JP2008181207A - Position locating device, position locating method, information distribution device and information distribution method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve the safe traveling of a moving object by highly precisely locating the position of the moving object. <P>SOLUTION: When a vehicle enters a communication area, an up-link signal including the vehicle ID of a vehicle is transmitted to a road side unit 110 by a transmission part 201, and a down-link signal to be transmitted by a transmission part 254 is received by a reception part 202 as the result of the transmission of the up-link signal. Then, a time when a vehicle has moved since a passing time until the current time is calculated by a moving time calculation part 203, and a distance at which the vehicle has moved is calculated by a moving distance calculation part 204. Then, the current position of the vehicle is located from the calculated distance and the position information at an observation spot included in the down-link signal by a current position locating part 205. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a position locating apparatus, a position locating method, an information distribution apparatus, and an information distribution method for locating a current position of a mobile object using position information of the mobile object distributed from a communication device installed on a roadside.

  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 discomforted. 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. .

  UWB (Ultra Wide Band), magnetic marker, ultrasonic positioning, etc. can be cited as accurate positioning technology at the advanced safety service area approach position, but all of them need to be equipped with new equipment on the vehicle. Accurate positioning using optical beacons that have already been improved in infrastructure has been studied.

  Until now, when the vehicle passes through the reception area of the optical signal transmitted from the optical beacon transmitter, the vehicle travels using the number of times the optical signal is received by the optical beacon receiver mounted on the vehicle. A method for acquiring information related to a position has been proposed (for example, see Patent Document 1 below).

  Here, a conventional method of position location using an optical beacon will be described with reference to FIGS. 10 and 11. FIG. 10 is an explanatory diagram showing an outline of a position location system using an optical beacon. In FIG. 10, the position location system 1000 includes an optical beacon transmitter 1001 and a position detector 1002.

  The optical beacon transmitter 1001 is provided in an optical beacon installed on the roadside. The optical beacon transmitter 1001 is a road traffic information or position detector 1002 distributed from a VICS (registered trademark, Vehicle Information and Communication System) center to a vehicle 1010 (1010a, 1010b) traveling in the communication area 1003. The position information of the passing position P1 detected by the above is transmitted using an optical signal.

  The position detector 1002 detects that the vehicle 1010 (1010a, 1010b) has passed the passing position P1 on the road. Specifically, for example, the position detector 1002 may be composed of an image sensor, and detects that the vehicle 1010a has passed through the passing position P1 by detecting a change in the background image at the passing position P1. The position information of the detected passing position P1 is output to the optical beacon.

  The vehicle 1010 (1010a, 1010b) receives the road traffic information transmitted from the optical beacon transmitter 1001 while traveling in the communication area 1003 and the positional information of the passing position P1, etc. by the optical beacon receiver (not shown). A current position P2 is calculated based on P1. Specifically, for example, the vehicle 1010b is configured to calculate the current position P2 by autonomous navigation from the position information of the passing position P1 received while traveling in the communication area 1003.

  Here, the outline of reception of the position information of the passing position P1 in the position location system 1000 shown in FIG. 10 will be described with reference to FIG. FIG. 11 is an explanatory diagram illustrating an example of reception of position information in the position location system.

  In FIG. 11, the optical beacon transmitter 1001 transmits position information of the passing position P1 detected by the position detector 1002 to a vehicle 1110 (1110a, 1110b, 1110c) traveling in the communication area 1003. Specifically, for example, position information is transmitted periodically by a plurality of optical signals L1, L2, and L3. More specifically, for example, the position information of the passing position P1 is transmitted by the optical signal L1 to the vehicle 1110a, the optical signal L2 to the vehicle 1110b, and the optical signal L3 to the vehicle 1110c.

  Vehicles 1110 (1110a, 1110b, 1110c) receive optical signals L1, L2, and L3 at positions P11, P12, and P13, respectively, using optical beacon receivers (not shown). Then, the vehicle 1110 (1110a, 1110b, 1110c) calculates the current position by autonomous navigation by restoring the position information of the passing position P1 at the positions P11, P12, P13 where the optical signals L1, L2, L3 are received. .

  Specifically, for example, the vehicle 1110a calculates the current position from the position information of the passing position P1 restored at the position P11 separated from the passing position P1 by the distance E1. Similarly, the vehicle 1110b calculates the current position from the position information of the passage position P1 restored from the passage position P1 by the distance P2 and the vehicle 1110c from the position information of the passage position P1 restored by the position P13 away from the passage position P1 by the distance E3. To do.

JP 2003-30781 A

  However, in the above-described prior art, a communication error occurs due to a decrease in the reception sensitivity of the optical beacon transmitter or the optical beacon receiver due to weather conditions such as rain or fog, contamination of an optical signal transmission / reception unit, shielding by a wiper, etc. May occur. Therefore, in the above-described prior art of Patent Document 1, there is a problem that the number of optical signal receptions is erroneously counted, and an error in information related to the traveling position of the vehicle becomes large.

  Further, in the example described with reference to FIGS. 10 and 11, in order to restore the position information of the passing position P1 at the position where the optical signal is received, the positions P11, P12, P13 that received the optical signal, and the passing position P1 There is a problem that the error increases depending on the distance between the two. Specifically, for example, the error of the position determination of the current position P2 of the vehicle 1010b becomes large due to the sum of the errors such as the distances E1, E2, and E3 shown in FIG. 11 and the error of positioning by autonomous navigation. .

  In particular, when a communication error occurs a plurality of times, the position where the position information can be restored greatly deviates from the passing position P1. Specifically, for example, when the position information cannot be restored at the positions P11 and P12, the position information of the passing position P1 is shifted by the distance E3. In other words, since the position information of the passage position P1 is shifted by about the diameter of the communication area 1003 (for example, about 12 m) at the maximum, the position of the current position cannot be determined appropriately.

  As described above, if the position of the current position cannot be determined properly and the position determination error becomes large, the driver erroneously recognizes the positional relationship between the vehicle and the features such as signals and intersections. This leads to unnecessary confusion and 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. Specifically, for example, when the host vehicle enters the intersection, the driver erroneously recognizes the distance to the other vehicle that enters the intersection from a direction different from the own vehicle due to the position determination error of the other vehicle. Otherwise, there is a risk of causing a collision at the intersection.

  In addition, if there is an error in the location of both the other vehicle, the reliability of the positional relationship between the other vehicle will be significantly reduced, and the driver will be provided with appropriate advanced safety services. I can't.

  In order to solve the above-described problems caused by the prior art, the present invention provides a position locating apparatus, a position locating method, and an information distribution apparatus capable of performing a position determination of a moving body with high accuracy and achieving safe traveling of the moving body. And an information distribution method.

  In order to solve the above-described problems and achieve the object, the position locating device and the position locating method according to the present invention provide a communication device that detects the entry of a communication device installed on a roadside into a communication area by a moving body. As a result of the transmission of the optical signal, information on the time difference between the light reception time of the optical signal by the communication device and the passing time of the observation point by the mobile body, and the position information of the observation point Based on the time from the current time to the transmission time of the optical signal and the time difference received from the communication device, the time when the moving body has moved from the passing time to the current time is calculated, and the calculated time is The distance traveled by the mobile body is calculated, and the current position of the mobile body is determined from the calculated distance and the position information of the observation point.

  According to the present invention, it is possible to synchronize the transmission time when the optical signal is transmitted from the mobile body and the light reception time when the optical signal is received by the communication apparatus by the optical signal transmitted from the mobile body to the communication device. . Then, using the synchronized time, it is possible to determine the current position of the moving object by going back to the passing time of the observation point.

  Further, in the above invention, an optical signal including identification information of the mobile object is transmitted, and as a result of the transmission of the optical signal, information on the time difference and the position information associated with the identification information may be received. Good.

  According to this invention, the current position of the moving body can be determined by the information associated with the identification information of the moving body.

  Moreover, in the said invention, it is good also as calculating the said distance from the positioning information of the sensor by the autonomous navigation in the said mobile body.

  According to the present invention, the current position of the moving object can be determined by the distance calculated using the autonomous navigation.

  In the above invention, the communication device may be an optical beacon.

  According to this invention, the current position of the mobile body can be determined using the optical beacon installed on the roadside.

  The information distribution apparatus and the information distribution method according to the present invention are the information distribution apparatus that distributes information to the mobile body, the detection signal for detecting the passage of the mobile body at the observation point on the route is received, and the mobile body Receiving an optical signal transmitted when entering the communication area of the information distribution device, information regarding a time difference between a light reception time of the optical signal and a passing time of the moving body at the observation point; and Position information is generated, and the generated information on the time difference and the position information are transmitted to the mobile body that is the transmission source of the optical signal.

  According to this invention, the information regarding the time difference between the light reception time of the optical signal transmitted from the mobile body and the passage time when the mobile body passes the observation point and the position information of the observation point can be transmitted to the mobile body.

  In the above invention, the optical signal including the identification information of the moving body is received, the identification information is correlated to generate information on the time difference and the position information, and the moving body identified by the identification information Then, the information regarding the time difference and the position information may be transmitted.

  According to the present invention, it is possible to accurately transmit information relating to the time difference and position information of the observation point to the mobile body that has transmitted the optical signal.

  Moreover, in the said invention, it is good also as repeating periodically transmission of the information regarding the said time difference, and the said positional information with respect to the mobile body which moves the said communication area.

  According to the present invention, it is possible to reliably transmit information about time difference and position information to a moving body moving in a communication area.

  In the above invention, the information distribution apparatus may be an optical beacon.

  According to this invention, the information regarding a time difference and position information can be transmitted using an optical beacon installed on the roadside.

  According to the position locating device, the position locating method, the information distribution apparatus, and the information distribution method according to the present invention, there is an effect that the moving body can be positioned with high accuracy and the moving body can be safely run. .

  Exemplary embodiments of a position locating device, a position locating method, an information distribution device, and an information distribution method according to the present invention will be described below in detail with reference to the accompanying drawings. In the present embodiment, for example, the on-vehicle device such as a navigation device mounted on a moving body such as a vehicle (including a four-wheeled vehicle and a two-wheeled vehicle) and the roadside such as a position locating device of the present invention and an optical beacon installed on the roadside. An example when the information distribution apparatus of the present invention is implemented by a machine will be described.

(Embodiment)
(Outline of positioning system)
First, the outline of the position location system according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is an explanatory diagram showing an overview of a position location system according to an embodiment of the present invention.

  In FIG. 1, a position location system 100 according to an embodiment of the present invention includes a roadside device 110 such as an optical beacon and an observation point 111. The position locating system 100 is a system for locating the position of the vehicle 102 traveling in the advanced safety service area 101 that provides the advanced safety service.

  Specifically, for example, the advanced safety service is the position information and signals of its own vehicles with respect to the vehicle 102 that has entered the advanced safety service area 101 within a predetermined range (for example, within 100 m from the center) from an intersection or a curve. This service provides information and signage information to prevent traffic accidents caused by driver blind spots, carelessness and oversight.

  Although details will be described with reference to FIG. 3, the roadside device 110 receives a detection signal for detecting that the vehicle has passed the observation point 111 from a position detection unit (not shown). The position detection unit may be, for example, an image sensor, a laser sensor, a millimeter wave sensor, a tape switch, or the like that detects that the vehicle 102 has passed through the observation point 111, and may be configured integrally with the roadside device 110. Specifically, for example, the position detection unit only needs to be able to detect the passage of the vehicle 102 at the reference observation point 111 simply and at high speed.

  More specifically, for example, when an image sensor is used for the position detection unit, only a change in the background image of the observation point 111 due to the passage of the vehicle 102 may be detected, and a high accuracy (for example, a detection speed of 10 ms or less) , The vehicle 102 traveling at 100 km / h can detect the passage of the vehicle 102 at the observation point 111 at 0.3 m or less). In addition, when a tape switch is used for the position detection unit, it may be configured to detect an electrical signal generated when the vehicle 102 steps on the tape switch installed at the observation point 111, and it is highly accurate with a detection speed of several ns or less. The passage of the vehicle 102 at the observation point 111 can be detected (for example, 0.01 m or less for a vehicle traveling at 100 km / h).

  Although details will be described with reference to FIGS. 4 and 5, the roadside device 110 receives an optical signal transmitted from the vehicle 102 when the vehicle 102 enters a communication area (not shown) in the roadside device 110. The roadside device 110 calculates the time difference between the light signal reception time and the passing time of the vehicle 102 at the observation point 111, and the vehicle traveling in the communication area using the calculated time difference and the position information of the observation point. 102.

  When the vehicle 102 enters the communication area of the roadside device 110, the vehicle 102 transmits an optical signal to the roadside device 110 by an in-vehicle device (not shown). Although details will be described with reference to FIG. 4, when the vehicle 102 enters the communication area, the in-vehicle device transmits an optical signal that is an uplink signal including identification information of the vehicle 102 to the roadside device 110.

  The vehicle 102 receives the time difference and the position information of the observation point from the road side device 110 by an in-vehicle device (not shown) while traveling in the communication area of the roadside device 110, and from the passing time when the vehicle 102 passes through the observation point 111. The travel time traveled up to the current time is calculated. In other words, by synchronizing the transmission time of the optical signal transmitted by the vehicle 102 and the reception time of the optical signal received by the roadside device 110, the movement from the passing time passing through the observation point 111 to the current time is performed. Calculate time.

  Specifically, for example, using the fact that the rising time of the optical signal is sharp and there is no detection error, the traveling time is regarded as the same time as the transmission time and the light reception time, and the transit time and the light reception time calculated by the roadside device 110 are used. It is calculated by summing the time difference from the time and the time from the transmission time to the current time.

  In addition, the vehicle 102 locates the current position from the travel time and the position information of the observation point 111 by an in-vehicle device (not shown). Although details will be described with reference to FIG. 6, the current position is determined by, for example, calculating the distance traveled by the vehicle 102 during the travel time from the positioning information of various sensors in autonomous navigation by the in-vehicle device. In other words, the current position is determined retroactively from the position information of the observation point 111 to the passage time.

  As described above, the vehicle 102 traveling in the advanced safety service area 101 can determine the current position by going back to the passing time of the observation point 111 using the position information of the observation point 111 determined with high accuracy. Therefore, it is possible to receive provision of appropriate advanced safety services. In addition, since the infrastructure already installed in the roadside device 110 such as an optical beacon can be used, the advanced safety service can be provided simply and inexpensively.

  Specifically, for example, the current position can be determined with accuracy within the range of the error of the observation point 111 and the error of autonomous navigation in traveling within a predetermined range (for example, about 100 m). That is, the current position can be determined with an error of half a vehicle (for example, about 2.5 m) or less.

(Functional configuration of in-vehicle equipment and roadside equipment)
Next, the functional configuration of the in-vehicle device and the roadside device 110 in the position location system 100 according to the embodiment of the present invention will be described with reference to FIG. FIG. 2 is an explanatory diagram showing a functional configuration of the in-vehicle device and the roadside device according to the embodiment of the present invention.

  In FIG. 2, the vehicle-mounted device 200 is mounted on the vehicle 102 shown in FIG. 1, for example, and includes a transmission unit 201, a reception unit 202, a travel time calculation unit 203, a travel distance calculation unit 204, and a current position. The orientation unit 205, the autonomous positioning unit 206, and a timer 210 are included.

  When detecting that the vehicle 102 has entered the communication area of the roadside device 110 installed on the roadside, the transmission unit 201 transmits an optical signal to the roadside device 110. The detection of the approach may be, for example, detecting light emission in the communication area of the roadside device 110 or detecting from the installation position of the roadside device 110 on the map.

  The optical signal is transmitted as an uplink signal including a vehicle ID (Identifier) that is identification information of the vehicle 102, for example. Here, the uplink signal is a signal transmitted from the terminal side of the network to the center side.

  As a result of the transmission of the optical signal by the transmission unit 201, the reception unit 202 uses the roadside device to obtain information on the time difference between the light reception time of the optical signal by the roadside device 110 and the passing time of the observation point by the vehicle, and the position information of the observation point. 110. Specifically, for example, the reception unit 202 receives information on the time difference associated with the identification information and the position information of the observation point from the roadside device 110 as a result of the transmission of the uplink signal by the transmission unit 201. .

  Although details will be described with reference to FIG. 5, the information transmitted from the roadside device 110 is a vehicle traveling in the communication area of the roadside device 110 as a downlink signal including information regarding a time difference and position information of the observation point. 102 is periodically transmitted. That is, the receiving unit 202 can receive a downlink signal a plurality of times (for example, about five times) while the vehicle 102 is traveling in the communication area, and it is only necessary that one reception is successful among the plurality of times. The link signal can be reliably received. Here, the downlink signal is a signal transmitted from the center side of the network to the terminal side.

  Although details will be described with reference to FIG. 7, the downlink signal includes the vehicle ID that is identification information of the vehicle 102 that is the source of the uplink signal, and the passing time and position information of the observation point 111 in the vehicle 102. Are associated with each other. Therefore, even when a plurality of vehicles are traveling in the communication area, the downlink signal is appropriately received by the vehicle 102 that is the transmission target of the downlink signal.

  The travel time calculation unit 203 calculates the time that the vehicle 102 has traveled from the passage time to the current time based on the time and the time difference from the current time to the transmission time of the optical signal. Specifically, for example, the travel time is calculated by synchronizing the transmission time counted by the timer 210 with the reception time of the optical signal received by the roadside device 110, and passing through the observation point 111. The time from the time to the current time is calculated.

  The travel distance calculation unit 204 calculates the distance traveled by the vehicle 102 using the time calculated by the travel time calculation unit 203. Specifically, for example, the movement distance calculation unit 204 calculates the distance from the positioning information of the autonomous positioning unit 206 in the vehicle 102.

  The autonomous positioning unit 206 manages the vehicle speed pulse, an autonomous positioning sensor such as an acceleration sensor or a gyro sensor, and the speed vector of the vehicle 102 obtained from the autonomous positioning sensor as positioning information in time series. That is, the movement distance calculation unit 204 can calculate the movement distance of the vehicle 102 from the passage time to the current time by time integration of the speed vector based on the positioning information managed by the autonomous positioning unit 206.

  The current position locator 205 determines the current position of the vehicle 102 from the distance calculated by the movement distance calculator 204 and the position information of the observation point 111. Specifically, for example, the current position locating unit 205 restores the position information of the observation point 111 from the downlink signal received by the receiving unit 202, and the vehicle 102 from the passing time to the current time from the restored position information. The current position is determined by adding the movement distance of. In other words, the current position locating unit 205 locates the current position of the vehicle 102 by going back to the passing time with reference to the position information of the observation point 111.

  The roadside device 110 is composed of, for example, an optical beacon installed on the road, and is composed of a receiving unit 251, a light receiving unit 252, a generating unit 253, a transmitting unit 254, and a timer 260. .

  The receiving unit 251 receives a detection signal for detecting the passage of the vehicle 102 at the observation point 111 on the road. Specifically, for example, the receiving unit 251 receives a detection signal for detecting that the vehicle 102 has passed the observation point 111 from a position detection unit (not shown). The position detection unit may be, for example, an image sensor, a laser sensor, a millimeter wave sensor, a tape switch, or the like that detects that the vehicle 102 has passed through the observation point 111, and may be configured integrally with the roadside device 110.

  The light receiving unit 252 receives an optical signal transmitted when the vehicle 102 enters the communication area of the roadside device 110. Specifically, for example, the light receiving unit 252 receives an optical signal that is an uplink signal including identification information of the vehicle 102. Here, since the edge of the optical signal that is an uplink signal can be detected sharply, the transmission time of the vehicle 102 and the light reception time measured by the timer 260 can be synchronized with high accuracy.

  The generation unit 253 generates information regarding a time difference between the light reception time of the optical signal and the passing time of the vehicle 102 at the observation point 111 and position information of the observation point 111. Further, when the optical signal that is the uplink signal includes the vehicle ID that is the identification information of the vehicle 102, the generation unit 253 may generate the information about the time difference and the position information by associating the vehicle ID. .

  The transmission unit 254 transmits the information about the time difference and the position information generated by the generation unit 253 to the vehicle 102 that is the transmission source of the optical signal. Specifically, for example, the transmission unit 254 may transmit information regarding time difference and position information to the vehicle 102 identified by the vehicle ID.

  In addition, the transmission unit 254 periodically and repeatedly transmits the information regarding the time difference and the position information to the vehicle 102 moving in the communication area. In this manner, the transmission unit 254 can reliably transmit appropriate information to the vehicle 102 traveling in the communication area.

  Specifically, each functional unit of the in-vehicle device 200 and the roadside device 110 illustrated in FIG. 2 is, for example, a CPU, a ROM, a RAM, a drive such as a hard disk drive or a flexible disk drive, an example of a hard disk or a removable recording medium. The function is realized by a recording medium such as a flexible disk or an I / F (interface).

  More specifically, for example, the CPU governs overall control of the in-vehicle device 200 or the roadside device 110. The ROM records programs such as a boot program. The RAM is used as a work area for the CPU. The drive controls reading / writing of data with respect to the recording medium according to the control of the CPU. The recording medium records data written under the control of the drive.

  The I / F is connected to a network such as the Internet through a communication line, and is connected to another device via this network. The I / F controls an internal interface with the network and controls data input / output from an external device.

(Overview of positioning)
Next, the positioning of the current position of the vehicle 102 in the positioning system 100 according to the embodiment of the present invention will be described with reference to FIGS. FIG. 3 is an explanatory diagram showing an example when passing through an observation point in the vehicle according to the embodiment of the present invention.

  In FIG. 3, the roadside device 110 installed on the road includes a position detector 301 and a transceiver 302. Specifically, for example, the position detector 301 may be an image sensor, a laser sensor, a millimeter wave sensor, a tape switch, or the like, and is a device that can easily and quickly detect the passage of the vehicle 102 at the observation point 111.

  The transceiver 302 is, for example, the light receiving unit 252 and the transmission unit 254 illustrated in FIG. 2, and receives an uplink signal from the vehicle 102 and transmits a downlink signal to the vehicle 102. Specifically, for example, the transceiver 302 has a communication area 310 that can communicate with the vehicle 102 traveling on the road, and receiving and receiving an uplink signal for the vehicle 102 traveling on the communication area 310. Send a signal.

  In the present embodiment, the uplink signal and the downlink signal are described as optical signals using optical beacons, but the downlink signal may be a signal using other wireless communication. That is, the uplink signal uses an optical signal to synchronize the light reception time in the roadside device 110 and the transmission time in the vehicle-mounted device 200 with high accuracy, and the downlink signal may be a versatile signal. Good.

  The vehicle 102 travels on the road and is equipped with the in-vehicle device 200 shown in FIG. As the vehicle 102 travels, the in-vehicle device 200 performs autonomous positioning by the autonomous positioning unit 206 with an arbitrary time as a reference time S0 in the time series S of the in-vehicle device 200.

  Specifically, for example, the in-vehicle device 200 causes a program recorded in a ROM, RAM, recording medium, or the like to be executed according to the control of the CPU, and the speed vector of the vehicle 102 from the reference time S0 is used as positioning information in a memory or the like. Record. The reference time S0 may be, for example, the time when the vehicle approaches the roadside device 110 or the time when the vehicle starts to travel, that is, the time when the positioning of the autonomous positioning unit 206 is reset.

  When the vehicle 102 reaches the observation point 111, the roadside device 110 detects that the vehicle 102 has passed the observation point 111 by the position detector 301, and the detected time is the passing time in the time series T of the roadside device 110. Let T0.

  Specifically, for example, the position detector 301 executes a program recorded in a ROM, a RAM, a recording medium, or the like according to the control of the CPU, and the passing time T0 when the vehicle 102 passes through the observation point 111 and the observation point 111. Is recorded in a memory or the like.

  FIG. 4 is an explanatory diagram showing an example when entering the communication area in the vehicle according to the embodiment of the present invention. In FIG. 4, when the in-vehicle device 200 detects that the vehicle 102 has entered the communication area 310 of the roadside device 110 by the transmission unit 201, the onboard device 200 transmits an uplink signal 401 to the roadside device 110.

  Specifically, for example, the in-vehicle device 200 detects light emission into the communication area 310 in the roadside device 110 or detects that the vehicle 102 has entered the communication area 310 from the installation position of the roadside device 110 on the map. When detected, an uplink signal 401 including the vehicle ID is transmitted.

  More specifically, for example, the transmitting unit 201 executes a program recorded in a ROM, a RAM, a recording medium, or the like according to the control of the CPU, and transmits an uplink signal 401 to the roadside device 110 via the I / F. The transmission time S1 in the time series S is recorded in a memory or the like.

  The roadside device 110 receives the uplink signal 401 transmitted when the vehicle 102 enters the communication area 310 of the roadside device 110 by the light receiving unit 252 constituting the transceiver 302. Specifically, for example, the light receiving unit 252 executes a program recorded in a ROM, a RAM, a recording medium, or the like according to the control of the CPU, and receives an uplink signal 401 from the vehicle 102 via the I / F. The light reception time T1 in the time series T is recorded in a memory or the like.

  Then, the roadside device 110 uses the generation unit 253 to download the information related to the time difference Tt between the light reception time T1 of the uplink signal 401 and the passing time T0 of the vehicle 102 at the observation point 111 and the position information of the observation point 111. A link signal is generated in association with the vehicle ID of the vehicle 102.

  Specifically, for example, the generation unit 253 causes a program recorded in a ROM, RAM, recording medium or the like to be executed according to the control of the CPU, and is calculated from the light reception time T1 and the passage time T0 recorded in the memory. Tt and the position information of the observation point 111 are recorded in a memory or the like as a downlink signal associated with the vehicle ID of the vehicle 102.

  FIG. 5 is an explanatory diagram showing an example of traveling in the communication area in the vehicle according to the embodiment of the present invention. In FIG. 5, the roadside device 110 transmits a downlink signal 501 to the vehicle 102 while the vehicle 102 is traveling in the communication area 310 by the transmission unit 254 constituting the transceiver 302.

  Specifically, for example, the transmission unit 254 causes a program recorded in a ROM, RAM, recording medium, or the like to be executed according to the control of the CPU, and a downlink signal 501 recorded in the memory or the like is transmitted via the I / F. To the vehicle 102. Here, transmission of the downlink signal 501 is periodically repeated with respect to the vehicle 102 traveling in the communication area 310, for example.

  The in-vehicle device 200 receives a downlink signal 501 transmitted from the roadside device 110 while traveling in the communication area 310 by the receiving unit 202. The downlink signal 501 may be received one or more times during a plurality of transmissions while traveling in the communication area 310. Information related to the vehicle ID of the vehicle 102 is extracted from the downlink signal 501. The structure to do may be sufficient.

  Specifically, for example, the receiving unit 202 executes a program recorded in a ROM, a RAM, a recording medium, or the like according to the control of the CPU, and receives a downlink signal 501 from the roadside device 110 via the I / F. The downlink signal 501 associated with the vehicle ID is recorded in a memory or the like.

  FIG. 6 is an explanatory diagram showing an example of the current position orientation in the vehicle according to the embodiment of the present invention. In FIG. 6, the in-vehicle device 200 allows the vehicle 102 to change the observation point 111 from the time Ss from the current time S2 to the transmission time S1 of the uplink signal 401 and the time difference Tt in the downlink signal 501 by the travel time calculation unit 203. A time TS in which the vehicle 102 has moved from the passing time T0 to the current time S2 is calculated.

  Specifically, for example, the travel time calculation unit 203 executes a program recorded in a ROM, RAM, recording medium or the like according to the control of the CPU, and from the downlink signal 501 and the transmission time S1 recorded in the memory or the like. The time TS when the vehicle 102 has moved from the passing time T0 to the current time S2 is calculated and recorded in a memory or the like.

  And the onboard equipment 200 calculates the distance 601 which the vehicle 102 moved during the time TS by the movement distance calculation part 204 using the time TS. Specifically, for example, the moving distance calculation unit 204 calculates the distance 601 from the positioning information of the autonomous positioning unit 206 in the vehicle 102.

  More specifically, for example, the movement distance calculation unit 204 executes a program recorded in a ROM, RAM, recording medium, or the like according to the control of the CPU, so that the time TS recorded in the memory or the like, a speed vector, and the like The distance 601 is calculated from the positioning information and recorded in a memory or the like.

  The in-vehicle device 200 determines the current position 602 of the vehicle 102 from the position information of the distance 601 and the observation point 111 by the current position determination unit 205. Specifically, for example, the current position locating unit 205 adds the distance 601 that the vehicle 102 has moved from the passing time T0 to the current time S2 based on the position information of the observation point 111 in the downlink signal 501. .

  More specifically, for example, the current position locating unit 205 causes the program recorded in the ROM, RAM, recording medium or the like to be executed according to the control of the CPU, and the position information of the observation point 111 recorded in the memory or the like, The current position 602 is determined from the distance 601. In other words, the current position locating unit 205 locates the current position 602 of the vehicle 102 retroactively to the passing time T0 on the basis of the position information of the observation point 111.

  As shown in FIGS. 3 to 6, by using the uplink signal 401 that is an optical signal, the transmission time S1 in the in-vehicle device 200 and the light reception time T1 in the roadside device 110 are synchronized, so that the current time S2 is obtained. To the passage time T0 can be traced accurately. Then, the current position 602 can be determined with high accuracy from the position information of the observation point 111 by autonomous navigation.

  Specifically, for example, the error at the observation point 111 is 0.5 m or less according to the position detector 301 including an image sensor or the like. Further, regarding the time from the current time S2 to the passage time T0, the transmission time S1 and the light reception time T1 are synchronized by the uplink signal 401, which is an optical signal, and can be regarded as having no error. And it is known that the error of position determination by autonomous navigation is 2.0 m or less in an area that provides advanced safety services (for example, traveling 100 m to an intersection). Therefore, in the area where the advanced safety service is provided, the current position 602 can be determined with an error of half a vehicle (for example, about 2.5 m) or less.

  3 to 6, the observation point 111 is shown in front of the communication area 310. However, the observation point 111 may be a point in contact with the communication area 310 or a point through which the vehicle 102 passes after entering the communication area 310. .

(Downlink signal data format)
Here, the data format of the downlink signal 501 according to the embodiment of the present invention will be described with reference to FIG. FIG. 7 is an explanatory diagram showing an example of the data format of the downlink signal according to the embodiment of the present invention.

  In FIG. 7, in addition to the conventional subsystem key, the data format 700 includes a subsystem key 701 for advanced safety service, a vehicle ID of the vehicle, and transmission information 702 transmitted to each vehicle. . Specifically, for example, assuming that the vehicle ID of the vehicle 102 that has entered the communication area 310 of the roadside device 110 shown in FIGS. 3 to 6 is A, the latitude of the observation point 111 associated with the vehicle ID A Transmission information 702 including position information such as longitude and a time difference Tt between the light reception time T1 and the passage time T0 is associated with the subsystem key 701 for advanced safety service.

  Further, when another vehicle different from the vehicle 102 enters the communication area 310, assuming that the vehicle ID of the other vehicle is B, the observation point in the other vehicle together with the position information of the observation point 111 in the vehicle 102 and the time difference Tt. The position information 111 and the time difference xx are transmission information 702.

(Contents of processing of the in-vehicle device 200)
Next, the contents of the processing of the in-vehicle device 200 according to the embodiment of the present invention will be described with reference to FIG. FIG. 8 is a flowchart showing the contents of the processing of the in-vehicle device according to the embodiment of the present invention. In the flowchart of FIG. 8, the in-vehicle device 200 first determines whether or not the vehicle 102 has started running (step S801). The determination of whether or not the vehicle has started running is, for example, detecting the start of the engine of the vehicle 102 or the start of movement of the vehicle 102.

  In step S801, when the vehicle 102 starts to travel and starts (step S801: Yes), the autonomous positioning unit 206 starts autonomous positioning (step S802). Specifically, for example, the autonomous positioning is started by positioning the speed vector of the vehicle 102 by the autonomous positioning unit 206 using the arbitrary time as the reference time S0 in the time series S of the vehicle-mounted device 200 as the vehicle 102 travels. Information is managed in time series.

  Next, the in-vehicle device 200 determines whether or not the vehicle 102 has entered the communication area 310 of the roadside device 110 (step S803). Specifically, for example, it is determined from light emission in the communication area 310 by an optical beacon or the like installed on the road side, an installation position of the roadside device 110 on the map, or the like.

  In step S803, when it has not entered the communication area 310 (step S803: No), the process returns to step S802 and is repeated.

  In step S803, when the communication area 310 is entered (step S803: Yes), the transmission unit 201 transmits the uplink signal 401 including the vehicle ID that is the identification information of the vehicle 102 to the roadside device 110. (Step S804).

  Next, it is determined whether or not the downlink signal 501 is received from the roadside device 110 as a result of the uplink signal 401 being transmitted in step S804 by the receiving unit 202 (step S805). Specifically, for example, the downlink signal 501 includes information on the time difference Tt between the light reception time T1 of the uplink signal 401 by the roadside device 110 and the passage time T0 of the observation point 111 by the vehicle 102, and the latitude / It is a signal including position information such as longitude.

  In step S805, when the downlink signal 501 has not been received (step S805: No), the series of processing ends.

  In addition, when the downlink signal 501 is received in step S805 (step S805: Yes), the movement time calculation unit 203 changes the uplink signal 401 from the current time S2 from the downlink signal 501 received in step S805. Based on the time Ss up to the transmission time S1 and the time difference Tt, a time TS when the vehicle 102 has moved from the passing time T0 to the current time S2 is calculated (step S806).

  Next, the movement distance calculation unit 204 calculates the distance 601 that the vehicle 102 has moved using the time TS calculated in step S806 (step S807). Specifically, for example, the movement distance calculation unit 204 calculates the distance 601 that the vehicle 102 has moved during the time TS using the positioning information of the autonomous positioning unit 206 in the vehicle 102.

  Then, the current position locating unit 205 determines the current position 602 of the vehicle 102 from the distance 601 calculated in step S807 and the position information of the observation point 111 included in the downlink signal 501 (step S808), and a series of steps. The process ends. Specifically, for example, the current position locating unit 205 evaluates the current position 602 by adding the distance 601 traveled by the vehicle 102 based on the latitude / longitude of the observation point 111.

  In the flowchart of FIG. 8, if the downlink signal 501 is not received in step S805, the series of processing is terminated as it is. In this case, the in-vehicle device 200 performs a plurality of times in the communication area 310. This indicates that the reception of the downlink signal 501 was not successful once.

  Therefore, when GPS or the like is used, the current position 602 is determined as an incorrect position even if the error is large (for example, 10 m or more). However, according to the on-vehicle device 200 described above, the current position of the vehicle 102 is Since 602 can correctly detect that it cannot be standardized, advanced safety services can be appropriately provided without confusing the driver and other vehicles.

(Contents of processing of roadside machine 110)
Next, the contents of processing of the roadside device 110 according to the embodiment of the present invention will be described with reference to FIG. FIG. 9 is a flowchart showing the contents of the processing of the roadside machine according to the embodiment of the present invention. In the flowchart of FIG. 9, first, the roadside device 110 determines whether or not the receiving unit 251 has received a detection signal for detecting the passage of the vehicle 102 at the observation point 111 (step S901).

  In step S901, waiting for receiving the detection signal, if received (step S901: Yes), the light receiving unit 252 transmits an uplink signal when the vehicle 102 enters the communication area 310 of the roadside device 110. It is determined whether or not 401 has been received (step S902).

  In step S902, when the uplink signal 401 is not received (step S902: No), the series of processing is ended as it is.

  In step S902, when the uplink signal is received (step S902: Yes), the generation unit 253 generates the downlink signal 501 (step S903). Specifically, for example, the downlink signal 501 includes information regarding a time difference between the light reception time T1 of the uplink signal 401 received in step S902 and the passage time T0 of the vehicle 102 at the observation point 111, and the observation point 111. Position information.

  Next, the transmission unit 254 transmits the downlink signal generated in step S903 to the vehicle 102 that has transmitted the uplink signal 401 received in step S902 (step S904), and a series of steps. End the process.

  In the flowchart of FIG. 9, if the uplink signal 401 is not received in step S <b> 902, the series of processing is terminated as it is. In this case, the roadside device 110 enters the communication area 310. The downlink signal 501 associated with the appropriate vehicle ID cannot be transmitted to the vehicle 102.

  Therefore, since the in-vehicle device 200 can correctly detect that the current position 602 of the vehicle 102 cannot be determined, the advanced safety service can be appropriately provided without confusing the driver and other vehicles.

  As described above, according to the embodiment of the present invention, the current position is traced back to the passing time of the observation point using the observation point that is highly accurately determined and the time synchronized by the uplink signal. It is possible to determine the position, and it is possible to reduce the error of the position determination. Specifically, in an area that provides advanced safety services (for example, a traveling range of about 100 m), the positioning error can be reduced to half a vehicle (for example, about 2.5 m) or less, and appropriate advanced Provide safety services.

  In addition, according to the embodiment of the present invention, since the current position of the vehicle can be determined using the existing infrastructure such as an optical beacon, a burden on the installation of a new device can be imposed on the user. The positioning can be easily performed.

  Note that the position location method and information distribution method described in the present 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 transmission medium that can be distributed via a network such as the Internet.

(Additional remark 1) When detecting the approach by the mobile body to the communication area of the communication apparatus installed in the roadside, the transmission means which transmits an optical signal to the communication apparatus,
As a result of the transmission of the optical signal by the transmission means, information regarding the time difference between the light reception time of the optical signal by the communication device and the passing time of the observation point by the moving body, and the position information of the observation point are the communication device. Receiving means for receiving from,
Based on the time from the current time to the transmission time of the optical signal and the time difference, a moving time calculating means for calculating the time that the moving body has moved from the passing time to the current time;
Using a time calculated by the moving time calculating means, a moving distance calculating means for calculating a distance traveled by the moving body;
From the distance calculated by the moving distance calculating means and the position information of the observation point, the locating means for locating the current position of the moving body;
A position locating device comprising:

(Supplementary note 2)
Transmitting an optical signal including identification information of the mobile body;
The receiving means includes
The position locating apparatus according to claim 1, wherein the position determination apparatus receives information on the time difference associated with the identification information and the position information as a result of transmitting the optical signal.

(Supplementary Note 3) The moving distance calculating means includes:
The position locating device according to appendix 1 or 2, wherein the distance is calculated from positioning information of a sensor by autonomous navigation in the moving body.

(Additional remark 4) The said communication apparatus is an optical beacon, The position location apparatus as described in any one of Additional remarks 1-3 characterized by the above-mentioned.

(Additional remark 5) When detecting the approach by the mobile body to the communication area of the communication apparatus installed in the roadside, the transmission process which transmits an optical signal to the communication apparatus,
As a result of the transmission of the optical signal by the transmission step, information on the time difference between the light reception time of the optical signal by the communication device and the passing time of the observation point by the moving body, and the position information of the observation point are the communication device. A receiving process to receive from,
Based on the time from the current time to the transmission time of the optical signal and the time difference, a moving time calculating step of calculating the time that the moving body has moved from the passing time to the current time;
Using a time calculated by the moving time calculating step, a moving distance calculating step of calculating a distance moved by the moving body;
From the distance calculated by the moving distance calculating step and the position information of the observation point, the locating step of locating the current position of the moving body,
A position location method characterized by comprising:

(Additional remark 6) In the information delivery apparatus which delivers information to a mobile body,
Receiving means for receiving a detection signal for detecting passage of a moving object at an observation point on the route;
A light receiving means for receiving an optical signal transmitted when the mobile body enters the communication area of the information distribution apparatus;
Generating means for generating information on a time difference between a light reception time of the optical signal and a passing time of the moving body at the observation point, and position information of the observation point;
Transmitting means for transmitting the information relating to the time difference generated by the generating means and the position information to the mobile body that is the transmission source of the optical signal;
An information distribution apparatus comprising:

(Appendix 7) The light receiving means includes:
Receiving the optical signal including identification information of the moving body;
The generating means includes
Generating information on the time difference and the position information by associating the identification information;
The transmission means includes
The information distribution apparatus according to appendix 6, wherein the information related to the time difference and the position information are transmitted to a mobile body identified by the identification information.

(Supplementary note 8) The transmission means includes:
The information distribution apparatus according to appendix 6 or 7, wherein the mobile terminal moving in the communication area periodically repeats transmission of the information on the time difference and the position information.

(Supplementary note 9) The information distribution device according to any one of supplementary notes 6 to 8, wherein the information distribution device is an optical beacon.

(Additional remark 10) In the information delivery method which delivers information to a mobile body,
A receiving step of receiving a detection signal for detecting the passage of a moving object at an observation point on the route;
A light receiving step for receiving an optical signal transmitted when the mobile body enters the communication area of the information distribution device;
A generation step of generating information on a time difference between a light reception time of the optical signal and a passing time of the moving body at the observation point, and position information of the observation point;
A transmission step of transmitting the information about the time difference generated by the generation step and the position information to the moving body that is a transmission source of the optical signal;
An information distribution method comprising:

  As described above, the position locating device, the position locating method, the information distribution apparatus, and the information distribution method according to the present invention are useful when locating the current position of a moving body such as a vehicle with high accuracy, and in particular, It is suitable for locating the position of each vehicle used for advanced safety services provided by curves.

It is explanatory drawing which shows the outline | summary of the position location system concerning embodiment of this invention. It is explanatory drawing which shows the functional structure of the vehicle equipment and roadside machine concerning embodiment of this invention. It is explanatory drawing which shows an example at the time of the passage of the observation point in the vehicle concerning embodiment of this invention. It is explanatory drawing which shows an example at the time of approach of the communication area in the vehicle concerning embodiment of this invention. It is explanatory drawing which shows an example during driving | running | working of the communication area in the vehicle concerning embodiment of this invention. It is explanatory drawing which shows an example of the orientation of the present position in the vehicle concerning embodiment of this invention. It is explanatory drawing which shows an example of the data format of the downlink signal concerning embodiment of this invention. It is a flowchart which shows the content of the process of the vehicle equipment concerning embodiment of this invention. It is a flowchart which shows the content of the process of the roadside machine concerning embodiment of this invention. It is explanatory drawing which shows the outline | summary of the position location system using an optical beacon. It is explanatory drawing which shows an example of reception of the positional information in a location system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Position location system 101 Advanced safety service area 102 Vehicle 110 Roadside device 111 Observation point 200 In-vehicle device 201 Transmission unit 202,251 Reception unit 203 Travel time calculation unit 204 Travel distance calculation unit 205 Current location determination unit 206 Autonomous positioning unit 210, 260 Timer 252 Light receiver 253 Generator 254 Transmitter 301 Position detector 302 Transceiver 310 Communication area

Claims (8)

When detecting entry by a moving body to a communication area of a communication device installed on the roadside, transmission means for transmitting an optical signal to the communication device;
As a result of the transmission of the optical signal by the transmission means, information regarding the time difference between the light reception time of the optical signal by the communication device and the passing time of the observation point by the moving body, and the position information of the observation point are the communication device. Receiving means for receiving from,
Based on the time from the current time to the transmission time of the optical signal and the time difference, a moving time calculating means for calculating the time that the moving body has moved from the passing time to the current time;
Using a time calculated by the moving time calculating means, a moving distance calculating means for calculating a distance traveled by the moving body;
From the distance calculated by the moving distance calculating means and the position information of the observation point, the locating means for locating the current position of the moving body;
A position locating device comprising: The transmitting means is
Transmitting an optical signal including identification information of the mobile body;
The receiving means includes
The position locating apparatus according to claim 1, wherein as a result of transmitting the optical signal, information on the time difference associated with the identification information and the position information are received. The moving distance calculating means includes
The position locating device according to claim 1, wherein the distance is calculated from positioning information of a sensor by autonomous navigation in the moving body. When detecting the entry by the moving body into the communication area of the communication device installed on the roadside, a transmission step of transmitting an optical signal to the communication device;
As a result of the transmission of the optical signal by the transmission step, information on the time difference between the light reception time of the optical signal by the communication device and the passing time of the observation point by the moving body, and the position information of the observation point are the communication device. A receiving process to receive from,
Based on the time from the current time to the transmission time of the optical signal and the time difference, a moving time calculating step of calculating the time that the moving body has moved from the passing time to the current time;
Using a time calculated by the moving time calculating step, a moving distance calculating step of calculating a distance moved by the moving body;
From the distance calculated by the moving distance calculating step and the position information of the observation point, the locating step of locating the current position of the moving body,
A position location method characterized by comprising: In an information distribution device that distributes information to a mobile object,
Receiving means for receiving a detection signal for detecting passage of a moving object at an observation point on the route;
A light receiving means for receiving an optical signal transmitted when the mobile body enters the communication area of the information distribution apparatus;
Generating means for generating information on a time difference between a light reception time of the optical signal and a passing time of the moving body at the observation point, and position information of the observation point;
Transmitting means for transmitting the information relating to the time difference generated by the generating means and the position information to the mobile body that is the transmission source of the optical signal;
An information distribution apparatus comprising: The light receiving means is
Receiving the optical signal including identification information of the moving body;
The generating means includes
Generating information on the time difference and the position information by associating the identification information;
The transmission means includes
The information distribution apparatus according to claim 5, wherein the information regarding the time difference and the position information are transmitted to a mobile body identified by the identification information. The transmission means includes
The information distribution apparatus according to claim 5 or 6, wherein transmission of the information on the time difference and the position information is periodically repeated for a moving body moving in the communication area. In an information distribution method for distributing information to a mobile object,
A receiving step of receiving a detection signal for detecting the passage of a moving object at an observation point on the route;
A light receiving step for receiving an optical signal transmitted when the mobile body enters the communication area of the information distribution device;
A generation step of generating information on a time difference between a light reception time of the optical signal and a passing time of the moving body at the observation point, and position information of the observation point;
A transmission step of transmitting the information about the time difference generated by the generation step and the position information to the moving body that is a transmission source of the optical signal;
An information distribution method comprising:

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