JP2005004542A - Mobile communication device, server device, walk guidance device, method of mobile communication, method of communication, method of guiding walk, program, and computer readable recording medium for recording this program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for safely and surely guiding a user while avoiding traffic accidents. <P>SOLUTION: The device includes a quasi-zenith signal receiving device 311 for receiving GPS information from a quasi-zenith satellite 500 or the like; a mobile information sending and receiving device 317 which moves along with a motor vehicle to receive from a mobile information management server 4, without the intervention of the quasi-zenith satellite 500 or the like, predetermined information derived from the GPS information received by the quasi-zenith signal receiving device 311; and a speaker 313 which outputs collision prediction information indicating prediction on collision between the motor vehicle and a pedestrian based on the predetermined information received by the mobile information sending and receiving device 317, to inform the driver of the motor vehicle of the prediction on the collision. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mobile communication device, a server device, or a walking guidance device. Moreover, it is related with each method which said each apparatus performs. In particular, the present invention relates to the provision of a walking navigation system using a quasi-zenith satellite and the provision of a highly accurate collision prevention system by linking the walking navigation system and the car navigation system.
[0002]
[Prior art]
Driving support to accurately determine the surrounding information of the vehicle that is running on the vehicle, etc., effectively suggest the necessary information to the driver, and prevent traffic accidents such as collision and contact There is a description that an apparatus is provided (see Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 9-178505
[0004]
[Problems to be solved by the invention]
In the navigation system using the sensor of Patent Document 1, it is difficult to accurately measure the position of the own vehicle depending on the surrounding conditions. In addition, it has been difficult to perform the collision prevention control for grasping the accurate position information of the opponent and avoiding the traffic accident. Moreover, pedestrians could not be safely and reliably guided by insufficient information.
[0005]
An object of this invention is to provide the apparatus which avoids a traffic accident.
[0006]
It is another object of the present invention to provide a device for guiding a user safely and reliably.
[0007]
[Means for Solving the Problems]
A mobile communication device according to the present invention includes a satellite receiver that receives GPS (Global Positioning System) information from a satellite;
An information receiving unit that moves together with the moving body and receives predetermined information based on the GPS information received by the satellite receiving unit from outside the moving body without passing through the satellite;
An output unit that outputs collision prediction information indicating a collision prediction between the moving body and another moving body based on predetermined information received by the information receiving unit, and notifies the user of the collision prediction;
It is provided with.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
In the first embodiment, a high-accuracy positioning information of the quasi-zenith satellite is used to realize a walking navigation system that guides the pedestrian according to the sidewalk map information, and at the same time the pedestrian is guided, the detailed position of the pedestrian By notifying the car navigation system of information via the telephone network and the Internet, the car navigation system is notified in real time of weather conditions with poor visibility and the position of pedestrians that cannot be directly sensed because they are hidden behind the building. Provided is an inter-navigation linkage system that notifies a driver of the presence of a pedestrian in the direction of travel of an automobile, and further has a collision prevention function for automatically avoiding an accident by controlling a brake when the risk of a collision is great. Also, a server that records pedestrian information and car information is connected to the Internet, and the server notifies the car navigation system and the walking navigation system of the danger by determining the possibility of collision and issuing a warning. Provide a system to do. In other words, a walking navigation system and a car navigation system that operates in cooperation with the walking navigation system are provided.
[0009]
FIG. 1 is a diagram illustrating a configuration of a system according to the first embodiment.
As shown in FIG. 1, the inter-navigation cooperation system 1 according to the first embodiment includes a satellite group of a quasi-zenith satellite 500 and a GPS (Global Positioning System) satellite 300, and a walking navigation system 2 (mobile communication device, walking guidance). An example of a device), a car navigation system 3 (an example of a mobile communication device), a mobile information management server 4 (an example of a server device), and each navigation system for connecting to the Internet network Communication means 5 such as a communication network or a wireless LAN (local area network) is provided. As a specific example of the communication network, a PHS (Personal Handyphone System) PIAFS (Personal Handyphone System Internet Standard) is used, and a vehicle that is always connected to the Internet through a data communication network of up to 128 Kbps. Conceivable.
[0010]
The walking navigation system 2 receives positioning information (for example, GPS information) from a satellite group such as the quasi-zenith satellite 500, identifies the current position of the pedestrian on the sidewalk map for the pedestrian, If it is detected by a sensor and checked against information on the sidewalk map and an obstacle that is not listed on the sidewalk map is detected, the information about the obstacle and the current location information are sent via the telephone network or wireless LAN. Has a function to send to the Internet.
The mobile body information management server 4 receives position information, speed information, and map update information from the walking navigation system 2 and the car navigation system 3, and outputs a map describing the mutual positional relationship between the pedestrian and the car.
The car navigation system 3 automatically avoids an accident by controlling the brake when it is determined from the position information of the pedestrian received from the mobile body information management server 4 that the risk of collision is high.
[0011]
FIG. 2 is a diagram showing a technology planned in the future.
In FIG. 2, the quasi-zenith satellite 500 orbits once a day according to the rotation of the earth over 35800 km above the ground so that the inclination angle is about 45 degrees from the equator plane. As an example, three quasi-zenith satellites 500 are arranged so as to be 120 degrees apart at the ascending intersection eclipse (intersection with the equatorial plane).
FIG. 3 is a diagram showing a technology planned in the future.
FIG. 3 shows the locus of the quasi-zenith satellite 500 in FIG. 2 when the ground is fixed. As shown in FIG. 3, the quasi-zenith satellite 500 orbits so as to draw a “figure 8” having an intersection on the equator. The three quasi-zenith satellites 500 are located above Japan without a break so that the orbital planes are different but change every 8 hours. Further, when considering the region in Japan, there is always a quasi-zenith satellite 500 having an elevation angle of 70 degrees or more. Because it is located above Japan without a break, there is always a quasi-zenith satellite 500 with an elevation angle of 70 degrees or more, and when the receiver receives radio waves from the quasi-zenith satellite 500 on the ground, the radio waves are also blocked in the valleys of the building. There is no.
[0012]
FIG. 4 is a diagram showing a positioning system using a quasi-zenith satellite.
In FIG. 4, the positioning method is performed using four satellites. GPS has four satellites on six orbits with ascending intersection tilt angles of 55 degrees and ascending intersection longitudes of 60 degrees each, and it is said that 24 satellites cover the whole earth and perform the positioning function. Yes. The positioning method is supposed to be performed as follows. First, the time required for radio waves emitted from any of the four satellites to reach the receiving antenna of the mobile communication device installed on the mobile body is measured, and the distance to the satellite is measured by multiplying by the speed of light C. Then, the four satellites are divided into two groups, and the two satellites are composed of the rotational hyperbola focusing on the two satellites composed of the difference in distance from the two satellites in one group and the difference in distance from the two satellites in the other group. Find the intersection on the earth with a rotating hyperbola with the focus on. From this intersection, the position of the receiving antenna of the mobile communication device installed in the mobile body is obtained. For example, positioning of the moving object is performed by one quasi-zenith satellite 500 and three GPS satellites 300 or a combination of one quasi-zenith satellite 500, one geostationary satellite, and two GPS satellites 300. Alternatively, positioning of the moving body is performed by a combination of four GPS satellites 300.
[0013]
FIG. 5 is a diagram showing a configuration of a positioning system using a quasi-zenith satellite.
In FIG. 5, a GPS satellite 300 broadcasts positioning information. The quasi-zenith satellite 500 and MTSAT (Multi-Functional Transport Satellite) 550 which is an example of a geostationary satellite are also GPS complementary satellites, and have, for example, differential positioning correction data and integrity data as positioning information. Broadcast high-precision positioning information. Here, MTSAT 550 is used, but it is used as an example of a geostationary satellite, and may be another geostationary satellite. The user can use the mobile communication device 200 to combine, for example, one quasi-zenith satellite 500 and three GPS satellites 300, one quasi-zenith satellite 500 and three geostationary satellites, or It is possible to obtain position information necessary for positioning by a combination of one quasi-zenith satellite 500 and three satellites by the GPS satellite 300 and the MTSAT 550, that is, at least four satellite groups including the quasi-zenith satellite 500. it can. Further, the position information necessary for positioning may be obtained by a satellite group not limited to four.
On the ground, a positioning information distribution center station and an electronic reference point located throughout the country will be placed. The electronic reference point has its own reference position as a fixed point. The electronic reference points arranged in the whole country cover the whole country with an electronic reference point network, for example, with a range surrounded by a plurality of adjacent electronic reference points as one mesh. Electronic reference points arranged nationwide obtain position information necessary for positioning by the above four or more satellite groups. Then, positioning correction information such as an error between the reference position owned by itself and the position based on the position information obtained by the four or more satellite groups is output to the positioning information distribution center station. Here, since the whole country is covered with the electronic reference point network, the correction accuracy can be improved even at a certain position in the mesh. The positioning information distribution center station inputs positioning correction information from electronic reference points located in the whole country, collects and integrates the input positioning correction information, creates collected integrated information, and quasi-zeniths via a predetermined antenna Transmit to a satellite such as satellite 500. The quasi-zenith satellite 500 or the like broadcasts high-accuracy positioning information based on the collected integrated information transmitted from the positioning information distribution center station to a satellite such as the quasi-zenith satellite 500 via a predetermined antenna.
By using at least the quasi-zenith satellite 500 having a high elevation angle with little shielding, the user can avoid the shielding due to being located in a mountain shadow or the like or the shielding by an obstacle such as a building as much as possible, and the positioning possible time by avoiding the shielding Can be improved. In addition, the user corrects high-accuracy positioning information corrected by a system having a group of four or more satellites including at least the quasi-zenith satellite 500, a positioning information distribution center station arranged on the ground, and an electronic reference point arranged nationwide. By obtaining this, it is possible to obtain highly accurate position information. Thus, by using the quasi-zenith satellite 500, the user can obtain position information with high accuracy, for example, position information with an accuracy of an error range of 25 cm on the ground.
[0014]
FIG. 6 is a diagram illustrating a configuration of the walking navigation system.
The walking navigation system 2 in FIG. 6 stores and stores the receiving unit 220 and walking map data (an example of map information having information on the sidewalk), and updates the map in response to changes in the state of the sidewalk. The footpath map recording device 202 (which is an example of a map information storage unit), a camera 206 that detects the presence of a pylon, and signals from satellites such as the quasi-zenith satellite 500 are used to determine the current position. A walking navigation control device 205 (which is an example of a guidance unit) that identifies a position on a map and guides a pedestrian along a safe route to a destination, and a display 204 that displays a guidance route (an example of an output unit) The speaker 203 (which is an example of an output unit) that guides the traveling direction by voice, the antennas 208 and 209, and the input key 210 for inputting the user's destination. It has an a) an example of the destination input unit. The receiving unit 220 includes a quasi-zenith signal receiving device 201 (which is an example of a satellite receiving unit) that receives signals from a group of satellites such as the quasi-zenith satellite 500 and a mobile unit that receives information from the mobile unit information management server 4. An information transmitting / receiving apparatus 207 (which is an example of an information receiving unit) is included.
[0015]
The quasi-zenith signal receiving apparatus 201 receives GPS positioning and differential positioning correction data as an example of high-accuracy positioning information via the antenna 208 as signals from a group of satellites such as the quasi-zenith satellite 500.
FIG. 7 is a diagram illustrating an example of signals from the satellite group.
In FIG. 7, the quasi-zenith signal receiving apparatus 201 receives satellite orbit information, satellite clock information, ionosphere correction data, and position information of other satellites as GPS information from a group of four satellites. Also, the differential positioning correction data is received from the quasi-zenith satellite 500 or the geostationary satellite.
[0016]
The walking navigation control device 205 obtains the current position from a signal from a group of satellites such as the quasi-zenith satellite 500 and compares it with the position recorded immediately before, thereby obtaining a moving speed and a moving direction and a storage device (not shown). To record.
FIG. 8 is a diagram illustrating an example of position information.
In FIG. 8, as the position information of itself, it has x, y, z coordinates, positioning time, and positioning date. Further, the sidewalk map recording device 202 stores map information (MAP) other than the sidewalk in addition to the information about the sidewalk.
[0017]
The walking navigation control device 205 refers to the current position and the map extracted from the sidewalk map recording device 202, specifies the position on the sidewalk map, searches for the route to the destination, and determines the maintenance status and crossing of the sidewalk. In consideration of the presence or absence of a sidewalk, the presence of steps and obstacles, an optimal route with a high safety and a short movement distance is derived. Here, the sidewalk map recording device 202 stores, as walking map data, an accurate map that can grasp the state of the sidewalk such as the sidewalk maintenance status, the presence / absence of a pedestrian crossing, the presence of steps and obstacles, and the like. If high-accuracy positioning using the quasi-zenith satellite 500 is possible with, for example, an error of 25 cm, it is better that the accuracy of the high-accuracy positioning is improved if the map has a precision that can identify the state of the sidewalk of 25 cm or more. .
[0018]
The walking navigation control device 205 uses the input key 210 while using the information about the sidewalk based on the map information stored by the sidewalk map recording device 202 and the GPS information received by the quasi-zenith signal receiving device 201. The user is guided to the destination of the user input by. In other words, the walking navigation control device 205 instructs the traveling direction by voice using the speaker 203 based on the guidance route to the destination, or illustrates it with an arrow on the display 204, along the route. Guide you to move. Further, when there is a step or an obstacle on the course, or when approaching a pedestrian crossing, the presence is notified to the user by voice using the speaker 203 or a sign on the display 204.
[0019]
When the walking navigation control device 205 guides a visually impaired person, the walking navigation control device 205 obtains an arrangement map of the uneven block for visually impaired person from the sidewalk map recording device 202 and guides it so that it can move on the uneven block. Report the presence of the braille guide number and guide to that location. In other words, the walking navigation system 2 has an arrangement map of uneven blocks for guiding the visually impaired and arrangement information of Braille guidance for the visually impaired, and can guide the visually impaired instead of the guide dog.
[0020]
The walking navigation control device 205 discriminates the pylon arranged in the area under construction from the moving direction image captured by the camera 206, records the position as additional information in the sidewalk map recording device 202, and also the obstacle. After the information is added, the guidance route is obtained again and the user's guidance route is changed. In other words, the walking navigation system 2 determines the color and shape of the pylon and records it as an obstacle.
[0021]
As described above, the walking navigation system 2 uses the pedestrian sidewalk map to guide the pedestrian while avoiding the steps and obstacles of the sidewalk while maintaining the range of the sidewalk, and the signal of the pedestrian crossing. Notify the user before this.
[0022]
The mobile body information transmitting / receiving apparatus 207 in the walking navigation system 2 sends the current position, speed, direction, and obstacle information to the mobile body information management server 4 through the antenna 209 via the Internet using, for example, a telephone network or a wireless LAN. Send.
[0023]
As described above, the walking navigation system 2 obtains the speed and moving direction of the pedestrian from the position information measured immediately before and the position information measured this time, and the position information, speed, direction, and obstacle information are obtained from the telephone network, It has a function of transmitting to the mobile information management server 4 through the Internet using a wireless LAN.
[0024]
FIG. 9 is a diagram showing a configuration of the car navigation system.
In FIG. 9, the car navigation system 3 includes a receiving unit 322, a roadway map recording device 312 that holds roadway map data and updates a map in response to a change in the state of a sidewalk, a quasi-zenith satellite 500, and the like. Car navigation control device 315 (an example of a guidance unit and a collision prediction judgment unit) that derives a current position from signals from a group of satellites, identifies a position on a roadway map, and guides a car on a safe route to a destination ), A display 314 (an example of an output unit) that displays a guidance route, a speaker 313 (an example of an output unit) that guides the traveling direction by voice, and activates a brake when there is a danger. It has a brake control device 318 (which is an example of a braking device control unit), antennas 320 and 321, and a camera 316 that detects the presence of an obstacle in the traveling direction. The receiving unit 322 includes a quasi-zenith signal receiving device 311 (which is an example of a satellite receiving unit) that receives signals from a group of satellites such as the quasi-zenith satellite 500 and a mobile unit that receives information from the mobile unit information management server 4. And an information transmission / reception device 317 (which is an example of an information reception unit).
[0025]
The quasi-zenith signal receiver 311 receives GPS positioning and differential positioning correction data as an example of high-accuracy positioning information via the antenna 320 as a signal from a group of satellites such as the quasi-zenith satellite 500.
An example of the signal from the satellite group is the same as in FIG. The quasi-zenith signal receiver 311 receives satellite orbit information, satellite clock information, ionosphere correction data, and position information of other satellites as GPS information from a group of four satellites. Also, the differential positioning correction data is received from the quasi-zenith satellite 500 or the geostationary satellite.
[0026]
The car navigation control device 315 obtains the current position from a signal from a group of satellites such as the quasi-zenith satellite 500 and compares it with the position recorded immediately before to obtain the moving speed and the moving direction, and a storage device (not shown) To record.
An example of the position information is the same as that shown in FIG. 8, and has x, y, z coordinates, time of positioning, and date of positioning as its own position information. The roadway map recording device 312 stores map information (MAP).
[0027]
The car navigation control device 315 identifies the position on the road map with reference to the current position and the map taken out from the road map recording device 312 and searches for the route to the destination so that the optimum travel distance is short. Derive a route. Here, the roadway map recording device 312 stores, as walking map data, a map with an accuracy capable of grasping the state of the sidewalk such as the maintenance situation of the sidewalk, the presence / absence of a pedestrian crossing, the presence of steps and obstacles. If high-accuracy positioning using the quasi-zenith satellite 500 is possible, for example, with an error of 25 cm, the accuracy of the high-accuracy positioning can be improved if the map is accurate to identify the state of the sidewalk of 25 cm or more and the roadway. Minutes better.
[0028]
The car navigation control device 315 discriminates, for example, the pylon placed on the roadway area where the sidewalk is under construction from the moving direction image captured by the camera 316 and uses the position as additional information. The information is recorded in the roadway map recording device 312 and transmitted to the mobile information management server 4 through the mobile information transmitting / receiving device 317 and the antenna 321 through the Internet using a telephone network or a wireless LAN.
[0029]
The car navigation control device 315 obtains the current position from the signal from the quasi-zenith satellite 500, etc., compares it with the position recorded immediately before, and obtains the movement speed and movement direction and records them in a storage device (not shown). The data is transmitted to the mobile information management server 4 through the Internet using the telephone network or wireless LAN via the mobile information transmitting / receiving device 317 and the antenna 321.
[0030]
FIG. 10 is a diagram showing the configuration of the mobile information management server.
In FIG. 10, the mobile body information management server 4 receives information from the walking navigation system 2 and the car navigation system 3 via the antenna 430 and a network such as the Internet, and transmits the information to the walking navigation system 2 and the car navigation system 3. An information transmission / reception device 421, a mobile body information storage device 422 for storing position information and obstacle information, and a processing device 423 for detecting a collision prediction and an accident occurrence.
[0031]
The moving body information management server 4 records the position information, speed information, moving direction information, and obstacle information received from the walking navigation system 2 and the car navigation system 3 via the information transmitting / receiving device 421 in the moving body information storage device 422. To do. The information transmitting / receiving device 421 in the mobile body information management server 4 has a function of extracting and transmitting information around the navigation to the car navigation system 3 and the walking navigation system 2 via the Internet.
[0032]
In addition, the mobile body information management server 4 predicts the arrival point after 0.1 to several seconds from the position information, speed information, and moving direction information, and determines that there is a risk of collision, the car navigation through the Internet. Means for sending a warning to the system 3 and the walking navigation system 2 are provided. In the first embodiment, the processing device 423 determines the arrival point and the presence or absence of a collision risk, and the information transmitting / receiving device 421 issues a warning.
According to the present embodiment, it is possible to warn that there is a danger of collision in a plurality of mobile communication devices and to call attention to the other party.
[0033]
The mobile body information management server 4 constantly monitors the position information, speed information, and movement direction information received from the walking navigation system 2 and the car navigation system 3 to identify the position of the car on the road map, and to walk with the car. When a pedestrian passes from the next moment when the pedestrian passes by, or when the pedestrian stops for a long time in the middle of the road, or when the car moves out of the guardrail, it is determined that an accident has occurred. I do. In the first embodiment, the processing device 423 constantly monitors the position information, speed information, and moving direction information recorded in the moving body information storage device 422 to identify the position of the car on the road map, From the next moment when the pedestrian passes, it is determined that an accident has occurred when the pedestrian stops for a long time in the middle of the road or when the car moves out of the guardrail. Then, the information transmission / reception device 421 makes an emergency call.
[0034]
According to the present embodiment, the position of a plurality of mobile communication devices, the moving direction of each mobile communication device, and the moving speed of each mobile communication device are managed, and information on the other party is sent to nearby mobile communication devices. Send and alert the other party.
[0035]
The operation of the mobile body information management server 4 will be described.
FIG. 11 is a flowchart for explaining an example of the operation of the mobile information management server.
The information transmission / reception device 421 receives information transmitted from the walking navigation system 2 and the car navigation system 3 through the Internet via a wireless LAN or a telephone network, and inputs the information to the mobile information storage device 422. The moving body information storage device 422 stores the pedestrian position, the pedestrian speed, the pedestrian movement direction, and the obstacle position received from the walking navigation system 2, and the traveling vehicle position received from the car navigation system 3. , Speed and moving direction are stored (step B1).
The processing device 423 refers to the information in the moving body information storage device 422, and calculates the movement position of each pedestrian and the running vehicle from 0.1 seconds to several seconds later (step B2).
As a result of the calculation, the processing device 423 checks the possibility that each pedestrian collides with the running car (step B3).
When the processing device 423 determines that there is a possibility of a collision, the processing device 423 uses the information transmitting / receiving device 421 to warn the walking navigation system 2 possessed by the pedestrian and the car navigation system 3 mounted on the traveling vehicle. Transmit (step B4).
The processing device 423 checks the trajectory of the movement route between the pedestrian and the running vehicle, and checks whether the pedestrian and the running vehicle collide or whether the running vehicles collide (step B5). .
The processing device 423 determines whether the pedestrian and the traveling vehicle collide or whether the traveling vehicles collide (step B6).
If the processing device 423 determines that a collision has occurred, the information transmitting / receiving device 421 issues an emergency call to an emergency organization, for example, a fire engine for requesting an ambulance, or a police organization (step B7).
The information transmission / reception device 421 transmits the position, speed, and movement direction of the pedestrian toward the car navigation system 3 (step B8).
The information transmitting / receiving device 421 transmits the position, speed, moving direction, and position of the obstacle of the traveling car to the walking navigation system 2 (step B9).
[0036]
In the flowchart, the information transmitting / receiving device 421 wirelessly transmits the pedestrian position, the pedestrian speed, the pedestrian moving direction, and the obstacle position from the walking navigation system 2 and the moving vehicle position, speed, and moving direction from the car navigation system 3. Although received via the LAN or telephone network, the information transmitting / receiving device 421 receives the GPS information received from the satellite by the quasi-zenith signal receiving device 201 from the walking navigation system 2 via the antenna 208, and the quasi-zenith signal from the car navigation system 3. The receiving device 311 receives GPS information received from the satellite via the antenna 320, and the processing device 423, based on the GPS information of the walking navigation system 2, determines the pedestrian position, pedestrian speed, pedestrian moving direction, The obstacle position is calculated, and the GPS of the car navigation system 3 Based on the distribution, the car position during traveling, the speed may calculate the moving direction. In such a case, the mobile body information storage device 422 is configured so that the pedestrian position, the pedestrian speed, the pedestrian movement direction, the obstacle position based on the GPS information of the walking navigation system 2 calculated by the processing device 423, the car navigation system 3's The vehicle position, speed, and direction of travel based on GPS information are stored. Alternatively, the information transmission / reception device 421 receives position, speed, moving direction, etc. from one of the walking navigation system 2 and the car navigation system 3 and receives GPS information from which the position is not calculated from the other. I do not care.
[0037]
As described above, the quasi-zenith signal receiver 201 in the walking navigation system 2 receives GPS information from the satellite via the antenna 208. The mobile body information transmitting / receiving apparatus 207 moves with a user who is a pedestrian as a mobile body, and transmits predetermined information based on the GPS information received by the quasi-zenith signal receiving apparatus 201 without using a satellite. Received from outside the user as the mobile body via a wireless LAN or the like. The predetermined information includes, for example, the position of the moving vehicle, the speed, the moving direction, and the position of the obstacle as the position information of the other moving body indicating the position of the other moving body. Based on the GPS information received by the quasi-zenith signal receiving device 201, the information transmitting / receiving device 421 in the moving body information management server 4 is based on the position of the traveling vehicle as the predetermined information existing near the user's position, The speed, the moving direction, and the position of the obstacle are transmitted to the moving body information transmitting / receiving apparatus 207. Based on the GPS information received by the quasi-zenith signal receiving device 201, the information transmitting / receiving device 421 in the mobile body information management server 4 is the position of the traveling vehicle as the predetermined information existing near the position of the pedestrian. , The speed, the moving direction, and the position of the obstacle are transmitted to the moving body information transmitting / receiving apparatus 207.
[0038]
As an example of the collision prediction determination unit, the walking navigation control apparatus 205 in the walking navigation system 2 performs other movements based on the GPS information received by the moving body information transmitting / receiving apparatus 207 and the position information of the other moving bodies. Determine the collision prediction with the body.
When the walking navigation control device 205 determines that the speaker 203 or the display 204 as an output unit collides with the other moving body, the speaker 203 or the display 204 outputs collision prediction information and notifies the user of the collision prediction.
[0039]
According to the present embodiment, it is possible to grasp each other's accurate positional information between the self and others, and predict the possibility of collision even in cases that have been out of sight and have been difficult to avoid so far It is possible to prompt the user to avoid the collision by judging the above.
[0040]
Alternatively, the mobile body information transmitting / receiving device 207 may use, as the predetermined information, a warning as information that warns that there is a danger of a collision between the mobile body and the other mobile body from the outside of the mobile body. Receive information. In other words, as predetermined information, warning information indicating a warning determined that there is a possibility that a pedestrian and a running car may collide is received from the information transmitting / receiving device 421 in the mobile body information management server 4. Then, the speaker 203 or the display 204 outputs collision prediction information indicating a collision prediction between the moving body and another moving body based on the predetermined information received by the moving body information transmitting / receiving device 207 to the user. Notify the above collision prediction. In other words, when the warning information is received by the mobile body information transmitting / receiving apparatus 207, the speaker 203 or the display 204 outputs the collision prediction information and informs the user who is a pedestrian of the collision prediction. Also good. In other words, when the walking navigation control device 205 receives a collision warning from the mobile body information management server 4, the walking navigation control device 205 emits a warning sound at the speaker 203 and displays a warning sign on the display 204 to give a danger to the user who is a pedestrian. Inform.
[0041]
According to the present embodiment, since the positional relationship between self and others can be managed externally, a collision can be avoided based on warning information from the outside.
[0042]
As described above, the walking navigation system 2 receives information on the vehicle running near the pedestrian from the mobile body information management server 4, and determines the risk of collision from the moving direction and the traveling direction of the vehicle. And notifying the user.
[0043]
As described above, the walking navigation system 2 moves with the quasi-zenith signal receiving device 201 that receives GPS information from the quasi-zenith satellite 500 and the like, and the GPS information received by the quasi-zenith signal receiving device 201. Based on the predetermined information received by the mobile information transmitting / receiving device 207 and the mobile information transmitting / receiving device 207 that receives the predetermined information based on the mobile information management server 4 without passing through the quasi-zenith satellite 500 or the like. By providing the collision prediction information indicating the collision prediction with the pedestrian and notifying the pedestrian of the collision prediction, the apparatus for avoiding a traffic accident can be provided.
[0044]
Similarly, also in the car navigation system 3, as described above, the quasi-zenith signal receiving device 311 in the car navigation system 3 receives GPS information from the satellite via the antenna 320. The mobile body information transmitting / receiving apparatus 317 moves with the automobile as a mobile body, and transmits predetermined information based on the GPS information received by the quasi-zenith signal receiving apparatus 311 via a telephone network or a wireless LAN without using a satellite. Via the outside of the vehicle as the moving body. The predetermined information includes, for example, the position, speed, and moving direction of the pedestrian as the position information of the other moving body indicating the position of the other moving body. Based on the GPS information received by the quasi-zenith signal receiving device 311, the information transmission / reception device 421 in the mobile body information management server 4 includes the pedestrian's position, speed, The moving direction is transmitted to the moving body information transmitting / receiving device 317.
As an example of the collision prediction determination unit, the car navigation control device 315 in the car navigation system 3 uses the GPS information received by the mobile body information transmitting / receiving device 317 via the antenna 321 and the position information of the other mobile body. Based on this, a collision prediction with another moving body is determined.
When the car navigation control device 315 determines that the speaker 313 or the display 314 collides with the pedestrian as the other moving body, the speaker 313 or the display 314 outputs the collision prediction information to the user who rides in the car. Notify the above collision prediction.
[0045]
Alternatively, the mobile body information transmitting / receiving device 317 provides, as the predetermined information, a warning as information that warns that there is a risk of collision between the mobile body and the other mobile body from the outside of the mobile body. Receive information. In other words, as predetermined information, warning information indicating a warning determined that there is a possibility that a pedestrian and a running car may collide is received from the information transmitting / receiving device 421 in the mobile body information management server 4. Then, the speaker 313 or the display 314 outputs collision prediction information indicating a collision prediction between the moving body and another moving body based on the predetermined information received by the moving body information transmitting / receiving device 317, and gets on the board. Inform the user, particularly the driver, of the collision prediction. In other words, when warning information is received by the mobile body information transmitting / receiving device 317, the speaker 313 or the display 314 may output the collision prediction information and notify the boarding user of the collision prediction. .
[0046]
When the car navigation control device 315 determines that the moving body (self) and the other moving body (pedestrian) collide with each other, the brake control device receives warning information from the mobile body information transmitting / receiving device 317. Is received, the brake as a braking device for braking the self mounted on the automobile is controlled so as to brake the moving body (self). In other words, the car navigation control device 315 receives the pedestrian position, the pedestrian speed, the pedestrian movement direction, the position of the traveling vehicle, the speed, the movement direction, and the obstacle received from the mobile body information management server 4. From the position information, it is checked whether there is a danger of collision with the host vehicle. If it is judged that there is a danger, a warning sound is emitted from the speaker 313 and a warning sign is displayed on the display 314 to inform the user of the danger. When it is determined that it is necessary to avoid the collision, the brake control device 318 is operated to avoid a collision. Alternatively, when the car navigation control device 315 receives a collision warning from the mobile information management server 4, the car navigation control device 315 outputs a warning sound from the speaker 313 and displays a warning sign on the display 314 to inform the user of the danger and avoid the collision. If it is determined that the vehicle is necessary, the brake control device 318 is operated to avoid a collision.
[0047]
According to the present embodiment, it is possible to grasp each other's accurate positional information between the self and others, and predict the possibility of collision even in cases where it has been out of sight and difficult to avoid so far Thus, it is possible to automatically avoid a collision before the human judgment of the user.
[0048]
As described above, the car navigation system 3 is based on the quasi-zenith signal receiving device 311 that receives GPS information from the quasi-zenith satellite 500 and the like, and the GPS information that moves with the automobile and is received by the quasi-zenith signal receiving device 311. Based on the predetermined information received by the mobile information transmitter / receiver 317 and the mobile information transmitter / receiver 317 that receives predetermined information from the mobile information management server 4 without using the quasi-zenith satellite 500 or the like, By providing collision prediction information indicating the collision prediction with a pedestrian and notifying the automobile driver of the collision prediction, a device for avoiding a traffic accident can be provided.
[0049]
As described above, the car navigation system 3 receives the surrounding pedestrian information from the mobile body information management server 4, determines the risk of collision from the moving direction of the pedestrian and the traveling direction of the car, and notifies the driver. In addition, when it is determined that emergency avoidance is necessary, the brake is controlled to automatically avoid an accident.
[0050]
As described above, even in a navigation system using GPS, in particular, a measurement error of position information is large, and it is difficult to safely and accurately guide a pedestrian to a target location, for example, an error after correction Is not a technique for error correction using a reference station that is not suitable for guiding pedestrians because it is as large as 1 meter. For example, GPS with high-precision positioning using a quasi-zenith satellite (for example, corrected error of 25 cm class) A pedestrian is safely and accurately guided to a target location by using a navigation system using the. Furthermore, by using a quasi-zenith satellite, collision prevention control is performed for pedestrians who are hiding at the base of the building so that the vehicle side knows the exact position information and avoids traffic accidents.
[0051]
As described above, according to the present embodiment, accurate position information can be used for walking navigation based on a signal from the quasi-zenith satellite 500 or the like, so that a complicated sidewalk with telephone poles and obstacles can be guided. It becomes possible. In combination with a detailed map for sidewalks, it is possible to accurately notify the end position of the staircase, the start position, the level difference between the roadway and the sidewalk, and the navigation that can be used even for visually impaired people. In addition, by grasping the accurate current position, there is no possibility of making a mistake as in the conventional navigation system.
[0052]
Furthermore, according to the present embodiment, a pylon that is a landmark under construction is determined from the video taken by the camera 206, and the position is transmitted to the mobile body information management server 4, thereby comparing with the GPS or the like. Thus, a much more accurate database of obstacle position information can be obtained, so that highly reliable obstacle information can be provided to other navigation systems.
[0053]
Furthermore, according to the present embodiment, it is possible to grasp each other's accurate positional information between a pedestrian and a running car, even in cases where it has been difficult to avoid since it has been out of sight. The possibility of collision can be predicted and avoided.
[0054]
Furthermore, according to the present embodiment, since the exact position can be communicated to the other party while the pedestrian is moving, the current position is notified to the fast food store while moving outdoors, A service in which a delivery person delivers an item to the current position of the user can be realized.
[0055]
According to this embodiment, rather than grasping only a limited range of information that is navigated and controlled based on sensed road conditions, it is linked with a navigator for walking (and other navigators). Furthermore, by using positioning from the quasi-zenith satellite and information from the Internet, it is possible to grasp a wide range of information, and to navigate and control.
[0056]
Furthermore, according to the present embodiment, it is possible to collect a wide range of information at low cost by using an existing telephone network and the Internet network, and no uplink means to the satellite is required for transmitting information via the Internet. can do.
[0057]
Further, according to the present embodiment, by using the quasi-zenith satellite as a positioning system for pedestrian positioning, navigation data such as a walking navigation system can be made more accurate.
[0058]
In addition, according to the present embodiment, in a foggy state or the like, only a limited range of information can be grasped. For example, a surrounding navigator (or other navigator) is used instead of judging the surrounding situation by CCD. In addition, it is possible to grasp a wide range of information even in foggy conditions, etc. by using positioning from quasi-zenith hygiene and information from the Internet.
[0059]
In addition, what has been described as “˜apparatus” or “˜unit” in the description of the above embodiment can be configured by a program that can be operated by a computer in part or in whole. These programs can be created in C language, for example. Alternatively, HTML, SGML, or XML may be used. Alternatively, the screen display may be performed using JAVA (registered trademark).
[0060]
In the above description, in the case where what is described as “˜device” or “˜unit” in the description of the above embodiment is configured by a program that can be operated partly or entirely by a computer, the mobile information management server 4 Although not shown, a system unit, a CRT (Cathode Ray Tube) display device, a keyboard (K / B), a mouse, a compact disk device (CDD), a printer device, and a scanner device are provided. The CRT display device, K / B, mouse, CDD, printer device, and scanner device are connected to the system unit by a cable.
Further, although not shown, the mobile information management server 4 includes a CPU (Central Processing Unit) that executes a program. The CPU is connected to a ROM (Read Only Memory) (an example of a storage device), a RAM (Random Access Memory) (an example of a storage device), a communication board, a CRT display device, a K / B, a mouse, It is connected to an FDD (Flexible Disk Drive), a magnetic disk device (which is an example of a storage device), a CDD, a printer device, and a scanner device. The communication board is connected to the Internet or a dedicated line. Similarly, each navigation system includes a CPU that executes a program (not shown). The CPU is connected to a ROM (an example of a storage device), a RAM (an example of a storage device), a liquid crystal screen, an input key, a magnetic disk device (an example of a storage device), and a communication board via a bus. ing. The communication board is connected to a telephone network, the Internet, a dedicated line, or the like using radio.
Here, the communication board is not limited to the Internet, and may be further connected to a LAN (Local Area Network) or a WAN (Wide Area Network) such as ISDN.
The magnetic disk device stores an operating system (OS), a window system, a program group, and a file group. The program group is executed by a CPU, OS, and window system.
When configured by a program, the program group stores a program to be executed by what has been described as “˜apparatus” or “˜unit” in the description of the embodiment. The file group stores what has been described as “position”, “speed”, “movement direction”, or “obstacle” in the description of the above embodiment.
In addition, what has been described as “˜device” or “˜unit” in the description of each embodiment may be realized by firmware stored in a ROM. Alternatively, it may be implemented by software, hardware, or a combination of software, hardware, and firmware.
In addition, the program for carrying out each of the above-described embodiments is also another recording such as a magnetic disk device, FD (Flexible Disk), optical disk, CD (compact disk), MD (mini disk), DVD (Digital Versatile Disk), etc. You may memorize | store using the recording apparatus by a medium.
[0061]
【The invention's effect】
According to this invention, it is possible to grasp accurate positional information between a pedestrian and a running car, and even if the case has been out of sight and difficult to avoid, there is a possibility of a collision. Can be predicted and avoided. Further, it is possible to eliminate the need for uplink means to the satellite.
[0062]
According to the present embodiment, it is possible to eliminate the possibility of making a mistake as in the conventional navigation system by grasping the accurate current position.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of a system according to a first embodiment.
FIG. 2 is a diagram showing a technology planned in the future.
FIG. 3 is a diagram showing a technology planned in the future.
FIG. 4 is a diagram showing a positioning system using a quasi-zenith satellite.
FIG. 5 is a diagram showing a configuration of a positioning system using a quasi-zenith satellite.
FIG. 6 is a diagram showing a configuration of a walking navigation system.
FIG. 7 is a diagram illustrating an example of a signal from a satellite group.
FIG. 8 is a diagram illustrating an example of position information.
FIG. 9 is a diagram showing a configuration of a car navigation system.
FIG. 10 is a diagram showing a configuration of a mobile information management server.
FIG. 11 is a flowchart for explaining an example of the operation of the mobile information management server.
[Explanation of symbols]
2 walking navigation system, 3 car navigation system, 4 mobile object information management server, 5 communication means, 200 mobile communication apparatus, 201 quasi-zenith signal receiving apparatus, 202 sidewalk map recording apparatus, 203 speaker, 204 display, 205 walking navigation control Device, 206 Camera, 207 Mobile Information Transmit / Receive Device, 208,209 Antenna, 210 Input Key, 220 Receiver, 300 GPS Satellite, 311 Quasi-Zenith Signal Receiver, 312 Road Map Recorder, 313 Speaker, 314 Display, 315 Car Navigation control device, 316 camera, 317 Mobile body information transmission / reception device, 318 Brake control device, 320, 321 Antenna, 322 Receiver, 421 Information transmission / reception device, 422 Mobile body information storage device, 423 Processing device, 430 Container, 500 quasi-zenith satellite, 550 MTSAT.

Claims (15)

A satellite receiver for receiving GPS (Global Positioning System) information from the satellite;
An information receiving unit that moves together with the moving body and receives predetermined information based on the GPS information received by the satellite receiving unit from outside the moving body without passing through the satellite;
An output unit that outputs collision prediction information indicating a collision prediction between the moving body and another moving body based on predetermined information received by the information receiving unit, and notifies the user of the collision prediction; A mobile communication device. The information receiving unit receives warning information as information for warning that there is a risk of collision between the moving body and the other moving body from the outside of the moving body as the predetermined information. ,
The mobile communication device according to claim 1, wherein when the warning information is received by the information receiving unit, the output unit outputs the collision prediction information and notifies the user of the collision prediction. A receiving unit that receives position information of another moving body indicating the position of the other moving body from the outside of the moving body, and further receives GPS (Global Positioning System) information of the moving body from a satellite;
A collision prediction determination unit that determines a collision prediction with another moving body based on the GPS information received by the receiving unit and the position information of the other moving body;
A mobile communication device comprising: an output unit that outputs the collision prediction information and notifies the user of the collision prediction when it is determined by the collision prediction determination unit to collide with the other mobile body . The moving body has a braking device for braking itself,
The mobile communication device further includes a braking device that controls the braking device to brake the mobile body when the collision prediction determination unit determines that the mobile body and the other mobile body collide with each other. 4. The mobile communication apparatus according to claim 3, further comprising a control unit. A receiving unit that receives each position information for determining the position of each mobile communication device from each mobile communication device of a plurality of mobile communication devices;
An arithmetic unit that calculates the position of each mobile communication device, the moving direction of each mobile communication device, and the moving speed of each mobile communication device based on the position information of each mobile communication device received by the receiving unit. When,
Among the plurality of mobile communication devices, the position of the mobile communication device, the moving direction of the mobile communication device, and the moving speed of the mobile communication device calculated by the calculation unit are transmitted to another mobile communication device. A server apparatus comprising: a transmission unit. Each mobile communication device of the plurality of mobile communication devices moves together with any one of the different mobile bodies among the plurality of mobile bodies,
The server device further includes a collision based on the position information of each mobile communication device received by the receiving unit when there is a mobile body that is at risk of a collision among the plurality of mobile bodies. A warning information generation unit that generates warning information as information for warning that there is a danger of
The server device according to claim 5, wherein the transmission unit transmits the warning information generated by the warning information generation unit to a mobile communication device in which there is a risk of collision. A map information storage unit for storing map information having information on a sidewalk;
A satellite receiver for receiving GPS (Global Positioning System) information from the satellite;
A destination input unit for inputting the user's destination;
Based on the map information stored in the map information storage unit and the GPS information received by the satellite reception unit, the user reaches the user's destination input by the destination input unit while using the information on the sidewalk. A gait guidance device comprising a guidance unit for guiding the gait. A satellite receiving step of receiving GPS (Global Positioning System) information from the satellite;
An information receiving step of receiving predetermined information based on the GPS information received in the satellite reception step, which is installed in the mobile unit, from outside the mobile unit without going through the satellite;
An output step of outputting collision prediction information indicating a collision prediction between the moving body and another moving body based on the predetermined information received by the information receiving step, and informing the user of the collision prediction. A mobile communication method. Receiving the position information of the other moving body indicating the position of the other moving body from the outside of the moving body, and further receiving GPS (Global Positioning System) information of the moving body from a satellite;
A collision prediction determination step of determining a collision prediction with another moving body based on the GPS information received by the receiving step and the position information of the other moving body;
A mobile communication method comprising: an output step of outputting the collision prediction information and notifying the user of the collision prediction when it is determined in the collision prediction determination step that the vehicle collides with the other mobile body. . A receiving step of receiving each position information for determining the position of each mobile communication device from each mobile communication device of a plurality of mobile communication devices;
A calculation step of calculating the position of each mobile communication device, the moving direction of each mobile communication device, and the moving speed of each mobile communication device based on the position information of each mobile communication device received in the receiving step. When,
Of the plurality of mobile communication devices, the position of the mobile communication device, the moving direction of the mobile communication device, and the moving speed of the mobile communication device calculated by the calculation step are transmitted to another mobile communication device. A communication method comprising: a transmission step. A map information storage step of storing map information having information on the sidewalk in a storage device;
A satellite receiving step of receiving GPS (Global Positioning System) information from the satellite;
A destination input process for inputting the user's destination;
Based on the map information stored in the storage device by the map information storage step and the GPS information received by the satellite reception step, the user's purpose input by the destination input step using the information on the sidewalk A walking guidance method comprising: a guidance step for guiding the user to the ground. A satellite reception process for receiving GPS (Global Positioning System) information from a satellite;
An information reception process that is installed in a mobile body and receives predetermined information based on GPS information received by the satellite reception process from outside the mobile body without passing through the satellite;
Based on the predetermined information received by the information receiving process, collision prediction information indicating a collision prediction between the moving body and another moving body is output, and the computer is caused to execute an output process for notifying the user of the collision prediction. Or a computer-readable recording medium on which the program is recorded. A receiving process for receiving position information of another moving body indicating the position of the other moving body from outside the moving body, and further receiving GPS (Global Positioning System) information of the moving body from a satellite;
A collision prediction determination process for determining a collision prediction with another mobile body based on the GPS information received by the reception process and the position information of the other mobile body;
A program for causing the computer to execute an output process for outputting the collision prediction information and informing the user of the collision prediction when it is determined that the collision prediction determination process causes a collision with the other moving body. A recorded computer-readable recording medium. Receiving processing for receiving each position information for determining the position of each mobile communication device from each mobile communication device of a plurality of mobile communication devices;
Arithmetic processing for calculating the position of each mobile communication device, the moving direction of each mobile communication device, and the moving speed of each mobile communication device based on the position information of each mobile communication device received by the above reception processing When,
Of the plurality of mobile communication devices, the position of the mobile communication device, the moving direction of the mobile communication device, and the moving speed of the mobile communication device calculated by the calculation step are transmitted to another mobile communication device. A program for causing a computer to execute transmission processing, or a computer-readable recording medium on which the program is recorded. Map information storage processing for storing map information having information on the sidewalk in a storage device;
A satellite reception process for receiving GPS (Global Positioning System) information from a satellite;
Destination input processing to input the user's destination;
Based on the map information stored in the storage device by the map information storage process and the GPS information received by the satellite reception process, the user's purpose input by the destination input process using the information on the sidewalk A program for causing a computer to perform guidance processing for guiding the user to the ground, or a computer-readable recording medium on which the program is recorded.

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