optical signals when the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below.

  The shielding part 302 can be realized by, for example, a plate-like member disposed opposite to the light receiving surface 301a, a hood-like member, or the like. The shielding unit 302 is not particularly limited in shape and material as long as it shields an optical signal incident on the light receiving element 301 at an angle of a predetermined angle or more.

  Specifically, the shielding portion 302 in this embodiment has a flat plate-like member disposed so as to face the light receiving surface 301a in an inclined state so as to open the front in the traveling direction of the vehicle 101. When the angle formed by the light receiving surface 301a and the shielding portion 302 is an angle α1, the shielding portion 302 shields an optical signal incident on the light receiving surface 301a at an angle larger than the angle α1.

  In the example illustrated in the cross-sectional view of FIG. 3A with respect to the incident from the front, the shielding unit 302 has a front of the vehicle 101 when the incident angle of the optical signal incident from the front of the vehicle 101 is α1 or more and less than α2. A part of the optical signal incident from is shielded. Further, the shielding unit 302 shields all of the optical signals incident from the front of the vehicle 101 when the incident angle of the optical signals incident from the front of the vehicle 101 is α2 or more. The shielding unit 302 shields all of the optical signals incident from the rear of the vehicle 101 against the incident from the rear.

  With respect to the incident from the side, in the example shown in the front view of FIG. 3A, the shielding unit 302 has the vehicle 101 when the incident angle of the optical signal incident from the side of the vehicle 101 is β1 or more and less than β2. A part of the optical signal incident from the side of is blocked. The shielding unit 302 shields all of the optical signals incident from the side of the vehicle 101 when the incident angle of the optical signal incident from the side of the vehicle 101 is β2 or more.

  Note that the position at which the optical signal is completely blocked is determined not only by the height H but also by the length of the shielding portion 302. That is, even if the height H is the same, if the shielding portion 302 is long (if it protrudes forward (leftward in the cross-sectional view of FIG. 3-1)), the shielding of the optical signal is completed quickly. It will be.

  Next, the relationship between the incident angle of the optical signal with respect to the light receiving surface 301a and the shielding portion 302 will be described. FIG. 3B is an explanatory diagram illustrating a relationship between the incident angle of the optical signal with respect to the light receiving surface 301 a and the shielding portion 302. In FIG. 3B, the incident angle of the optical signal incident on the light receiving surface 301 a increases as the vehicle 101 approaches the optical beacon 102.

  When the incident angle of the optical signal incident on the light receiving surface 301a is smaller than the angle α1, all the optical signals are incident on the light receiving surface 301a. This state continues until the incident angle of the optical signal incident on the light receiving surface 301a becomes equal to the angle α1, and all the optical signals enter the light receiving surface 301a until the incident angle becomes equal to the angle α1.

  The shielding unit 302 shields part of the optical signal when the incident angle of the optical signal incident on the light receiving surface 301a is larger than the angle α1. As a result, a shadow portion having a size corresponding to the incident angle is generated on the light receiving surface 301a. This shadow portion is generated when the vehicle 101 exists at a position where the incident angle of the optical signal incident on the light receiving surface 301a is larger than the angle α1. By detecting the occurrence of the shadow, the relative position (distance) of the vehicle 101 with respect to the optical beacon 102 can be detected. The position where the shadow starts to be generated becomes closer to the installation position of the optical beacon 102 as the value of the angle α1 is larger.

  The incident angle of the optical signal incident on the light receiving surface 301 a increases as the vehicle 101 approaches the optical beacon 102. The portion of the shielding portion 302 that faces the light receiving surface 301a passes through the tip of the vehicle 101 in the traveling direction (tip of the shielding portion) 303 and the tip of the light receiving surface 301a in the traveling direction of the vehicle 101 (tip of the light receiving portion) 304. When the angle α2 formed by the line segment and the light receiving surface is equal to the incident angle, all optical signals to the light receiving surface 301a are blocked, and the entire light receiving surface 301a becomes a shadow portion.

  The incident angle of the optical signal at the point where the vehicle is located when the entire surface of the light receiving surface 301a is a shadow portion, that is, the light blocking point is determined by the line segment passing through the tip 303 of the shielding part and the tip 304 of the light receiving part It depends on the angle α2. The light blocking point can be adjusted by adjusting the positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part.

  The positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part is, for example, by adjusting the angle α1 if the size of the part facing the light receiving surface 301a in the shielding part 302 is the same as the size of the light receiving surface 301a. Can be adjusted. In this case, the light blocking point is closer to the installation position of the optical beacon 102 as the value of the angle α1 is larger.

  Further, the positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part differs according to the distance D. The distance D may be the shortest distance from the light receiving surface 301a of the tip 303 of the shielding part, or may be the distance between the tip 304 of the light receiving part and the tip 303 of the shielding part. If the angle α1 is the same, the light blocking point becomes farther from the installation position of the optical beacon 102 as the value of the distance D is larger, for example. For example, the value of the distance D increases as the size of the portion of the shielding portion 302 that faces the light receiving surface 301a increases.

  The light blocking point varies according to the height of the light receiving surface 301a with respect to the ground. When the light receiving device 300 is attached, for example, in the vicinity of a dashboard provided in the vehicle 101, the height of the light receiving surface 301a with respect to the ground varies depending on the vehicle height. For this reason, the current position of the vehicle 101 can be calculated more accurately by correcting the light blocking point for each vehicle 101 in advance. Since the technique and method for correcting the light blocking point can be handled by using various known techniques, the description thereof is omitted here.

  FIG. 4 is an explanatory diagram showing a light receiving state of an optical signal. In FIG. 4, the light receiving state of the DL signal received by the light receiving element 301 is shown. The optical beacon 102 transmits an optical signal for a specific lane. A part of the optical signal transmitted from the optical beacon 102 is also transmitted to other lanes other than the target specific lane, such as an opposite lane or an adjacent lane of the target specific lane. For this reason, the vehicle 101 traveling in a specific lane includes an optical signal transmitted to the traveling lane in which the host vehicle travels, and an optical signal transmitted to other lanes other than the traveling lane such as an adjacent lane. May receive.

  The optical signal transmitted to the traveling lane can be detected based on the received light intensity of the optical signal received by the light receiving element 301, for example. The light receiving device 300 detects an optical signal having the highest received light intensity from among a plurality of types of optical signals having different received light intensity as an optical signal transmitted to the traveling lane. Since each optical signal is transmitted at a specific frequency such as 40 Hz, for example, an optical signal transmitted to a traveling lane is detected by extracting a frequency optical signal whose peaks are at intervals of 40 Hz. Is possible.

  The light receiving intensity of the optical signal received by the light receiving element 301 decreases rapidly when the vehicle 101 reaches the light blocking point. The fact that the vehicle 101 has reached the light blocking point can be determined based on, for example, whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 is equal to or greater than a predetermined threshold value. Here, the predetermined threshold is a value that can be arbitrarily set by, for example, a designer of the position location system, and may be set based on an experimental result or the like.

  Specifically, the fact that the vehicle 101 has reached the light blocking point is, for example, whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 has become a predetermined threshold value or more within a unit time. Can be determined based on The light blocking point can be determined based on the speed of the vehicle 101 at the time of determination, for example. In this case, the unit time for determining the reduction amount of the received light intensity becomes shorter as the speed of the vehicle 101 is higher than when the speed is low.

  The light blocking point can be performed based on the travel distance of the vehicle 101 at the time of determination. In this case, for example, while the vehicle 101 travels a predetermined distance, the determination is made based on whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 is equal to or greater than a predetermined threshold value.

  Next, the hardware configuration of the position location system will be described. FIG. 5A is a block diagram schematically illustrating a hardware configuration of the position location system. 5A, the position location system includes a light receiving device 300, an information transfer device 530, and a position location device 540.

  FIG. 5B is a block diagram schematically illustrating the hardware configuration of the light receiving device 300. 5B, the light receiving device 300 includes a light receiving element 301 and an interface (hereinafter referred to as “I / F”) 521. The light receiving element 301 photoelectrically converts an optical signal incident on the light receiving element 301 and outputs an electrical signal obtained by the photoelectric conversion. The I / F 521 transmits the electrical signal output from the light receiving element 301 to the information transfer device 530.

  FIG. 5C is a block diagram schematically illustrating the hardware configuration of the information transfer apparatus 530. The information transfer device 530 includes a CPU 531, a memory 532, and an I / F 533. Each component 531 to 533 is connected by a bus 534.

  The CPU 531 controls the entire information transfer device 530. The memory 532 is realized by a ROM that stores a program such as a boot program or a RAM that is used as a work area of the CPU 531. The I / F 533 controls an interface between the light receiving device 300 and the position locating device 540 and the information transfer device 530, and controls data input / output between the light receiving device 300 and the position locating device 540.

  FIG. 5-4 is a block diagram schematically illustrating a hardware configuration of the position locating device 540. The position locator 540 includes a CPU 541, a memory 542, a hard disk drive (hereinafter referred to as “HDD”) 543, a hard disk (hereinafter referred to as “HD”) 544, and an optical disk drive (hereinafter referred to as “optical DD”) 545. An optical disk 546, an I / F 547, a gyro sensor 548, a speed sensor 549, a display 550, and a speaker 551. Each component 541 to 551 is connected by a bus 552.

  Here, the CPU 541 controls the entire position locator 540. The memory 542 is realized by a ROM that stores a program such as a boot program or a RAM that is used as a work area of the CPU 541. The HDD 543 controls reading / writing of data with respect to the HD 544 according to the control of the CPU 541. The HD 544 stores data written under the control of the HDD 543. The HDD 543 stores, for example, map information and traffic information in a rewritable manner.

  The optical DD 545 controls reading / writing of data with respect to the optical disc 546 according to the control of the CPU 541. The optical disk 546 stores data written under the control of the optical DD 545 and causes the CPU 541 to read data stored on the optical disk 546. The optical disk 546 is a recording medium that can be attached to and detached from the optical DD 545.

  The optical disk 546 is specifically a CD-ROM (CD-R, CD-RW), DVD (Digital Versatile Disk), or the like. As the removable recording medium, a recording medium other than the optical disk 546 may be used. Specifically, the removable recording medium in this case may be, for example, a flexible disk, an MO, a memory card, or the like. The I / F 547 serves as an interface between the information transfer device 530 and the position locator 540 and controls input of data transmitted from the information transfer device 530.

  The gyro sensor 548 measures a change in the direction of the vehicle 101. The speed sensor 549 detects the travel distance of the vehicle 101 based on the vehicle speed pulse output from the vehicle 101. The relative position of the vehicle 101 with respect to a reference position (for example, the initial position (X, Y)) is a reference position coordinate, a direction detected by the gyro sensor 548, a travel distance detected by the speed sensor 549, It can be calculated by performing calculations according to autonomous navigation using. Since the calculation according to the autonomous navigation is a known technique, its description is omitted here.

  The display 550 displays the traffic information described above and data such as an image taken by a camera installed on the side of the road, for example. The display 550 may display a map, a current position of the vehicle 101 on the map, a guidance route, and the like. The display 550 may display a list of various services that can be provided by the advanced safety service. The display 550 functions as an output unit that displays information indicating the current position of the vehicle 101 (such as a vehicle mark superimposed on the map image).

  Various functions displayed in the list are selected and executed by an operation of an operation unit (not shown) provided in the vehicle 101. The operation unit can use various known operation means such as a key button, a touch panel, and a remote controller, and the description thereof is omitted here. As the display 550, for example, a TFT liquid crystal display can be adopted. Since various liquid crystal displays including TFT liquid crystal displays are known techniques, their description is omitted here.

  The speaker 551 is composed of, for example, a voice coil, a magnet provided around the voice coil, and a speaker cone attached to the voice coil. Sound is output using a magnetic field. Since the structure of the speaker 551 and the audio output method are known techniques, description thereof is omitted here.

  The display 550 and the speaker 551 are not limited to those provided in the position location device 540, and may be separately connected. In this case, an I / F for controlling input / output of data between the display 550 and the speaker 551 is provided.

(Functional configuration of positioning system)
Next, a functional configuration of the position location system will be described. FIG. 6A is a block diagram illustrating a functional configuration of the position location system. In FIG. 6A, the light receiving device 300 includes a light receiving unit 611 and a frame transmission unit 612. The light receiving unit 611 outputs a signal corresponding to the amount of light received by the light receiving element 301. The light receiving unit 611 is realized by the light receiving element 301 and the I / F 521 described above, for example.

  The frame transmission unit 612 transmits a frame included in the optical signal received by the light receiving unit 611 to the information transfer device 530. The frame transmission unit 612 directly outputs a signal corresponding to the amount of light received by the light receiving element 301 to the information transfer device 530. The frame transmission unit 612 is realized by the I / F 521 described above, for example.

  The information transfer device 530 includes a light blocking monitoring unit 621 and a notification timing control unit 622. The light blocking monitoring unit 621 detects that the vehicle 101 is located at a predetermined distance from the optical beacon 102 based on the signal directly output from the light receiving unit 611. The predetermined distance from the optical beacon 102 corresponds to the distance from directly below the optical beacon 102 at the point where the vehicle 101 is in the leftmost state in FIG. As described above, this distance varies depending on the angle α2. In this embodiment, it is assumed that the distance is, for example, the installation position of the optical beacon 102 or the vicinity thereof.

  Specifically, the vicinity is desirably within a circle whose radius or diameter is the length of one vehicle (for example, “5 meters”, for example) centering on the installation position of the optical beacon 102, for example. Further, specifically, the vicinity means, for example, a range of one vehicle centered on the installation position of the optical beacon 102 in the front-rear direction of the vehicle 101 in the lane to which the optical signal is transmitted by the optical beacon 102. It may be within.

  The light interception monitoring unit 621 outputs a signal corresponding to, for example, whether the amount of light received by the light receiving unit 611 has decreased by a predetermined threshold or more. Since the amount of light received by the light receiving unit 611 decreases rapidly when the vehicle 101 reaches the light blocking point, the vehicle 101 is blocked by detecting that the amount of received light by the light receiving unit 611 has decreased by a predetermined threshold or more. It is possible to detect that the point has been reached.

  Specifically, the light blocking monitoring unit 621 outputs a high level signal while an optical signal is incident through the light receiving surface 301a, for example, and the light signal incident through the light receiving surface 301a is output by the shielding unit 302. When shielded, a low level signal is output. Specifically, the light blocking monitor 621 does not output a signal while an optical signal is incident through the light receiving surface 301a, for example, and outputs a pulse signal when the vehicle 101 reaches the light blocking point. It may be output.

  The notification timing control unit 622 receives the signal transmitted from the frame transmission unit 612 and transmits the received signal or a frame included in the signal to the position locating device 540. The notification timing control unit 622 determines the timing for transmitting a signal to the position location device 540 based on the frame transmitted from the frame transmission unit 612 and the signal output from the light blocking monitoring unit 621. The notification timing control unit 622 detects that the vehicle 101 is located in the vicinity immediately below the optical beacon 102 when the received signal includes a designated frame, and then detects the designation frame or a signal including the designated frame as a position locating device. To 540.

  Specifically, the notification timing control unit 622 stores (buffers) the designated frame in a predetermined storage area such as the memory 542 when the designated signal is included in the received signal, for example, and the vehicle 101 transmits the optical beacon. It waits until it detects that it is located in the immediate vicinity of 102. The notification timing control unit 622 also stores frames received after the designated frame in a predetermined storage area such as the memory 542.

  When the notification timing control unit 622 detects that the vehicle 101 has reached the light blocking point based on the signal output from the light blocking monitoring unit 621, the notification timing control unit 622 is stored in the storage area immediately after the detection. The frame and the frame received after the frame are transmitted to the position locator 540. The notification timing control unit 622 uses, for example, a frame stored in the storage area and the frame as a trigger when it is detected that the vehicle 101 has reached the light blocking point based on a signal output from the light blocking monitoring unit 621. Thereafter, transmission of the received frame is started.

  The position locating device 540 includes a frame receiving unit 631, a specifying unit 632, and an output unit 633. The frame receiving unit 631 receives the signal output from the notification timing control unit 622 and outputs the received signal to the specifying unit 632. The specifying unit 632 calculates the current position (vehicle position) of the vehicle 101 based on the signal received by the frame receiving unit 631 and information related to the time when the signal is received. The information about time represents a time represented by the standard time, for example, what hour, minute, and second. Moreover, the information regarding time may represent the elapsed time from the time of receiving a signal, for example.

  The identifying unit 632 of this embodiment includes an optical beacon position coordinate extracting unit 640, a light blocking point relative distance calculating unit 641, a light blocking point relative orientation calculating unit 642, a light blocking point relative position calculating unit 643, and a light A blocking point absolute position calculation unit 644 and an autonomous positioning unit 645 are provided.

  The optical beacon position coordinate extraction unit 640 extracts installation position information of the optical beacon 102 from the received frame. The installation position information is expressed in an absolute coordinate system. When the frame receiver 631 receives a frame transmitted from the information transfer device 530 at the light blocking point, the optical beacon position coordinate extracting unit 640 extracts a frame in which the installation position information of the optical beacon 102 is described. The frame to be extracted may be a frame in which absolute coordinates of the installation position of the optical beacon 102 are described, a frame in which absolute latitude / longitude information is described, or a position coordinate in an intersection. It may be a frame in which such intersection topology information is described.

  Based on the light shielding plate design information stored in the database 641a, the light blocking point relative distance calculation unit 641 calculates the relative distance from the installation position of the light beacon, that is, the road surface point immediately below the light beacon to the actual light blocking point. The light blocking point relative distance calculation unit 641 calculates the relative distance based on, for example, the installation position of the optical beacon 102, the size of the shielding unit 302, and the angle α described above.

  The light interception point relative azimuth calculation unit 642 determines the position of the optical beacon 102 based on the lane direction of intersection topology information (for example, information indicating the positional relationship or connection relationship between the various features) stored in the database 642a. The direction of the actual light blocking point is calculated.

  The light blocking point relative position calculation unit 643 is configured to detect the position of the optical beacon 102 based on the relative distance calculated by the light blocking point relative distance calculation unit 641 and the relative direction calculated by the light blocking point relative direction calculation unit 642. The relative position coordinates of the actual light blocking point are calculated.

  The light blocking point absolute position calculation unit 644 is based on the relative position coordinates calculated by the light blocking point relative position calculation unit 643 and the installation position of the light beacon 102 extracted by the light beacon position coordinate extraction unit 640. The absolute position of the light blocking point is calculated, and the calculated absolute position of the light blocking point is determined as the current position of the vehicle 101 when it is detected that the vehicle 101 is positioned immediately below the light beacon 102.

  Since the received frame is transferred from the information transfer device 530 to the frame receiving unit 631 by the notification timing control unit 622 of the information transfer device 530, the vehicle 101 at the moment when the frame receiving unit 631 receives the designated frame. The position exists at the same position as the light blocking point. For this reason, the current position of the vehicle 101 can be specified with high accuracy by calculating the relative position from the absolute coordinate of the installation position of the optical beacon 102 to the light blocking point.

  The current position of the vehicle 101 is represented by using, for example, a mesh code or the installation position coordinates of the optical beacon 102. The mesh code is, for example, a mesh code that specifies a tertiary mesh from a primary mesh defined by a standard area mesh.

  Autonomous positioning unit 645 uses the absolute position of the actual light blocking point calculated by light blocking point absolute position calculating unit 644 as the initial position, and uses the direction detected by gyro sensor 548 and the travel distance detected by speed sensor 549. The current position of the vehicle 101 is calculated, that is, autonomous positioning is performed by performing an operation according to the autonomous navigation.

  Specifically, for example, it is assumed that the count value (number of count pulses) of the vehicle speed pulse at the absolute position of the actual light blocking point is zero, and from the time when it is detected that the vehicle 101 is located immediately below the optical beacon 102. The current position of the vehicle 101 is calculated by adding the relative distance based on the count pulse number to the absolute position of the actual light blocking point.

  The output unit 633 has a function of outputting the specifying result specified by the specifying unit 632. Specifically, for example, the coordinates of the current position of the moving object are displayed on the display, the marker indicating the moving object is displayed on the displayed map data, or the name of the spot corresponding to the current position of the moving object is displayed. Or display. Moreover, it is good also as not only displaying but reading out by audio | voice and transmitting to other computers (For example, computers, such as an optical beacon and a navigation apparatus mounted in another moving body). The output unit 633 realizes its function by the I / F 547, the display 550, and the speaker 551 shown in FIG.

  Next, the functional configuration of the information transfer apparatus 530 will be described in detail. FIG. 6B is a block diagram illustrating a functional configuration of the information transfer apparatus 530. 6B, the information transfer apparatus 530 includes a reception unit 650, a detection unit 651, a transmission control unit 652, and a transmission unit 653.

  The receiving unit 650 receives the installation position information of the optical beacon 102 transmitted from the optical beacon 102 to the vehicle 101 approaching the optical beacon 102. Specifically, the installation position information included in the optical signal from the optical beacon is acquired. Specifically, the function of the reception unit 650 is realized by, for example, the I / F 533 illustrated in FIG.

  The detection unit 651 detects that the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below. Then, the detection unit 651 transmits the detection result to the position location device 540. Specifically, the detection unit 651 receives, for example, the received light intensity at the light receiving element 301 from the light receiving device 300 through the I / F 533, and whether or not the received light intensity at the light receiving element 301 has decreased by a predetermined threshold or more based on the reception result. Is realized by the CPU 531 shown in FIG. 5-3.

  The transmission unit 653 transmits the installation position information received by the reception unit 650 to the location of the moving object. Specifically, the function of the transmission unit 653 is realized by, for example, the I / F 533 illustrated in FIG.

  The transmission control unit 652 controls the transmission unit 653 to receive the vehicle 101 when it is detected that the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below, based on the detection result of the detection unit 651. The position information received by the unit 650 is transmitted to the position locator 540. The transmission control unit 652 causes the transmission unit 653 to transmit the installation position information immediately after the detection unit 651 detects that the vehicle 101 is in the vicinity immediately below the optical beacon 102.

  In addition, the transmission control unit 652 sends a predetermined position to the position locating device 540 when the detection unit 651 detects that the vehicle 101 is immediately below the optical beacon 102 before the reception unit 650 receives the installation position information. The signal may be transmitted to the position locator 540, and then the installation position information may be transmitted to the position locator 540 immediately after receiving the installation position information of the optical beacon 102. Here, the position locating device 540 that has received the predetermined signal starts counting vehicle speed pulses of the vehicle 101.

  Specifically, the transmission control unit 652 restricts the transmission of information by the I / F 533 by the CPU 531 and detects it until it is detected that the vehicle 101 is positioned in the vicinity immediately below the optical beacon 102, for example. In such a case, the function is realized by transmitting the installation position information of the optical beacon 102 by the I / F 533.

  The transmission control unit 652 may transmit a response signal to the information received by the reception unit 650 to the light receiving device 300 that is the information transmission source. In this case, specifically, the transmission control unit 652 generates a response signal corresponding to the information received by the receiving unit 650, for example, by the CPU 531, and transmits the generated response signal to the light receiving device 300 by the I / F 533. The function is realized by.

  Next, a processing procedure executed by the information transfer apparatus 530 will be described. FIG. 7 is a flowchart showing a processing procedure executed by the information transfer apparatus 530 according to this embodiment. In the flowchart of FIG. 7, the information transfer apparatus 530 first waits until the notification timing control unit 622 receives a frame transmitted from the frame transmission unit 612 (No in step S <b> 701).

  In step S701, when the frame transmitted from the frame transmission unit 612 is received (step S701: Yes), it is determined whether or not the received frame is a designated frame (step S702). In step S702, for example, it is determined whether or not the received frame is a frame including a code string representing an optical beacon area notification (message). If the received frame is a frame including a code string representing an optical beacon area notification message, It is good to judge that it is a designated frame.

  In step S702, when the frame received in step S701 is a designated frame (step S702: Yes), the received frame is buffered (step S703). Then, based on the signal output to the notification timing control unit 622 by the light blocking monitoring unit 621, whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving unit 611 is equal to or greater than a predetermined threshold value, That is, it is determined whether or not the vehicle 101 exists in the vicinity immediately below the optical beacon 102 (step S704). If the received light intensity decrease amount (absolute value) is smaller than the predetermined threshold value (step S704: No), the process waits until it becomes equal to or greater than the predetermined threshold value.

  In step S704, when the received light intensity decrease amount (absolute value) is equal to or larger than a predetermined threshold (step S704: Yes), the position locating device 540 displays the frame buffered in step S703 and the frames received after that frame. (Step S705). In step S705, for example, frames are transmitted in the same order as received from frame transmitting section 612.

  Then, it is determined whether or not transmission of all frames is completed (step S706). If transmission of all frames is not completed (step S706: No), the process returns to step S705, and the frame is located in the position locator 540. Send to. In step S706, for example, it is determined whether or not the frame received from the frame transmission unit 612 includes the last frame in the series of frames including the designated frame, and whether or not the transmission of the last frame is completed. You may make it carry out by judging.

  On the other hand, if transmission of all the frames is completed in step S706 (step S706: Yes), a light reception frame transmission completion message is transmitted to the position locator 540 (step S707), and the series of processes is terminated.

  In the advanced safety service, it is required to calculate the position of the vehicle 101 with high accuracy within a target range, for example, within an intersection. The position location system in this embodiment calculates the current position of the vehicle 101 with higher accuracy compared to the case where the current position of the vehicle 101 is calculated using GPS, for example, like a car navigation device. It has been proved by experiments and the like that it is possible.

  The contents of the position information frame included in the optical signal transmitted from the optical beacon 102 can be updated at once, for example, at a center that edits the optical signal. That is, in the position location system in this embodiment, the position information included in the optical signal transmitted from the optical beacon 102 can be easily updated.

  In recent years, infrastructure development for using the optical beacon 102 has progressed (50,000 roadside devices, 15 million on-board position location devices), and if the location can be determined using these infrastructures, it is optimal as appropriate. Since the current position of the vehicle 101 can be calculated with higher accuracy by updating the position information, the usefulness of the position location system in this embodiment is improved.

  In a general vehicle-mounted device such as a car navigation device, the current position of the vehicle 101 using the position information frame included in the optical signal transmitted from the optical beacon 102 instead of specifying the current position of the vehicle 101 using GPS. In order to specify the light receiving device, the light receiving device 300 that receives the optical signal and transmits the received optical signal to the vehicle-mounted device is required.

  Here, the operation of the light receiving device 300 and the position locating device 540 when the current position of the vehicle 101 is specified using the position information frame included in the optical signal will be described. FIG. 8 is a timing sequence diagram showing the operation of the light receiving device 300 and the position locating device 540. In FIG. 8, description will be made assuming that the position locating device 540 includes the frame receiving unit 631 and the specifying unit 632 described above.

  In FIG. 8, first, the light receiving device 300 receives an optical signal transmitted from the optical beacon 102 by the light receiving element 301. As described above, the optical signal received by the light receiving element 301 includes a frame representing various types of information. When the light receiving device 300 receives an optical signal by the light receiving element 301, the light receiving device 300 starts transmission of a frame included in the received optical signal. Each time the position locating device 540 receives a frame transmitted from the light receiving device 300, the position locating device 540 responds with “successful reception” indicating that the reception was successful (correctly received).

  The light receiving device 300 sequentially transmits the next frame every time it receives a “successful reception” response to the frame transmitted to the position locating device 540. When the transmission of all the frames is completed, the light receiving device 300 transmits to the position locating device 540. Then, a “all frame transmission complete” message is transmitted. Each time the position locating device 540 receives a frame, it responds with “successful reception” corresponding to the received frame. Then, the position locating device 540 responds to the message “complete transmission of all frames”, whereby communication between the light receiving device 300 and the in-vehicle device is completed.

  As described above, in the identification of the current position of the vehicle 101 using the position information frame included in the optical signal transmitted from the optical beacon 102, the reception from the optical beacon 102 is performed between the light receiving device 300 and the position locating device 540. It performs general operations such as notification of a received frame and response to the notification. When the position locating device 540 receives the frame, it interprets the contents of the frame, and if it is determined to be a position information frame, it needs to associate the vehicle position and the optical beacon installation position at the timing of receiving the position information frame.

  That is, the position locating device 540 specifically adds a special function of calculating the vehicle position at the timing of receiving the position information frame using the optical beacon installation position described in the position information frame. There is a need.

  Accordingly, when realizing a system for determining the current position of the vehicle 101 using the installation position information of the optical beacon 102, the position determination is performed so that the vehicle position at the reception timing of the frame received from the light receiving device 300 can be interpreted. The device 540 needs to be modified. As a result, in the configuration in which the vehicle-mounted device such as the car navigation device and the light-receiving device 300 are simply communicated, the affinity of the existing vehicle-mounted device with respect to the positioning system of this embodiment is reduced, and is transmitted from the optical beacon 102. Therefore, it is difficult to disseminate the system that identifies the current position of the vehicle 101 using the position information frame included in the optical signal.

  On the other hand, in this embodiment, an information transfer device 530 is provided between the light receiving device 300 and the position locating device 540, and the timing at which the position locating device 540 receives a position information frame is determined by the vehicle installing an optical beacon. By using the general-purpose in-vehicle device as the position locating device 540 without changing the general-purpose in-vehicle device by adjusting to the timing existing in the position, the function of the position locating system of this embodiment can be achieved. Can be realized.

  FIG. 9 is a timing sequence diagram showing the operation of each part in the position location system according to this embodiment. In FIG. 9, the light receiving device 300 receives an optical signal transmitted from the optical beacon 102. When receiving the optical signal, the light receiving device 300 transmits a frame (damping frame) included in the received optical signal to the information transfer device 530.

  When receiving the frame, the information transfer device 530 outputs a response signal (ACK: Acknowledgment) to the received frame to the light receiving device 300 by the notification timing control unit 622. In addition, when the information transfer apparatus 530 receives a frame, the information transfer apparatus 530 analyzes the content of the received frame and determines whether or not the above-described designated frame is included in the received frame. If there is a designated frame among the received frames, the designated frame and frames received after the designated frame are stored in a storage area such as the memory 542. Each time a frame is received after the designated frame, a response signal for the received frame is output to the light receiving device 300.

  Further, the information transfer device 530 receives the frame by the notification timing control unit 622 and based on the signal output from the light blocking monitor unit 621, the absolute amount of the decrease in the received light intensity of the optical signal received by the light receiving unit 611 is obtained. It is determined whether or not the value is equal to or greater than a predetermined threshold, that is, whether or not an optical signal has been detected. When the interruption of the optical signal is detected, the notification timing control unit 622 outputs the frame stored in the storage area such as the memory 542 and the frame received after the frame (damping frame) to the position locator 540. .

  Each time the position locating device 540 receives a frame transmitted from the information transfer device 530, it outputs a response signal for the received frame to the information transfer device 530. As shown in FIG. 9, according to the position locating system of this embodiment, the light receiving device 300 only needs to transmit the received frame to the information transfer device 530, and the in-vehicle device does not consider the frame reception timing. The current position of the vehicle 101 can be specified using the position information frame included in the optical signal transmitted from the optical beacon 102.

  This makes it possible to use the position information frame included in the optical signal transmitted from the optical beacon 102 without significantly changing the configuration of the light receiving device 300 or the general-purpose in-vehicle device already on the market. The current position can be specified. That is, it is possible to provide a position locating system having high affinity for a general vehicle-mounted device.

  As described above, according to the present embodiment, for example, when the vehicle 101 is located in the vicinity immediately below the optical beacon 102 with respect to a general-purpose position location device 540 such as a car navigation device, The installation position can be transmitted. Accordingly, the installation position of the optical beacon 102 can be accurately transmitted to the position locating device 540 without causing the position locating device 540 to consider the reception timing of the optical signal.

  As a result, the spread of the system which can calculate the present position of the vehicle 101 with high accuracy using the installation position information of the optical beacon 102 can be promoted.

(Comparison between normal operation and false detection operation)
Next, a comparison between normal operation and erroneous detection operation in the above-described position location system will be described. FIG. 10 is an explanatory diagram showing a comparison between normal operation and erroneous detection operation in the position location system. In FIG. 10, (A) shows a normal operation and (B) shows an erroneous detection operation.

  In (A), when the moving body 101 passes immediately below the optical beacon 102 in the light irradiation area, the reception of the optical signal is blocked by the shielding of the optical signal by the shielding member, and the orientation position (X, Y) is obtained. Can do. On the other hand, in (B), the forward vehicle 1000 is traveling in front of the moving body 101. When the preceding vehicle is stopped, the moving body 101 approaches and a light shielding area is formed. When the moving body 101 moves to the light shielding area, the light from the light beacon 102 is shielded by the forward vehicle 1000, and thus light shielding is erroneously detected. Thereby, although the moving body 101 is not located immediately below the optical beacon 102, the current position is determined as (X, Y).

  FIG. 11 is an explanatory diagram showing the behavior of the forward vehicle 1000 and the moving body 101 in time series. In FIG. 11, the series of flows (1) to (4) occurs when there is a traffic jam or signal stop. (1) shows a state in which a light shielding area is created by the forward vehicle 1000 stopped in the light irradiation area, and the target mobile body 101 enters the light irradiation area. The state is the same as shown in A).

  (2) shows a state where the moving body 101 enters the light shielding area created in (1) and stops in the light shielding area, and is the same as the state shown in FIG. That is, since the optical signal from the optical beacon 102 is blocked, it causes a false detection. (3) shows a state in which the front vehicle 1000 has started while the front vehicle 1000 and the moving body 101 are stopped in (2). (4) shows a state in which the moving body 101 has advanced following the start of the forward vehicle 1000 in (3). In this state, the optical signal from the optical beacon 102 is normally blocked by the light receiving device, and the position of the moving body 101 can be determined.

  FIG. 12 is a graph showing temporal changes in the amount of received light in (1) to (4) shown in FIG. The section A shows the state of (1) in FIG. 11, the section B shows the state of (2) in FIG. 11, the section C shows the state of (3) in FIG. Shows the state of (4) in FIG. In section C, the amount of received light rises, but the amount of received light cannot increase in the normal state (see FIG. 3-2) even though the moving body 101 is stopped. Therefore, by detecting the amount of light received in the sections B and C, it is possible to determine that the falling due to the shielding in the section B is a false detection and the falling due to the shielding in the section D is a normal detection. .

  Hereinafter, a technique for preventing erroneous detection as in section B will be described in the following example. In the following embodiments, the same components as those described above are denoted by the same reference numerals and description thereof is omitted.

  In the first embodiment, the location of the mobile body 101 is executed every time the installation position information of the optical beacon 102 sequentially transmitted from the information transfer device is received, as in the basic configuration of the location system. In this configuration, the output of the orientation position is prohibited according to the behavior of the moving body 101. In the first embodiment, since it is not necessary to provide an erroneous detection determination function for light shielding, it is possible to realize a high-speed processing and a simple configuration. In addition, since positioning delay does not occur, highly accurate positioning can be realized.

  FIG. 13 is a block diagram of a functional configuration of the position locating device according to the first embodiment. In FIG. 13, the position location apparatus 1300 includes a detection unit 1301 and a position location control unit 1302 in addition to a frame reception unit 631, a specification unit 632, and an output unit 633. Specifically, the detection unit 1301 and the position location control unit 1302 have their functions performed by causing the CPU 541 to execute the program stored in the storage area illustrated in FIG. 5-4 or the I / F 547, for example. Realize.

  The detection unit 1301 has a function of detecting a specific behavior of the moving object 101. Specifically, for example, the moving speed of the moving body 101 is detected from a vehicle speed pulse input from the outside. When the moving speed becomes a predetermined threshold value or less, the moving body 101 can detect stoppage or slowing down as a specific behavior.

  The position location control unit 1302 has a function of controlling to prohibit the specification based on the installation position when the specific behavior is detected by the detection unit 1301 or the output of the specific result. Of the autonomous positioning process by the specifying unit 632 and the output process by the output unit 633, which of the prohibition control can be selected can be selected by a user setting.

  When prohibition control is set for the specifying unit 632 and the detection unit 1301 detects that the moving body 101 is stopped or slowed down, the prohibition signal for the autonomous positioning process is transmitted to the specifying unit 632. Thereby, an autonomous positioning part does not perform autonomous positioning. Therefore, useless specific processing can be suppressed and erroneous output can be prevented.

  When prohibition control is set for the output unit 633 and the detection unit 1301 detects that the moving body 101 is stopped or slowed down, an output process prohibition signal is transmitted to the output unit 633. Thereby, the output unit 633 does not execute the current position output process. Thereby, an erroneous output can be prevented.

  FIG. 14 is a flowchart illustrating the position location processing procedure according to the first embodiment. First, reception of a position information frame is awaited (step S1401: No). When a position information frame is received (step S1401: Yes), it is determined whether a specific behavior has been detected (step S1402). When the specific behavior is not detected (step S1402: No), the specific process by the specifying unit 632 (autonomous positioning process of the autonomous positioning unit 645) is executed as usual (step S1403). Then, the output unit 633 outputs the specific result (the current position of the host vehicle) (step S1404).

  On the other hand, if a specific behavior is detected in step S1402 (step S1402: Yes), the position determination control unit 1302 performs processing selected from the autonomous positioning processing by the specifying unit 632 and the output processing by the output unit 633. Prohibition control is executed (step S1405). Thereby, the execution of the selected process is stopped with respect to the position information frame received at this time, and the autonomous positioning result is not output.

  As described above, according to the first embodiment, since it is not necessary to provide a light shielding erroneous detection determination function, it is possible to realize high-speed processing and simple configuration. In addition, since positioning delay does not occur, highly accurate positioning can be realized. Furthermore, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 2 will be described. In the basic configuration of the position locating system described above, a light receiving device in which a light receiving element having no shielding portion 302 is attached to the light receiving device 300 as shown in FIGS. 3-1 and 3-2. In this way, by combining the light receiving device 300 with the shielding portion 302 and the light receiving device without the shielding portion 302, the optical signals to both the light receiving devices are shielded when positioned in the light shielding area created by the forward vehicle 1000. However, when the light is normally blocked immediately below the optical beacon 102, only the optical signal to the light receiving device 300 is blocked by the shielding unit 302. Accordingly, it can be determined whether the light shielding is caused by the light shielding area created by the forward vehicle 1000 or the light shielding area located immediately below the light beacon 102. Therefore, erroneous detection of light shielding can be prevented.

  FIG. 15 is a schematic perspective view illustrating the light receiving device according to the second embodiment. In FIG. 15, the light receiving device 1500 includes a light receiving element (hereinafter, referred to as “first light receiving element” in the second and third embodiments) 301 and the shielding unit 302 that configure the light receiving device 300 illustrated in FIG. 3A. The second light receiving element 1502 is attached. The second light receiving element 1502 has the same configuration as the first light receiving element 301. In FIG. 15, the first light receiving element 301 and the second light receiving element 1502 are integrated, but even if they are separated if the optical signal from the optical beacon 102 can be received under the same conditions. Good.

  According to the light receiving device 1500, in the state of (1) in FIG. 11, optical signals to the first light receiving element 301 and the second light receiving element 1502 are received, and in the state of (2), the first light receiving light is received. The optical signal to the element 301 and the second light receiving element 1502 is shielded by the forward vehicle 1000. In the state (3), the optical signal to the first light receiving element 301 and the second light receiving element 1502 is received ( In the state 4), the optical signal to the first light receiving element 301 is shielded by the shielding unit 302, but the optical signal to the second light receiving element 1502 is received. Therefore, erroneous light shielding in the light shielding area by the forward vehicle 1000 and normal light shielding when located immediately below the light beacon 102 can be distinguished by the configuration of the light receiving device 1500.

  FIG. 16 is a block diagram of a functional configuration of the position location system according to the second embodiment. The position locating device 540 is the same as the basic configuration described above. In FIG. 16, the light receiving device 1500 includes a first light receiving unit 611 and a second light receiving unit 1612. The first light receiving unit 611 and the second light receiving unit 1612 transmit optical signals to the detecting unit 651 and the receiving unit 650 in the information transfer device 1600, respectively. The first light receiving unit 611 is realized by the first light receiving element 301 and the I / F 521 illustrated in FIG. 15. Further, the second light receiving unit 1612 is realized by the second light receiving element 1502 and the I / F 521 illustrated in FIG. 15.

  The information transfer apparatus 1600 includes a determination unit 1601 in addition to the reception unit 650, the detection unit 651, the transmission control unit 652, and the transmission unit 653 illustrated in FIG. Specifically, the determination unit 1601 realizes its function, for example, by causing the CPU 531 to execute a program stored in the memory 532 illustrated in FIG. 5C or by the I / F 533.

  Based on the detection result of the first light receiving unit 611 detected by the detection unit 651 and the detection result of the second light receiving unit 1612, the determination unit 1601 determines whether the light is normal or incorrect. It has a function. Specifically, when light shielding is detected only at the first light receiving unit 611 shielded by the shielding unit 302 and no light shielding is detected by the second light receiving unit 1612 without the shielding unit 302, normal light is detected. Determined to be shielded.

  On the other hand, when light shielding is detected by both the first light receiving unit 611 and the second light receiving unit 1612, it is determined that the light shielding is erroneously detected. The transmission control unit 652 causes the frame received by the reception unit 650 to be transmitted from the transmission unit 653 to the position locator 540 only when it is determined that the light is normally shielded.

  FIG. 17 is a flowchart of a process procedure performed by the information transfer apparatus 1600 according to the second embodiment. In FIG. 17, it waits for a position information frame to be received (step S1701: No), and if a position information frame is received (step S1701: Yes), whether light shielding at the first light receiving unit 611 has been detected. It is determined whether or not (step S1702). When not detected (step S1702: No), it returns to step S1701.

  On the other hand, if it is detected (step S1702: Yes), it is determined whether light shielding by the second light receiving unit 1612 is detected (step S1703). If not detected (step S1703: No), the position information frame received in step S1701 is transmitted to the position locator (step S1704). On the other hand, if it is detected (step S1703: YES), frame transmission is prohibited by the prohibition control by the transmission control unit 652 (step S1705).

  As described above, according to the second embodiment, the device configuration on the light receiving side is configured by combining the first light receiving element 301 that is shielded by the shielding unit 302 and the second light receiving element 1502 that is not shielded. According to the configuration, it is possible to distinguish between normal light shielding and erroneous light shielding. Thereby, the erroneous detection determination process of light shielding can be executed instantaneously at the time of detection of light shielding, and positioning with high accuracy can be realized without causing a delay in positioning. Furthermore, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 3 will be described. The third embodiment is not configured to connect the light receiving device 1500 and the information transfer device 1600 to the existing position locating device 540, as in the second embodiment, but the light locating detection function and the false detection determination function to the position locating device 540. Is provided. In addition, the same code | symbol is attached | subjected to the same structure as Example 2, and the description is abbreviate | omitted.

  FIG. 18 is a block diagram of a functional configuration of the position locating device according to the third embodiment. In FIG. 18, the position locating apparatus 1800 includes a position locating control unit 1801 in addition to a frame receiving unit 631, a specifying unit 632, an output unit 633, a detecting unit 651, and a determining unit 1601. Specifically, the position location control unit 1801 realizes its function by causing the CPU 541 to execute the program stored in the storage area shown in FIG. 5-4 or by the I / F 547, for example.

  Based on the determination result of the light shielding detection of each of the light receiving units 611 and 1612 determined by the determination unit 1601, the position determination control unit 1801 performs the specifying process of the specifying unit 632 at the time of detecting the light shielding of each of the light receiving units 611 and 1612 or It has a function of controlling to prohibit the output of the specific result.

  Which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 is to be prohibited can be selected by a user setting. When prohibition control is set for the specifying unit 632, a prohibition signal for specific processing is transmitted to the specifying unit 632 only when the determination unit does not determine normal light shielding. Thereby, the autonomous positioning part 645 does not perform autonomous positioning. Therefore, useless specific processing can be suppressed and erroneous output can be prevented.

  In addition, when prohibition control is set for the output unit 633, an output process prohibition signal is transmitted to the output unit 633 only when the determination unit 1601 does not determine normal light shielding. Thereby, the output unit 633 does not execute the current position output process. Thereby, an erroneous output can be prevented.

  FIG. 19 is a flowchart of a process procedure performed by the position locating device 1800 according to the third embodiment. In FIG. 19, it waits for a position information frame to be received (step S1901: No), and if a position information frame is received (step S1901: Yes), whether or not light shielding is detected by the first light receiving unit 611. Is determined (step S1902). If not detected (step S1902: NO), the process returns to step S1901.

  On the other hand, if it is detected (step S1902: YES), it is determined whether light shielding is detected by the second light receiving unit 1612 (step S1903). When not detected (step S1903: No), the position determination control unit 1801 executes the specifying process by the specifying unit 632 (step S1904). Then, the output unit 633 outputs the specific result (the current position of the host vehicle) (step S1905).

  On the other hand, in step S1903, when light shielding is detected by the second light receiving unit 1612 (step S1903: Yes), the position determination control unit 1801 selects from the specifying process by the specifying unit 632 and the output process by the output unit 633. The inhibition control of the selected process is executed (step S1906). Thereby, the execution of the selected process is stopped with respect to the position information frame received at this time, and the autonomous positioning result is not output.

  As described above, according to the third embodiment, similarly to the second embodiment, the first light receiving element 301 that is shielded by the shielding portion 302 and the second light receiving element 1502 that is not shielded are combined in the device configuration on the light receiving side. Due to the configuration, it is possible to distinguish between normal light shielding and erroneous light shielding with a simple configuration. Thereby, the erroneous detection determination process of light shielding can be executed instantaneously at the time of detection of light shielding, and positioning with high accuracy can be realized without causing a delay in positioning. Furthermore, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 4 will be described. The fourth embodiment is a configuration in which a function of determining erroneous detection of light shielding based on the moving speed of the moving body 101 is added to the basic configuration (functions 650 to 653) of the information transfer device 530.

  FIG. 20 is a block diagram of a functional configuration of the information transfer apparatus according to the fourth embodiment. 20, the information transfer apparatus 2000 includes a determination unit 2001 and a transmission control unit 2002 in addition to a reception unit 650, a detection unit 651, and a transmission unit 653. Specifically, the determination unit 2001 and the transmission control unit 2002 realize their functions by causing the CPU 531 to execute the program stored in the memory 532 illustrated in FIG. 5-3 or by the I / F 533, for example. To do.

  First, the determination unit 2001 has a function of determining whether or not the moving body 101 has passed near the installation position of the optical beacon 102 that transmitted the optical signal when the detection unit 651 detects the shielding. Specifically, for example, when shielding is detected by the detection unit 651 based on the moving speed of the moving body 101, has the moving body 101 passed near the installation position of the optical beacon 102 that transmitted the optical signal? Determine whether or not.

  More specifically, when the moving speed of the moving body 101 is the moving speed when traveling, it is determined that the moving body 101 has passed directly under the optical beacon 102. If the moving body 101 is traveling at the time of detecting light shielding, it can be regarded as normal light shielding detection. On the other hand, if the moving body 101 is stopped even if light shielding is detected, the state shown in (2) of FIG.

  The transmission control unit 2002 transmits a position information frame to the position locating device 540 when it is determined as normal light shielding detection. On the other hand, if it is determined that there is a false detection, transmission of the position information frame is prohibited.

  FIG. 21 is a flowchart of a process procedure performed by the information transfer apparatus 2000 according to the fourth embodiment. In FIG. 21, it waits for a position information frame to be received (step S2101: No). When a position information frame is received (step S2101: Yes), it is determined whether light shielding has been detected (step S2102). ). If not detected (step S2102: NO), the process returns to step S2101.

  On the other hand, if it is detected (step S2102: Yes), it is determined whether or not the moving body 101 is traveling (step S2103). If it is determined that the vehicle is traveling (step S2103: Yes), the position information frame received in step S2101 is transmitted to the position locator 540 (step S2104). On the other hand, when it is determined that the vehicle is not traveling (step S2103: No), frame transmission is prohibited by the prohibition control by the transmission control unit 2002 (step S2105).

  As described above, according to the fourth embodiment, it is possible to execute the light shielding erroneous detection determination process instantaneously at the time of detecting the light shielding, and to realize a highly accurate position location without causing a position location delay. Can do. Furthermore, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 5 will be described. In the fourth embodiment, a function for determining erroneous detection of light shielding due to the moving speed of the moving body 101 is added to the basic configuration (functions 650 to 653) of the information transfer device 530. The basic configuration (functions 631 to 633) is configured by adding a function of determining erroneous detection of light shielding based on the moving speed of the moving body 101.

  FIG. 22 is a block diagram of a functional configuration of the position locating device according to the fifth embodiment. In FIG. 22, the position location apparatus 2200 includes a position location control unit 2201 in addition to a frame reception unit 631, a specification unit 632, an output unit 633, a detection unit 651, and a determination unit 2001. Specifically, the position location control unit 2201 realizes its function by causing the CPU 541 to execute the program stored in the storage area shown in FIG. 5-4 or by the I / F 547, for example.

  The position location control unit 2201 has a function of performing control so as to prohibit specification at the time of erroneous detection determination or output of the specification result. Which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 is to be prohibited can be selected by a user setting. When the prohibition control is set for the specifying unit 632, if it is determined that the detection is false, a specific processing prohibition signal is transmitted to the specifying unit 632.

  Thereby, the autonomous positioning part 645 does not perform autonomous positioning. Therefore, useless specific processing can be suppressed and erroneous output can be prevented. Note that it is possible to select which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 to perform prohibition control according to user settings.

  In addition, when prohibition control is set for the output unit 633, if it is determined that a false detection has occurred, an output process prohibition signal is transmitted to the output unit 633. Thereby, the output unit 633 does not execute the current position output process. Thereby, an erroneous output can be prevented.

  FIG. 23 is a flowchart of a process procedure performed by the position locating device 2200 according to the fifth embodiment. In FIG. 23, it waits for a position information frame to be received (step S2301: No). When a position information frame is received (step S2301: Yes), it is determined whether light shielding is detected (step S2302). ). When not detected (step S2302: No), it returns to step S2301.

  On the other hand, if it is detected (step S2302: Yes), it is determined whether or not the moving body 101 is traveling (step S2303). When it determines with driving | running | working (step S2303: Yes), the specific process by the specific | specification part 632 is performed (step S2304). Then, the output unit 633 outputs the specific result (current position of the moving body 101) (step S2305).

  On the other hand, if it is determined in step S2303 that the vehicle is not running (step S2303: No), the position control unit 2201 prohibits the process selected from the specific process by the specifying unit 632 and the output process by the output unit 633. Control is executed (step S2306). Thereby, the execution of the selected process is stopped with respect to the position information frame received at this time, and the autonomous positioning result is not output. Thereafter, the process returns to step S2301 to wait for reception of the position information frame.

  As described above, according to the fifth embodiment, the light shielding erroneous detection determination process can be executed instantaneously at the time of detecting the light shielding, so that the positioning is not delayed and the highly accurate positioning is realized. Can do. Furthermore, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 6 will be described. The sixth embodiment is a configuration in which a function for determining erroneous detection of light shielding based on the identity of the optical beacon ID is added to the basic configuration (functions 650 to 653) of the information transfer device 530.

  FIG. 24 is a block diagram of a functional configuration of the information transfer apparatus according to the sixth embodiment. 24, the information transfer apparatus 2400 includes a determination unit 2401, a counting unit 2402, and a transmission control unit 2403 in addition to a reception unit 650, a detection unit 651, and a transmission unit 653. Specifically, the determination unit 2401, the counting unit 2402, and the transmission control unit 2403, for example, by causing the CPU 531 to execute the program stored in the memory 532 illustrated in FIG. 5-3 or by the I / F 533, Realize its function.

  Based on the identity between the optical beacon ID of the optical beacon 102 included in the optical signal obtained last time and the optical beacon ID of the optical beacon 102 included in the optical signal obtained this time, It has a function to judge. When optical signals are continuously received from the optical beacon 102, if the optical beacon IDs included in the optical signal are the same, the optical signal is received from the same optical beacon 102. On the other hand, if the optical beacon ID is different, it can be seen that the start source of the optical signal received last time and the source of the optical signal received this time are different optical beacons 102.

  If they are different, when the optical signal is received this time, the optical shielding of the optical signal received last time is detected immediately under the optical beacon 102 of the transmission source, and it can be understood that the optical shielding is normal. . In this case, when the current optical signal is received, it becomes clear that the previous light shielding is a normal light shielding, so that the detection of the normal light shielding is delayed. Therefore, the counting unit 2402 starts counting the vehicle speed pulse every time light shielding is detected. That is, the number of vehicle speed pulses from when counting of vehicle speed pulses is started until it is determined that an optical beacon ID different from the previous time is received is transmitted to the transmission unit 653.

  If the determination unit 2401 determines that the optical beacon IDs are the same, the transmission control unit 2403 controls to prohibit transmission of the position information frame and the number of vehicle speed pulses included in the previous optical signal. On the other hand, when it is determined that the optical beacon ID is different from the previous time, control is performed so as to transmit the position information frame and the number of vehicle speed pulses of the previous optical signal. In the position locating device, the position of the host vehicle is specified by the position information frame. However, since a delay has occurred, the current position can be determined by performing correction for the number of vehicle speed pulses.

  FIG. 25 is a flowchart of a process procedure performed by the information transfer apparatus 2400 according to the sixth embodiment. In FIG. 25, it waits for a position information frame to be received (step S2501: No). When a position information frame is received (step S2501: Yes), it is determined whether light shielding is detected (step S2502). ). When not detected (step S2502: No), it returns to step S2501.

  On the other hand, if it is detected (step S2502: Yes), the counting unit 2402 starts counting vehicle speed pulses (step S2503). After this, the reception of a new position information frame is awaited (step S2504: No). When it is received (step S2504: Yes), the optical beacon ID included in the previously received position information frame and this time are received. It is determined whether or not the optical beacon ID included in the position information frame is the same (step S2505).

  If they are not the same (step S2505: No), the counting of the vehicle speed pulses by the counting unit 2402 is stopped (step S2506), and the previously received position information frame and count result are transmitted to the position locator (step S2507). Thereafter, the process proceeds to step S2509.

  If it is determined in step S2505 that they are the same (step S2505: Yes), the transmission control unit 2403 controls to prohibit frame transmission (step S2508). Thereafter, the process proceeds to step S2509. In step S2509, the count value of the vehicle speed pulse counted by the counting unit 2402 is reset. As a result, the series of processes is completed.

  As described above, according to the sixth embodiment, it is possible to execute the light shielding erroneous detection determination process, and it is possible to realize highly accurate position location. Moreover, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 7 will be described. In the sixth embodiment, a function of determining erroneous detection of light shielding due to the identity of the optical beacon ID is added to the basic configuration (functions 650 to 653) of the information transfer device 530. However, in the seventh embodiment, the position locating device 540 The basic configuration (functions 631 to 633) is a configuration in which a function of determining erroneous detection of light shielding due to the identity of the optical beacon ID is added. In addition, the same code | symbol is attached | subjected to the same structure as Example 6, and the description is abbreviate | omitted.

  FIG. 26 is a block diagram of a functional configuration of the position locating device according to the seventh embodiment. In FIG. 26, the position locating apparatus 2600 includes a position locating control unit 2601 in addition to a frame receiving unit 631, a specifying unit 632, an output unit 633, a detecting unit 651, a determining unit 2401, and a counting unit 2402. Specifically, the position location control unit 2601 realizes its function by causing the CPU 541 to execute the program stored in the storage area shown in FIG. 5-4 or the I / F 547, for example.

  When the determination unit 2401 determines that the optical beacon ID is the same, the position location control unit 2601 controls to prohibit the specification at the time of erroneous detection determination or the output of the specific result. It has a function. Which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 is to be prohibited can be selected by a user setting. When the prohibition control is set for the specifying unit 632, if it is determined that the detection is false, a specific processing prohibition signal is transmitted to the specifying unit 632.

  Thereby, the autonomous positioning part 645 does not perform autonomous positioning. Therefore, useless specific processing can be suppressed and erroneous output can be prevented. Note that it is possible to select which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 to perform prohibition control according to user settings.

  In addition, when prohibition control is set for the output unit 633, if it is determined that a false detection has occurred, an output process prohibition signal is transmitted to the output unit 633. Thereby, the output unit 633 does not execute the current position output process. Thereby, an erroneous output can be prevented.

  Note that the position location control unit 2601 passes the counting result of the counting unit 2402 to the specifying unit 632 when the determining unit 2401 determines that the light beacon ID is normal and the light is normally shielded. Thereby, in the specific | specification part 632, an own vehicle position can be specified from the installation position of the optical beacon 102 and the movement distance for a count result by a specific process.

  FIG. 27 is a flowchart of a process procedure performed by the position locating device 2600 according to the seventh embodiment. In FIG. 27, it waits for a position information frame to be received (step S2701: No). When a position information frame is received (step S2701: YES), it is determined whether or not light shielding is detected (step S2702). ). If not detected (step S2702: NO), the process returns to step S2701.

  On the other hand, if it is detected (step S2702: YES), the counting unit 2402 starts counting vehicle speed pulses (step S2703). After this, the reception of a new location information frame is awaited (step S2704: No). If received (step S2704: Yes), the optical beacon ID included in the previously received location information frame and this time are received. It is determined whether or not the optical beacon ID included in the position information frame is the same (step S2705).

  If they are not the same (step S2705: No), the counting of the vehicle speed pulses by the counting unit 2402 is stopped (step S2706), and the position specifying process based on the previously received position information frame and the counting result is executed (step S2707). And a specific result is output (step S2708). Thereafter, the process proceeds to step S2710.

  If it is determined in step S2705 that they are the same (step S2705: Yes), the position determination control unit 2601 performs control so as to prohibit position determination processing using the previously received position information frame (step S2709). Thereafter, the process proceeds to step S2710. In step S2710, the count value of the vehicle speed pulse counted by the counting unit 2402 is reset. As a result, the series of processes is completed.

  As described above, according to the seventh embodiment, it is possible to execute the light shielding error detection determination process, and it is possible to realize highly accurate position location. Moreover, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 8 will be described. The eighth embodiment has a configuration in which a function of determining erroneous detection of light shielding based on the moving distance of the moving body 101 is added to the basic configuration (functions 650 to 653) of the information transfer apparatus 530.

  Since normal light blocking occurs only once in the light irradiation area, light blocking occurs at a point where the moving distance of the moving body 101 is the distance of the optical beacon 102 that should pass next. Further, when light is incident again due to the start of the forward vehicle 1000 as shown in (3) of FIG. 11, light blockage occurs a plurality of times within the same light irradiation area. Occurs when the light irradiation area length is less than or equal to.

  That is, when the distance between the optical beacons 102 is longer than the light irradiation area length, the moving distance of the moving body 101 from when the light blocking is detected until the next light blocking is detected is observed. If light blockage is not detected at a point that has just moved, it can be determined that a light blockage error has been detected. Assume that the distance between beacons is known.

  FIG. 28 is a block diagram of a functional configuration of the information transfer apparatus according to the eighth embodiment. In FIG. 28, the information transfer apparatus 2800 includes a determination unit 2801, a counting unit 2802, and a transmission control unit 2803 in addition to a reception unit 650, a detection unit 651, and a transmission unit 653. Specifically, the determination unit 2801, the counting unit 2802, and the transmission control unit 2803, for example, by causing the CPU 531 to execute the program stored in the memory 532 illustrated in FIG. 5-3 or by the I / F 533, Realize its function.

  The counting unit 2802 has a function of counting vehicle speed pulses. Specifically, for example, when light shielding is detected by the detection unit 651, counting of vehicle speed pulses is started. If further light shielding is detected after the start of counting, the counting is stopped. The count result is sent to the transmission unit 653 after stopping. When the reset signal is received from the transmission control unit 2803, the counting result is reset.

  The determination unit 2801 has a function of determining erroneous detection of light shielding based on the moving distance of the moving body 101. Specifically, for example, the moving distance of the moving body 101 from the first light shielding to the second light shielding detection, that is, whether or not the second light shielding is erroneously detected by the counted vehicle speed pulse. judge. That is, when the moving distance is not equal to or smaller than the distance between beacons, the previous (first time) shielding is erroneously detected, and when the moving distance is equal to or longer than the distance between beacons, the previous (first time) shielding is normal. I know that there is.

  When the determination unit 2801 determines that the moving distance of the moving body 101 does not coincide with the distance between beacons or is smaller than the known light irradiation area length, the transmission control unit 2803 first blocks the light. Control is performed to prohibit transmission of the position information frame and the vehicle speed pulse number included in the signal. On the other hand, if it is coincident or longer than the known light irradiation area length, control is performed so as to transmit the position information frame and the number of vehicle speed pulses included in the optical signal shielded for the first time. In the position locating device, the position of the host vehicle is specified by the position information frame, but since a delay has occurred, the current position can be determined by correcting the number of vehicle speed pulses.

  FIG. 29 is a flowchart of a process procedure performed by the information transfer apparatus 2800 according to the eighth embodiment. In FIG. 29, first, it waits for the first light shielding to be detected (step S2901: No). When it is detected (step S2901: Yes), the counting unit 2802 starts counting the vehicle speed pulses (step S2902). ). Thereafter, the second light shielding detection is waited for (step S2903: No).

  When the second light shielding is detected (step S2903: YES), the counting unit 2802 stops counting the vehicle speed pulses (step S2904). Then, it is determined whether the counting result matches the distance between beacons or is longer than the known light irradiation area length (step S2905). If the distance between the beacons coincides (step S2905: Yes), the frame received last time, that is, the first light-shielded frame (the frame received before detecting the shielding in S2901) and the counting result of the vehicle speed pulse are located. The information is transmitted to the device (step S2906). Then, control goes to a step S2908.

  On the other hand, if the distance between the beacons does not match or is smaller than the known light irradiation area length (step S2905: No), the previously received frame (the frame received before detecting the shielding in S2901), that is, the first light Transmission of the shielded frame and the counting result of the vehicle speed pulse is prohibited (step S2907). Then, control goes to a step S2908. In step S2908, the count value of the counting unit 2802 is reset (step S2908). As a result, the series of processes is completed.

  As described above, according to the eighth embodiment, it is possible to execute the light shielding erroneous detection determination process, and it is possible to realize highly accurate position location. Moreover, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 9 will be described. In the eighth embodiment, a function of determining erroneous detection of light shielding due to the moving distance of the moving body 101 is added to the basic configuration (functions 650 to 653) of the information transfer device 530. However, the ninth embodiment is a basic configuration of the position locating device. In this configuration (functions 631 to 633), a function for determining erroneous detection of light shielding based on the moving distance of the moving body 101 is added. In addition, the same code | symbol is attached | subjected to the same structure as Example 8, and the description is abbreviate | omitted.

  FIG. 30 is a block diagram of a functional configuration of the position locating device according to the ninth embodiment. 30, the position locating device 3000 includes a position locating control unit 3001 in addition to a frame receiving unit 631, a specifying unit 632, an output unit 633, a detecting unit 651, a determining unit 2801, and a counting unit 2802. Specifically, the position location control unit 3001 realizes its function by causing the CPU 541 to execute the program stored in the storage area shown in FIG. 5-4 or by the I / F 547, for example.

  If the determination unit 2801 determines that the detection distance is incorrect because the determination unit 2801 does not match the distance between beacons or is smaller than the known light irradiation area length, the location determination control unit 3001 Alternatively, it has a function of controlling to prohibit the output of the specific result. Which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 is to be prohibited can be selected by a user setting. When the prohibition control is set for the specifying unit 632, if it is determined that the detection is false, a specific processing prohibition signal is transmitted to the specifying unit 632.

  Thereby, the autonomous positioning part 645 does not perform autonomous positioning. Therefore, useless specific processing can be suppressed and erroneous output can be prevented. Note that it is possible to select which of the specific processing by the specifying unit 632 and the output processing by the output unit 633 to perform prohibition control according to user settings.

  In addition, when prohibition control is set for the output unit 633, if it is determined that a false detection has occurred, an output process prohibition signal is transmitted to the output unit 633. Thereby, the output unit 633 does not execute the current position output process. Thereby, an erroneous output can be prevented.

  The position location control unit 3001 counts when the determination unit 2801 determines normal light shielding because the movement distance matches the distance between beacons or is longer than the known light irradiation area length. The counting result of the unit 2802 is passed to the specifying unit 632. Thereby, in the specific | specification part 632, an own vehicle position can be specified from the installation position of the optical beacon 102 and the movement distance for a count result by a specific process.

  FIG. 31 is a flowchart of a process procedure performed by the position locating device 3000 according to the ninth embodiment. In FIG. 31, first, it waits for the first light shielding to be detected (step S3101: No). When it is detected (step S3101: Yes), the counting unit 2802 starts counting vehicle speed pulses (step S3102). ). After that, it waits for the second light shielding detection (step S3103: No).

  When the second light shielding is detected (step S3103: Yes), the counting unit 2802 stops counting the vehicle speed pulses (step S3104). And it is judged whether a count result corresponds with the distance between beacons (step S3105). If the distance between the beacons is equal to or longer than the known light irradiation area length (step S3105: Yes), the frame received last time (the frame received before detecting the shielding in S3101), that is, the first light was shielded. A position specifying process based on the frame and vehicle speed pulse count results is executed (step S3106). And the specific result is output by the output part 633 (step S3107). Thereafter, the process proceeds to step S3109.

  On the other hand, when the distance between the beacons does not match or is smaller than the known light irradiation area length (step S3105: No), the position determination control unit 3001 selects from the specifying process by the specifying unit 632 and the output process by the output unit 633. The inhibition control of the selected process is executed (step S3108). That is, position determination or output processing based on the count result of the frame received last time, that is, the first light-shielded frame and the vehicle speed pulse is prohibited. Then, control goes to a step S3109. In step S3109, the count value of the counting unit 2802 is reset (step S3109). As a result, the series of processes is completed.

  As described above, according to the ninth embodiment, it is possible to execute the light shielding error detection determination process, and it is possible to realize highly accurate position location. Moreover, since an incorrect autonomous positioning result is not output, safe operation can be expected.

  Next, Example 10 will be described. The tenth embodiment is an example in which a navigation device is configured using the information transfer device or the position location device of the first to ninth embodiments. FIG. 32 is a block diagram of a functional configuration of the navigation device according to the tenth embodiment. In FIG. 32, the navigation device 3200 includes a light receiving device 3201, an information transfer device 3202, a position location device 3203, a search unit 3204, and a display screen 3205. Specifically, the search unit 3204 realizes its function by causing the CPU 541 to execute a program stored in the storage area shown in FIG. 5-4, for example.

  The light receiving device 3201, the information transfer device 3202, and the position locating device 3203 have the combinations shown in the above-described first to ninth embodiments. For example, in the case of the first embodiment, the light receiving device 300, the information transfer device 530, and the position locating device 1300 are provided. In the case of the second embodiment, the light receiving device 1500, the information transfer device 1600, and the position locating device 540 are provided.

  In the case of the third embodiment, the light receiving device 1500, the information transfer device 530, and the position locating device 1800 are provided. In the case of the fourth embodiment, the light receiving device 300, the information transfer device 2000, and the position locating device 540 are provided. In the case of the fifth embodiment, the light receiving device 300, the information transfer device 530, and the position locating device 2200 are provided. In the case of the sixth embodiment, the light receiving device 300, the information transfer device 2400, and the position locating device 540 are provided. In the case of the seventh embodiment, the light receiving device 300, the information transfer device 530, and the position locating device 2600 are provided. In the case of the eighth embodiment, the light receiving device 300, the information transfer device 2800, and the position locating device 540 are provided. In the case of the ninth embodiment, the light receiving device 300, the information transfer device 530, and the position locating device 3000 are provided.

  In addition, the search unit 3204 executes a route search process using the current position of the moving object 101 determined by the position locating device 3203. In the route search process, a route to the destination point is searched by a technique such as the Dijkstra method. Moreover, it is good also as extracting the information (traffic information and a landmark) of the position vicinity where it was located from map data.

  A display screen 3205 displays the current position of the moving object 101 determined by the position locating device on the map data. Further, the route searched by the search unit 3204 and the extracted information are also displayed. Thus, by cooperating with the navigation device, it is possible to perform route search and information display with higher accuracy than GPS.

  As described above, according to the present embodiment, it is possible to automatically determine erroneous detection of light shielding, and thus it is possible to improve the accuracy of position determination of a moving object. In addition, since it is a mechanism that assumes the behavior of the host vehicle (the moving body 101) and the preceding vehicle 1000, it is not necessary to add any configuration to the optical beacon 102, and it can be realized by an inexpensive and simple mechanism.

  In the above-described embodiments, the case of an optical signal has been described. However, the present invention is not limited to an optical signal, and may be a communication device that transmits an electromagnetic wave that has a straight traveling property and can carry a signal. In this case, the receiving device may be configured with a shielding plate made of a material capable of shielding electromagnetic waves and a receiving unit capable of detecting electromagnetic waves.

  Note that the information transfer method and position location method described in this embodiment can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a medium that can be distributed through a network such as the Internet.

  In addition, the information transfer device, the position locating device, and the navigation device described in this embodiment are application-specific ICs (hereinafter simply referred to as “ASIC”) such as standard cells and structured ASIC (Application Specific Integrated Circuit). It can also be realized by PLD (Programmable Logic Device) such as FPGA. Specifically, for example, the functions of the information transfer device, the position location device, and the navigation device described above are defined by HDL description, and the HDL description is logically synthesized and given to the ASIC or PLD, thereby the information transfer device, A position locating device and a navigation device can be manufactured.

  The following additional notes are disclosed with respect to the embodiment described above.

(Additional remark 1) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle A position locating device for locating the position of the moving body using a light receiving device mounted on the moving body comprising a shielding section for shielding the optical signal to the light receiving section;
Receiving means for sequentially receiving, from the shielding detection source of the optical signal, information related to the installation position of the communication device that has transmitted the optical signal included in the optical signal;
Each time it is received by the receiving means, the specifying means for specifying the current position of the moving body based on the installation position;
Output means for outputting the specified result specified by the specifying means;
Detecting means for detecting a specific behavior of the moving body;
Positioning control means for controlling to prohibit the specification based on the installation position or the output of the specific result when the specific behavior is detected by the detection means;
A position locating device comprising:

(Appendix 2) A light receiving device provided on a moving body,
A first light receiving unit for receiving an optical signal transmitted from a communication device installed away from the moving body;
A second light receiving unit for receiving an optical signal transmitted from the communication device;
When the incident angle of the optical signal with respect to the installation surface of the first light receiving unit is equal to or greater than a predetermined incident angle, a shielding unit that shields the optical signal to the first light receiving unit;
A light receiving device comprising:

(Additional remark 3) The detection means which detects the light reception amount of the said optical signal by the said 1st and 2nd light-receiving part of the light-receiving device of Additional remark 2,
Determination means for determining whether or not the mobile body has passed a predetermined position from the communication device, based on each received light amount detected by the detection means;
Transmitting means for transmitting information relating to the installation position of the communication device included in the optical signal to a position location destination of the moving body;
When it is determined by the determination means that a predetermined position has been passed from the communication device, transmission control means for controlling information related to the installation position to be transmitted to the position location destination;
An information transfer device comprising:

(Additional remark 4) The receiving means which receives sequentially the information regarding the installation position of the communication apparatus which transmitted the said optical signal contained in the said optical signal,
Detecting means for detecting the amount of light received by the first and second light receiving parts of the light receiving device according to attachment 2,
Determination means for determining whether or not the mobile body has passed a predetermined position from the communication device, based on each received light amount detected by the detection means;
Each time it is received by the receiving means, the specifying means for specifying the current position of the moving body based on the installation position;
Output means for outputting a specific result calculated by the specifying means;
If it is determined by the determination means that the predetermined position is not passed from the communication device, the position determination control means for controlling to prohibit the specification based on the installation position or the output of the specification result;
A position locating device comprising:

(Additional remark 5) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle An information transfer device for transferring information obtained from the light receiving device to a position location of the moving body using a light receiving device mounted on the moving body including a shielding portion that shields the optical signal to the light receiving portion. Because
Detection means for detecting shielding of the optical signal based on the amount of received optical signal sequentially obtained from the light receiving device;
A determination unit that determines whether or not the moving body has passed a predetermined position from a communication device that has transmitted the optical signal when shielding is detected by the detection unit;
Transmitting means for transmitting information relating to the installation position of the communication device included in the optical signal to a position location destination of the moving body;
When it is determined by the determination means that the communication device has passed a predetermined position, transmission control means for controlling to transmit information related to the installation position to the position location destination;
An information transfer device comprising:

(Appendix 6) The determination means includes
Based on the moving speed of the moving body, when shielding is detected by the detecting means, it is determined whether the moving body has passed a predetermined position from a communication device that has transmitted the optical signal. The information transfer device according to appendix 5, which is characterized.

(Appendix 7) The determination means includes
Based on the identity between the identification information of the communication device included in the previously obtained optical signal and the identification information of the communication device included in the optical signal obtained this time, shielding is detected by the detection means. 6. The information transfer apparatus according to appendix 5, wherein the mobile body determines whether or not the mobile body has passed a predetermined position from the communication device that has transmitted the optical signal.

(Appendix 8) The determination means includes
When the detection means detects the shielding based on the moving distance of the moving body from the detection time of the optical signal obtained by the detection means to the detection time of the optical signal obtained this time, the moving body The information transfer apparatus according to appendix 5, wherein the information transfer apparatus determines whether or not the communication apparatus that has transmitted the optical signal has passed a predetermined position.

(Additional remark 9) It is provided with the counting means which starts the count of the vehicle speed pulse of the said mobile body whenever the said optical signal is obtained,
The transmission control means includes
When it is determined by the determination means that the communication device has passed a predetermined position, control is performed so as to transmit the count result counted by the counting means together with information on the installation position to the position location destination. The information transfer apparatus according to appendix 7 or 8.

(Additional remark 10) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle A position locating device for locating the position of the moving body using a light receiving device mounted on the moving body comprising a shielding section for shielding the optical signal to the light receiving section;
Receiving means for sequentially receiving information on the installation position of the communication device that has transmitted the optical signal included in the optical signal;
Detection means for detecting shielding of the optical signal based on the amount of received optical signal sequentially obtained from the light receiving device;
A determination unit that determines whether or not the moving body has passed a predetermined position from a communication device that has transmitted the optical signal when shielding is detected by the detection unit;
Each time it is received by the receiving means, the specifying means for specifying the current position of the moving body based on the installation position;
Output means for outputting the specified result specified by the specifying means;
If it is determined by the determination means that the predetermined position is not passed from the communication device, the position determination control means for controlling to prohibit the specification based on the installation position or the output of the specification result;
A position locating device comprising:

(Supplementary Note 11) The determination means includes:
Based on the moving speed of the moving body, when shielding is detected by the detecting means, it is determined whether the moving body has passed a predetermined position from a communication device that has transmitted the optical signal. The position locating device according to Supplementary Note 10, which is a feature.

(Supplementary Note 12) The determination means includes:
Based on the identity between the identification information of the communication device included in the previously obtained optical signal and the identification information of the communication device included in the optical signal obtained this time, shielding is detected by the detection means. 11. The position locating apparatus according to appendix 10, wherein the mobile body determines whether or not the mobile body has passed a predetermined position from the communication device that has transmitted the optical signal.

(Supplementary Note 13) The determination means includes
When the detection means detects the shielding based on the moving distance of the moving body from the detection time of the optical signal obtained by the detection means to the detection time of the optical signal obtained this time, the moving body The position locating device according to appendix 10, wherein it is determined whether or not a predetermined position has been passed from a communication device that has transmitted the optical signal.

(Additional remark 14) It is provided with the counting means which starts the count of the vehicle speed pulse of the said mobile body whenever the said optical signal is obtained,
The position location control means includes:
When it is determined by the determination means that the predetermined position has been passed from the communication device, control is performed so as to specify the current position of the moving body based on the installation position and the counting result counted by the counting means. 14. The position locating device according to appendix 12 or 13, characterized in that.

(Supplementary note 15) The position locating device according to any one of Supplementary notes 1, 4, 10 to 14, and
Search means for searching for a route based on the current position of the mobile object located by the position locating device;
A navigation device comprising:

(Additional remark 16) The mobile body carrying the positioning apparatus as described in any one of additional remarks 1, 4, 10-14, or the navigation apparatus as described in Additional remark 15.

(Additional remark 17) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle A computer for locating the position of the moving body using a light receiving device mounted on the moving body comprising a shielding section that shields the optical signal to the light receiving section,
Receiving means for sequentially receiving information about the installation position of the communication device that has transmitted the optical signal included in the optical signal from the shielding detection source of the optical signal;
A specifying means for specifying the current position of the mobile body based on the installation position each time it is received by the receiving means;
Output means for outputting the specified result specified by the specifying means;
Detecting means for detecting a specific behavior of the moving body;
Positioning control means for controlling to prohibit specification based on the installation position or output of the specific result when the specific behavior is detected by the detection means,
Positioning program characterized by functioning as

(Supplementary note 18) Using the light receiving device according to supplementary note 2, a computer that transfers information obtained from the light receiving device to the position location of the moving body,
Detecting means for detecting the amount of light received by the first and second light receiving sections;
Determination means for determining whether or not the moving body has passed a predetermined position from the communication device based on each received light amount detected by the detection means;
Transmitting means for transmitting information related to an installation position of the communication device included in the optical signal to a position location destination of the moving body;
A transmission control unit that controls to transmit information related to the installation position to the position location when the determination unit determines that a predetermined position has been passed from the communication device;
An information transfer program that functions as a computer program.

(Supplementary note 19) Using the light receiving device according to supplementary note 2, a computer for locating the position of the moving body,
Receiving means for sequentially receiving information on an installation position of a communication device that has transmitted the optical signal included in the optical signal;
Detecting means for detecting the amount of light received by the first and second light receiving sections;
Determination means for determining whether or not the moving body has passed a predetermined position from the communication device based on each received light amount detected by the detection means;
A specifying means for specifying the current position of the mobile body based on the installation position each time it is received by the receiving means;
Output means for outputting the specified result specified by the specifying means;
If it is determined by the determination means that the predetermined position is not passed from the communication device, the position determination control means for controlling to prohibit the specification based on the installation position or the output of the specification result;
Positioning program characterized by functioning as

(Additional remark 20) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle A computer that transfers information obtained from the light receiving device to a position location destination of the moving body using a light receiving device mounted on the moving body including a shielding portion that shields the optical signal to the light receiving portion.
Detection means for detecting shielding of the optical signal based on the amount of received optical signal sequentially obtained from the light receiving device;
A determination unit that determines whether or not the moving body has passed a predetermined position from a communication device that has transmitted the optical signal when shielding is detected by the detection unit;
Transmitting means for transmitting information related to an installation position of the communication device included in the optical signal to a position location destination of the moving body;
A transmission control unit that controls to transmit information about the installation position to the position location destination when the determination unit determines that the communication device has passed a predetermined position;
An information transfer program that functions as a computer program.

(Additional remark 21) When the incident angle of the said optical signal with respect to the light-receiving part which receives the optical signal transmitted from the communication apparatus installed away from the mobile body, and the installation surface of the said light-receiving part becomes more than a predetermined incident angle A computer for locating the position of the moving body using a light receiving device mounted on the moving body comprising a shielding section that shields the optical signal to the light receiving section,
Receiving means for sequentially receiving information on an installation position of a communication device that has transmitted the optical signal included in the optical signal;
Detection means for detecting shielding of the optical signal based on the amount of received optical signal sequentially obtained from the light receiving device;
A determination unit that determines whether or not the moving body has passed a predetermined position from a communication device that has transmitted the optical signal when shielding is detected by the detection unit;
A specifying means for specifying the current position of the mobile body based on the installation position each time it is received by the receiving means;
Output means for outputting the specified result specified by the specifying means;
If it is determined by the determination means that the predetermined position is not passed from the communication device, the position determination control means for controlling to prohibit the specification based on the installation position or the output of the specification result;
Positioning program characterized by functioning as

It is explanatory drawing which shows the structure of the position location system concerning this embodiment. It is explanatory drawing which shows the content of the communication area of an optical beacon. It is explanatory drawing which shows the outline | summary of a light-receiving device. It is explanatory drawing which shows the relationship between the incident angle of the optical signal with respect to a light-receiving surface, and a shielding part. It is explanatory drawing which shows the light reception state of an optical signal. It is a block diagram which shows roughly the hardware constitutions of a position location system. It is a block diagram which shows roughly the hardware constitutions of a light-receiving device. It is a block diagram which shows roughly the hardware constitutions of an information transfer apparatus. It is a block diagram which shows roughly the hardware constitutions of a position location apparatus. It is a block diagram which shows the functional structure of a position location system. It is a block diagram which shows the functional structure of an information transfer apparatus. It is a flowchart which shows the process sequence which the information transfer apparatus concerning this embodiment performs. It is a timing sequence diagram which shows operation | movement with a light-receiving device and a position location apparatus. It is a timing sequence diagram which shows operation | movement of each part in the position location system concerning this embodiment. It is explanatory drawing which shows the comparison with the normal operation | movement in a position location system, and a false detection operation | movement. It is explanatory drawing which showed the behavior of the front vehicle and the moving body in time series. It is a graph which shows the time change of the light reception amount in (1)-(4) shown in FIG. It is a block diagram which shows the functional structure of the position location apparatus concerning Example 1. FIG. 4 is a flowchart illustrating a position location processing procedure according to the first embodiment. FIG. 6 is a schematic perspective view illustrating a light receiving device according to a second embodiment. It is a block diagram which shows the functional structure of the position location system concerning Example 2. FIG. 10 is a flowchart illustrating a processing procedure performed by the information transfer apparatus according to the second embodiment. It is a block diagram which shows the functional structure of the position location apparatus concerning Example 3. FIG. 12 is a flowchart illustrating a processing procedure performed by the position locating device according to the third embodiment. FIG. 10 is a block diagram illustrating a functional configuration of an information transfer apparatus according to a fourth embodiment. 14 is a flowchart illustrating a processing procedure performed by the information transfer apparatus according to the fourth embodiment. It is a block diagram which shows the functional structure of the position location apparatus concerning Example 5. FIG. 12 is a flowchart illustrating a processing procedure performed by a position locating device according to a fifth embodiment. FIG. 10 is a block diagram illustrating a functional configuration of an information transfer apparatus according to a sixth embodiment. 14 is a flowchart illustrating a processing procedure performed by an information transfer apparatus according to a sixth embodiment. It is a block diagram which shows the functional structure of the position location apparatus concerning Example 7. FIG. 12 is a flowchart illustrating a processing procedure performed by a position locating device according to a seventh embodiment. FIG. 10 is a block diagram illustrating a functional configuration of an information transfer apparatus according to an eighth embodiment. 19 is a flowchart illustrating a processing procedure performed by an information transfer apparatus according to an eighth embodiment. It is a block diagram which shows the functional structure of the position location apparatus concerning Example 9. FIG. It is a flowchart which shows the process sequence by the position locating apparatus concerning Example 9. FIG. 10 is a block diagram illustrating a functional configuration of a navigation device according to Example 10;

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Mobile body 102 Optical beacon 300, 1500, 3201 Light receiving device 301 Light receiving element 302 Shielding part 530, 1600, 2000, 2400, 2800, 3202 Information transfer device 540, 1300, 1800, 2200, 2600, 3203 Position location device 611 (first 1) light receiving unit 631 frame receiving unit 632 identifying unit 633 output unit 650, 1612 receiving unit 651, 1301 detecting unit 652, 2002, 2403, 2803 transmission control unit 653 transmitting unit 1000 forward vehicle 1302, 1801, 2201, 2601, 3001 Position location control unit 1601, 2001, 2201, 2401, 2801 determination unit 1612 second light receiving unit 2402, 2802 counting unit 3200 navigation device 3204 search unit

Claims (5)

A light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is greater than or equal to a predetermined incident angle to the light receiving unit A light receiving device mounted on the moving body comprising a shielding portion for shielding the optical signal, and detecting that the moving body has reached a light blocking point where the optical signal to the light receiving portion is shielded. A position locating device for locating the position of the moving body using an information transmitting device that transmits information related to an installation position of a communication device that has transmitted the optical signal based on the detection result;
Receiving means for receiving the information transmitted by the information transmitting apparatus,
Each time it is received by the receiving means, the specifying means for specifying the current position of the moving body based on the installation position;
Output means for outputting the specified result specified by the specifying means;
Detecting means for detecting that the moving speed of the moving body is equal to or lower than a predetermined threshold;
Positioning control means for performing control so as to prohibit the specification based on the installation position or the output of the specification result when it is detected by the detection means that the moving speed of the moving body has become a predetermined threshold value or less. When,
A position locating device comprising: A light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is greater than or equal to a predetermined incident angle to the light receiving unit An information transmitting device that transmits information obtained from the light receiving device to a position location destination of the moving body using a light receiving device mounted on the moving body including a shielding portion that shields the optical signal of
Detection means for detecting shielding of the optical signal when the received light amount is equal to or less than a predetermined value based on the received light amount of the optical signal sequentially obtained from the light receiving device;
If the moving speed exceeds a predetermined threshold based on the moving speed of the moving body, the communication apparatus that the moving body has transmitted the optical signal when shielding is detected by the detecting means If the moving speed is equal to or lower than a predetermined threshold value, the moving body transmits the optical signal from the communication device when shielding is detected by the detecting means. A determination unit that does not determine that the predetermined position has been passed ;
Transmitting means for transmitting information relating to the installation position of the communication device included in the optical signal to a position location destination of the moving body;
When it is determined by the determination means that the communication device has passed a predetermined position, transmission control means for controlling to transmit information related to the installation position to the position location destination;
An information transmission device comprising: A position locating device according to claim 1;
Search means for searching for a route based on the current position of the mobile object located by the position locating device;
A navigation device comprising: A light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is greater than or equal to a predetermined incident angle to the light receiving unit A light receiving device mounted on the moving body comprising a shielding portion for shielding the optical signal, and detecting that the moving body has reached a light blocking point where the optical signal to the light receiving portion is shielded. Then, using an information transmission device that transmits information related to the installation position of the communication device that transmitted the optical signal based on the detection result, a computer that locates the position of the moving body,
Receiving the information transmitted by the information transmitting apparatus,
Each time it is received, the current position of the mobile body is specified based on the installation position,
Output the specified specific results,
Detecting that the moving speed of the moving body is below a predetermined threshold,
Control to prohibit the output based on the specified position or the result of the specific determination when it is detected that the moving speed of the moving body is equal to or lower than a predetermined threshold,
A position location program characterized by causing processing to be executed. A light receiving unit that receives an optical signal transmitted from a communication device installed away from a moving body, and an incident angle of the optical signal with respect to an installation surface of the light receiving unit is greater than or equal to a predetermined incident angle to the light receiving unit A computer that transmits information obtained from the light receiving device to a position locating destination of the moving body using a light receiving device mounted on the moving body that includes a shielding portion that shields the optical signal;
Based on the received light amount of the optical signal sequentially obtained from the light receiving device, when the received light amount is a predetermined value or less, detecting the shielding of the optical signal,
Based on the moving speed of the moving body, when the moving speed exceeds a predetermined threshold, when the shielding is detected, the moving body transmits a predetermined signal from a communication device that has transmitted the optical signal. When it is determined that the vehicle has passed the position and the moving speed is equal to or lower than a predetermined threshold, the moving body has passed the predetermined position from the communication device that has transmitted the optical signal even when the shielding is detected. Without judging
When it is determined that a predetermined position has been passed from the communication device, information on an installation position of the communication device included in the optical signal is transmitted to the position location destination.
An information transmission program for executing a process.

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