JP2012211844A - Terminal position determination device and terminal position determination system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a configuration for determining the reliability of positional information using a satellite such as GPS positional information exchanged between terminals via inter-vehicle communication and pedestrian-vehicle communication.SOLUTION: Based on GPS positional information of another terminal received by an inter-vehicle communication part 32 and on the moving speed and travelling direction of the other terminal obtained by an obtainment part 33, an estimation part 34 estimates the existing position of the other terminal at a next clock-time by establishing the existing position of the other terminal on the basis of the GPS positional information as reference; a determination part 35 determines the reliability of the GPS positional information received from the other terminal on the basis of a degree of matching between the estimated position of the other terminal at the next clock-time estimated by the estimation part 34 and that of the other terminal based on GPS positional information received by the inter-vehicle communication part 32 at the next clock-time.

Description

  The present invention includes a terminal position determination device that determines the reliability of information on the position of other terminals using satellites, which are exchanged between vehicles and pedestrian terminals in inter-vehicle communication and inter-vehicle communication, and each terminal. The present invention relates to a terminal position determination system that determines the reliability of information on the presence position of the entire terminal system, and more particularly to a novel configuration that improves the determination accuracy.

  Conventionally, between a group of vehicles such as vehicles entering an intersection from different roads and the surrounding vehicles, a terminal for inter-vehicle communication of each vehicle has been used as a positioning system using a satellite, such as a representative GPS (Global Positioning). (System) received position information (hereinafter referred to as GPS position information) and information such as the direction of travel are exchanged between terminals to monitor the behavior of each other's vehicles (other vehicles), and to prevent encounter accidents, etc. If the reliability of GPS position information received from another vehicle terminal is low and incorrect information at each vehicle terminal, the use of that information is prohibited and the reliability of the information received by each terminal and the overall system It has been proposed to improve the reliability (for example, Patent Document 1 (paragraphs [0001]-[0005], [0077]-[0078], FIG. 1, FIG. 2, 6, 7, etc.) refer).

JP 2010-182007 A

  In the reliability determination described in Patent Document 1, a straight line connecting the position of the GPS position information of the terminal of the own vehicle and the position of the received GPS position information of the other vehicle, and a signal of the GPS position information of the other vehicle ( If the angle formed with the direction in which the transmission frame arrives is larger than the set value by a certain amount or more, it is determined that the position information is incorrect, but generally, the GPS position information itself has a relatively large position. Since the error is included, if this error is not taken into consideration, the determination is wrong, and the reliability of the position information and the reliability of the system are lowered.

  FIG. 10 shows that the two vehicles 100 and 200 that enter the intersection from roads in different directions and the vehicle 300 that travels on a different road approach the range where inter-vehicle communication is possible, and the terminals of the vehicles 100, 200, and 300 In this case, the GPS position information is exchanged in the inter-vehicle communication. In this case, for example, the terminal of the vehicle 100 receives the GPS position information of the terminals of the other vehicles 200 and 300. Due to an error in the GPS position information of the terminal of another vehicle 300, a situation in which it is erroneously recognized that the solid vehicle 300 exists at the position of the broken line easily occurs. In addition, due to the error in the GPS position information of the other vehicle 200, a situation in which the existence position of the vehicle 200 is erroneously recognized similarly occurs easily. In addition, in the terminals of the vehicles 200 and 300, the GPS position information of the terminals of the other vehicles 100 and 300 (or the vehicles 100 and 200) includes an error when viewed from the respective terminals. Will happen.

  In addition, when each road of FIG. 10 is surrounded by a high-rise building group, multipath is likely to occur, and when a multipath occurs, the GPS position information of each terminal has a different error (variation). For this reason, it is easier to misidentify the location of another vehicle.

  In these cases, it is difficult to apply a statistical method to the correction of the GPS position information, and the position information is corrected by comparing with the well-known DGPS (Differential GPS) that is corrected by a reference signal or road map data like a navigation system. Although it is conceivable to improve the position accuracy of GPS position information by map matching, etc., it is not realistic to correct position information by DGPS or map matching in all vehicle terminals, and between terminals in inter-vehicle communication Any information correction method suitable for the exchange of information is desired. Further, it is determined how reliable the GPS position information exchanged by inter-vehicle communication is, and furthermore, the network quality of the entire terminal system of a plurality of terminals that communicate with each other among a group of vehicles communicating with each other. Although it is considered that a technique for evaluation is necessary, no specific configuration has been invented for any of them.

  An object of the present invention is to provide a configuration for determining reliability of position information using a satellite such as GPS position information exchanged between terminals by inter-vehicle communication or inter-vehicle communication, and further, Another object of the present invention is to provide a configuration for determining the reliability of each terminal and the entire terminal system.

  In order to achieve the above-described object, the terminal position determination apparatus of the present invention includes a receiving unit that receives information on the location of the other terminal that is detected and transmitted by another terminal using a satellite, and the receiving unit. A terminal position determination apparatus including a determination means for determining reliability of the information on the location of the other terminal received by the acquisition means for acquiring at least information on a moving speed and a traveling direction of the other terminal. And the presence position of the other terminal at the next time is estimated from the moving speed and the traveling direction of the other terminal acquired by the acquisition means on the basis of the presence position of the other terminal received by the reception means. And the determining means is based on a degree of coincidence between the estimated position of the other terminal of the estimating means and the existing position of the other terminal received by the receiving means at the next time. The other end Is characterized by determining the reliability of the information locations of said other terminals receiving said receiving means from (claim 1).

  In the terminal position determination apparatus of the present invention, the estimated position of the other terminal at the next time and the presence position of the other terminal received at the next time each have a predetermined error range. The determination means determines the reliability of the information on the location of the other terminal from the degree of overlap of the error range between the estimated location and the location of the other terminal received at the next time. (Claim 2).

  Furthermore, the terminal position determination system according to the present invention includes a receiving unit that receives information on the location of the other terminal that each of the plurality of terminals of the terminal system detects and transmits using the satellite. The acquisition means for acquiring the movement speed and traveling direction information of the other terminal, and the movement speed of the other terminal acquired by the acquisition means based on the location of the other terminal received by the reception means And an estimation means for estimating the location of the other terminal at the next time from the traveling direction, the estimated position of the other terminal of the estimation means, and the other terminal received by the reception means at the next time Determination means for determining the reliability of the information on the location of the other terminal received by the receiving unit from the other terminal based on the degree of coincidence with the location of the at least one terminal, The determination means, the respective terminal is characterized in determining the reliability of the terminal system from the judgment result of the judgment by said judging means to each other (claim 3).

  In the case of the terminal position determination apparatus according to the first aspect of the present invention, if the position information that is detected by another terminal using a satellite and transmitted by inter-vehicle communication or inter-vehicle communication is GPS position information, the GPS position information Is received by the receiving means. Also, at least information on the moving speed and the traveling direction of the other terminal is obtained by the obtaining means by receiving from the other terminal or calculating from the time change of the GPS position information.

  At this time, the GPS position information includes an error. Based on the GPS position information received by the receiving means, for example, the estimating means estimates from the moving speed and the traveling direction of the other terminals acquired by the acquiring means with reference to the location of the other terminals at time ta, for example. The presence position of the other terminal at the next time tb is deviated from the existence position of the GPS position information of the other terminal received by the receiving means at time t2 according to the error of the GPS position information. The reliability of GPS position information is shown.

  Therefore, the determination means estimates the position of the other terminal estimated by the estimation means based on the GPS position information at time ta, and the presence position of the other terminal based on the GPS position information received by the reception means at time tb. The reliability of the GPS position information received by the receiving means from the other terminal can be determined based on the degree of coincidence. Moreover, since the reliability of GPS position information can be determined by such determination, the cost can be suppressed.

  In the case of the terminal position determination device of the present invention according to claim 2, for example, the estimated position of the other terminal estimated by the estimating means based on the GPS position information at the time ta described above, and the GPS received by the receiving means at the time tb The presence positions of the other terminals based on the position information each include an error of GPS position information, and each has a predetermined error range. Then, since the positions of the circles in the error range at both the existence positions are shifted according to the both existence positions, the reliability of the received GPS position information is determined based on the degree of overlap of the circles in the error ranges at the both existence positions by judgment estimation. judge.

  In this case, the reliability of GPS position information received with a more specific and practical configuration can be determined.

  In the case of the terminal position determination system according to the third aspect of the present invention, for example, a plurality of terminals that each have a plurality of vehicles and pedestrians entering the intersection from different directions and perform inter-vehicle communication and inter-pedestrian communication are constructed. In the terminal system, each terminal includes the terminal position determination of the configuration of claim 1 described above, and the reliability of the terminal system is determined from the determination result determined by each terminal by the determination means of each terminal by the determination means of at least one of the terminals. By judging and exchanging the results, each terminal mutually diagnoses other terminals using a technique that applies mutual network diagnosis, and determines and grasps the reliability and overall reliability of each terminal in the terminal system Can do.

It is a schematic diagram of the outline of the terminal position determination system of one embodiment of the present invention. It is explanatory drawing of the mutual diagnosis of an immune network. It is explanatory drawing of estimation of the presence position of the vehicle of FIG. It is a block diagram of the terminal position determination apparatus with which the terminal of FIG. 1 is provided. It is a time change of the position of the measurement result of GPS position information of each vehicle of an example of an experiment. It is a calculation result of evaluation value Tij of each vehicle of FIG. FIG. 7 is a calculation result of reliability Ri (t) based on the evaluation value Tij in FIG. 6. It is a calculation result of the reliability R of the whole terminal network based on the reliability Ri (t) of FIG. FIG. 8 is a calculation result of the total evaluation value Tij of the entire terminal network based on the reliability Ri (t) in FIG. 7. It is explanatory drawing of the error of a presence position based on GPS position information.

  Next, in order to describe the present invention in more detail, an embodiment will be described in detail with reference to FIGS.

  FIG. 1 shows a schematic configuration of a terminal position determination system according to the present embodiment. In the case of this system, for example, a plurality of vehicles 1 entering the intersection α from roads β in different directions are equipped with a terminal 2 for inter-vehicle communication, and at least exchanges GPS position information and the like by inter-vehicle communication. Form. In addition, all or a part of each terminal 2 includes a terminal position determination device 3 which will be described later, and performs mutual diagnosis between terminals 2 by a technique applying mutual network diagnosis, and the reliability and overall reliability of each terminal 2 in the terminal system. Each determines the degree.

  By the way, the network configured by the inter-vehicle communication system can be regarded as a kind of ad hoc network because it does not know when to meet which vehicle.

  An immune network in a living body is a model of how the reaction between an antigen and an antibody that meet ad hoc spreads to the periphery, and is an example of an ad hoc network. An application of this concept of immune network is the mutual diagnosis network. This is a concept that associates the situation in which mutually connected units mutually diagnose the situation in which an antibody of the immune system recognizes an antigen and transmits the situation to another antibody.

  When a network is configured by regarding antigens and antibodies as units, it is unknown in the initial state which unit is the antigen and which unit is the antibody. Here, each unit can test each other independently, and the evaluation value Tij when the unit Ui tests the unit Uj is expressed by the following equation (1).

  Equation (1) shows that if the unit Ui is normal (unit Ui is an antibody), the other party can be correctly evaluated. If the unit Ui is abnormal (Ui is an antigen), some evaluation is performed. It shows no. It is not possible to determine which unit is abnormal by simply counting the evaluation values for each unit. Therefore, by giving dynamics such as the following Equation (2) and Equation (3) of Equation 3 to this network, it becomes possible to detect which unit is abnormal.

  Here, Ri (t) is the reliability of the unit Ui at time t, ri (t) is an intermediate variable thereof, Tij is an evaluation value obtained by Ui testing Uj, and β is a diagnostic adjustment amount, which represents the severity of diagnosis.

  Expressions (2) and (3) are update expressions for converging the network, and generally the evaluation value Tij is constant during the update. Further, the evaluation value Tij is 1 when it is most consistent, -1 when it is not consistent at all, and normally takes a continuous value therebetween. Equation (3) is a sigmoid function. This is a modification of the dynamics of the Hopfield type neural network, and the network is known to converge. In addition, this dynamics gives a natural diagnosis that “Ri is highly evaluated from a module having a large Rj, and that Ri is increased when a module having a large Rj can be highly evaluated”.

  For the sake of simplicity, assuming that the evaluation value Tij when the unit diagnoses the other party as normal and the evaluation value Tij when the unit diagnoses as abnormal is −1, it is assumed that all units are normal at first. The reliability Ri (t) is assumed to be 1.0 as shown in the following equation (4).

  Then, the evaluation is repeated by mutual diagnosis based on the above dynamics, and when the network converges, the unit whose reliability is finally lowered is determined as an abnormal unit.

  FIG. 2 shows an example of the exchange of evaluation values Tij by the above mutual diagnosis of five units U1, U2, U3, U4, and U5.

  The above is a general method for performing distributed fault diagnosis of sensors. This method is based on the premise that all sensors have an equivalent relationship in parallel. Therefore, in order to apply this method to the determination of the reliability of the GPS position information of a terminal system that exchanges information by inter-vehicle communication and inter-vehicle communication as in the present invention, it is important to describe the test method and handle the diagnostic results. It becomes.

  And in the terminal system which performs vehicle communication like this embodiment, the information mutually exchanged between the terminals 2 by communication is the current position of the vehicle (own vehicle) 1 based on the received GPS position information, the vehicle speed (this The moving speed of the invention) and the traveling direction (moving direction). The current position based on the GPS position information is latitude and longitude, and the traveling direction is data obtained by estimating the traveling direction of the vehicle 1 from the past GPS position information and the steering angle. Note that the vehicle speed and the traveling direction can be obtained and obtained from time differentiation or integration simply by exchanging GPS position information by inter-vehicle communication.

  Based on this premise, the determination of the reliability of the GPS position information according to the present invention when applied to a terminal network for inter-vehicle communication will be described below.

  FIG. 3 shows a situation in which the front and rear vehicles V1 and V2 are traveling in the same direction through inter-vehicle communication for the sake of simplicity. Under this circumstance, the current position of the GPS position information transmitted from the terminal (not shown) of the vehicle V2 to the terminal (not shown) of the vehicle V1 at time t1 includes a GPS error. Therefore, a terminal position determination device (not shown) of the vehicle V2 obtains a possible circle Cs within a predetermined error range of the position ps obtained by adding a GPS error around the position ps of the GPS position information at that time. The predetermined error range is set in advance in consideration of the GPS error, or is set each time based on DOP (precision reduction rate) information received together with the GPS position information. Further, the terminal of the vehicle V2 at the next time (reception time) t2 predicted from the movement vector synthesized from the vehicle speed and the traveling direction of the vehicle V2 sent to the possible circle Cs at the time t1, for example. An expected existence possible circle Ci centered on the position pi is obtained. Next, an existable circle Cj similar to the existable circle Cs around the position pj of the GPS position information actually sent from the terminal of the vehicle V2 at time t2 is obtained. Then, with respect to the position of the terminal 2 of the vehicle V1 at time t2 (the position of the vehicle V1), the terminal position determination device 3 of the vehicle V2 determines the error range between the predicted possible circle position Ci and the actual possible circle position Cj. From the overlap, the degree of coincidence between the position pi and the position j is grasped, and the reliability R of the GPS position information of the terminal of the vehicle V2 (the other terminal of the present invention) is calculated as an evaluation value of the following expression (5) Define and determine with Tij. 3 is the range of the position where the terminal of the vehicle V2 exists at time t2.

  In Expression (5), xij is the distance between the expected existence circle Ci and the position of the existence circle j, and r is the radius of the circles Ci and Cj. This expression (5) determines that the information is correct (completely reliable) if the position of the expected existence circle Ci matches the position of the existence circle Cj, and the positions pi and pj of both the circles Ci and Cj are separated. As the reliability decreases, the circles Ci and Cj are so far apart that they do not touch each other, meaning that the information is determined to be erroneous (not reliable at all).

  And the relationship of Formula (5) is applied to the inter-vehicle communication network formed by the terminal systems of the plurality of vehicles 1, and the reliability Ri (t) of the GPS position information is determined from the evaluation value Tij of Formula (5). , Vn, and the reliability Ri (t) of the GPS position information at each time of those terminals is R1, R2,..., Rn, the reliability R1, R2,. Rn can determine the reliability Ri (t) of the GPS position information of the terminals of the other vehicles V1, V2,..., Vn, and exchanges the determined reliability Ri (t) determined by each terminal with each other. Thus, the order of the reliability Ri (t) of the GPS position information of the terminal of each vehicle including the host vehicle of the entire terminal system is determined based on the majority rule of the obtained reliability R (i), and the entire terminal system Is determined from the following equation (6). Door can be.

  Then, from the equation (6), it is possible to estimate the state of the entire network.

  FIG. 4 shows a schematic configuration of the terminal position determination device 3 provided in the terminal 2 of FIG. 1, and 31 is a GPS receiver of the GPS positioning system, which receives GPS position information and related DOP (precision reduction rate) information and the like. And output. Reference numeral 32 denotes a vehicle-to-vehicle communication unit that exchanges information with the terminal 2 of each other nearby vehicle (hereinafter simply referred to as another vehicle) through vehicle-to-vehicle communication (wireless communication), and forms the receiving means of the present invention. In the case of the present embodiment, regardless of whether or not the terminal position determination device 3 is provided, at least GPS position information as information on the existing position received by the other terminal 2 from the terminal 2 of the other vehicle 1 and The inter-vehicle communication unit 32 receives the related information and information on the moving speed of the terminal (other terminal) 2 of the vehicle 1, that is, the vehicle speed and the traveling direction. The vehicle speed is obtained from, for example, a vehicle speed sensor, and the traveling direction is obtained from, for example, a rudder angle sensor. More simply, as described above, the vehicle speed is a time derivative of GPS position information, and the traveling direction is a time integral of GPS position information. It is also possible to obtain from the direction of the travel locus.

  Reference numeral 33 denotes an acquisition unit that forms acquisition means of the present invention. In the present embodiment, the vehicle speed and traveling direction information that is the moving speed of the other terminal received by the inter-vehicle communication unit 32 is captured.

  34 is an estimation unit that forms the estimation means of the present invention. For example, the GPS position of another terminal received by the inter-vehicle reception unit 32 at time t1 from the predicted existence possible circle Ci and the existence possible circle Cj described in FIG. Based on the information existing position, the existing position of the other terminal 2 at the next time t2 is estimated from the moving speed and the traveling direction of the other terminal acquired by the acquiring unit 33. In addition, the presence position of the terminal at time t2 may be estimated from the positions (presence positions) pi and pj of the predicted existence circle Ci and the existence circle Cj.

  Reference numeral 35 denotes a determination unit that forms the determination means of the present invention. For example, the estimated position pi of the other terminal at time t2 of the estimation unit 34 and the inter-vehicle communication based on the degree of overlap between the possible existence circle Ci and the existence possible circle Cj. The degree of coincidence with the existing position pj of the other terminal received by the unit 32 at time t2, the estimated position pi of the own terminal at time t2 of the estimating unit 34, and the presence of the own terminal received by the GPS receiving unit 31 at time t2 Based on the degree of coincidence with the position pj, the evaluation value Tij of the information on the existing position of the other terminal 2 of the terminal system is obtained, and the reliability Ri (t) of each terminal 2 is determined. Further, the determination unit 35 exchanges the reliability Ri (t) of the determination result with another terminal 2 via the inter-vehicle communication unit 32, and a terminal system from all or some of the terminals 2 including the terminal 2 of the own vehicle. The reliability Ri (t) of the mutual diagnosis result of each terminal 2 as a whole is obtained, the reliability (t) determined from the other terminals 2 is integrated for each terminal 2, and the process of the majority rule The order of the reliability Ri (t) is determined, and the reliability R of the entire system is determined from the equation (6).

  Reference numeral 36 denotes a sensor unit of the vehicle 1 having a vehicle speed sensor that outputs vehicle speed information and a rudder angle sensor that outputs travel direction information, and at least such information together with the GPS position information of the GPS receiving unit 31 in a short cycle. It is transmitted from the communication unit 32.

  Then, the determination unit 3 determines the reliability Ri (t) of the GPS position information transmitted by the other terminal 2 from the calculation of the reliability Ri (t) of the other terminal 2 based on the calculated evaluation value Tij. Can do. Further, since each reliability Ri (t) of the determination result is exchanged with the other terminals 2, the order of the reliability of the GPS position information transmitted from each terminal 2 is determined for each terminal 2 to determine which terminal 2 It is possible to grasp whether the reliability Ri (t) of the GPS position information transmitted by is low. Furthermore, the reliability R of the whole terminal system that communicates between vehicles can also be grasped.

  Therefore, the vehicle 1 equipped with the terminal 2 equipped with the terminal position determination device 3 of the terminal system can grasp the reliability Ri (t) and R, respectively, and all the vehicles 1 are connected to the terminal position determination device 3. If the terminal 2 provided with is installed, all the vehicles 1 of the system can grasp the reliability Ri (t), R.

(Experimental result)
As an experimental result, the result of estimating the communication state of the information of the vehicle group configured by inter-vehicle communication will be described.

  First, in the experiment, the processing of each unit 31 to 35 of the terminal position determination device 3 is actually performed by software processing of a microcomputer that forms each unit 31 to 35, and the reliability Ri (t) and R are calculated. Is processing after necessary information is obtained from the other terminal 2 and does not depend on inter-vehicle communication or the like. Therefore, GPS position information, vehicle speed, and traveling direction data of each vehicle 1 are collected. After that, each of the data was processed offline by the terminal position determination device 3 and verified.

  FIG. 5 shows temporal changes in the positions of the measurement results of the GPS position information of the three vehicles V1, V2, and V3 entering the intersection as each vehicle 1. Near the intersection is a valley of a high-rise building, and in particular, the position of the GPS position information of the vehicle V3 is affected by multipath.

  FIG. 6 shows the result of calculating the evaluation value Tij in the terminals 2 of the three vehicles V1, V2, and V3. In this case, in principle, the evaluation value Tij of the evaluation from the other vehicle is the same value, and therefore, in the case of the terminal 2 of the three vehicles V1, V2, and V3, the evaluation value Tij of the vehicle V3 obtained by the vehicles V1 and V2 Is T13, T23, and the evaluation value Tij of the vehicle V1 obtained by the vehicles V2, V3 is T21, T31, and the evaluation value Tij of the vehicle V2 obtained by the vehicles V1, V3 is T12, T32. And T32 have the same evaluation value Tij, the three types Ta, Tb, and Tc in FIG. 6 are generated as the evaluation value Tij. Ta is T13, T23, Tb is T21, T31, Tc is T12, T3. When 22 seconds elapse, the GPS position information of the vehicle V3 is rapidly disturbed by multipath, and the evaluation value is lowered at a stretch.

  FIG. 7 shows an example in which the reliability Ri (t) of the terminals of the vehicles V1 to V3 is calculated using the evaluation values Ta, Tb, and Tc. In the figure, R1 is the reliability Ri (t) of the terminal of the vehicle V1, R2 is the reliability Ri (t) of the terminal of the vehicle V2, and R3 is the reliability Ri (t) of the terminal of the vehicle V3. The reliability R1, R2, and R3 of V3 starts from an initial value of 1.0, and the reliability R3 decreases at a stroke when 22 seconds elapse. This corresponds to a sudden disturbance in the GPS position information of the vehicle V3. From this result, it is considered that the determination result of the reliability of the position information by the method of the present invention is appropriate.

  Further, FIG. 8 shows a time change R * of the reliability R of the entire terminal network defined by the equation (6) in order to see the state of the terminal network composed of the terminals of the three vehicles V1 to V3. This change also shows the influence of the decrease in the reliability of R3 after 22 seconds. Further, T * in FIG. 9 indicates the sum of the evaluation values Tij of the vehicles V1 to V3. The same tendency as in FIG. 8 is read from FIG. This is because the number of vehicles is as small as three, and the variation of each evaluation value Tji affects the whole. Therefore, when the number of vehicles is small, it is possible to directly add the evaluation values Tij instead of the reliability Ri (t) to obtain the reliability status of the entire network.

  As described above, in the case of the present embodiment, the terminal 2 of the vehicle 1 that exchanges the GPS position information by inter-vehicle communication includes the terminal position determination device 3, and thus the reliability of the GPS position information of the other terminals 2. Ri (t) and the reliability R of the entire terminal system can be grasped. It is also possible to determine which terminal 2 transmits the GPS position information having a low reliability Ri (t).

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit thereof. Although it applied to the terminal system of only the terminal 2 of the vehicle 1 which communicates, when a pedestrian carries the terminal position determination apparatus of the structure which replaced the inter-vehicle communication part 32 of the terminal position determination apparatus 3 with the inter-vehicle communication part. The present invention can be similarly applied to a terminal system that performs inter-vehicle communication between the terminal 2 of the vehicle 1 and the terminal of the pedestrian. In this case, the pedestrian's terminal position determination device may transmit, for example, information on the walking speed and moving direction obtained by a gyro together with the received GPS position information.

  Further, the acquisition unit 34 may acquire various information related to traveling (walking) other than the vehicle speed (walking speed in the case of inter-step communication) and the traveling direction (moving direction in the case of inter-step communication). The acquiring unit 34 may acquire information on the vehicle speed (walking speed) and the traveling direction (moving direction) based on time differentiation and time integration of the received GPS position information.

  Next, it is needless to say that the present invention can also be applied to the case where the location information using the satellite is information other than the GPS location information.

  Further, the configuration of each of the units 31 to 35 of the terminal position determination device 3 may be any.

  And this invention is the reliability of the information of the location information of other terminals of various terminal systems, such as a terminal system that performs inter-vehicle communication, a terminal system that performs inter-vehicle communication, and a terminal system that performs communication in which they are mixed. The present invention can be applied to the determination and the determination of the reliability of the information on the location of the entire terminal tem.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Terminal 3 Terminal position determination apparatus 31 GPS receiving part 32 Inter-vehicle communication part 33 Acquisition part 34 Estimation part 35 Determination part

Claims (3)

Receiving means for receiving the location information of the other terminal that is detected and transmitted by another terminal using a satellite, and determining the reliability of the location information of the other terminal received by the receiving means A terminal position determination device comprising determination means,
Acquisition means for acquiring at least information on the moving speed and traveling direction of the other terminal;
Estimating the existence position of the other terminal at the next time from the moving speed and traveling direction of the other terminal acquired by the acquisition means, based on the existence position of the other terminal received by the receiving means Means and
The determination procedure is based on the degree of coincidence between the estimated position of the other terminal of the estimating unit and the existing position of the other terminal received by the receiving unit at the next time. A terminal position determination apparatus, characterized in that the reliability of information on the position of the other terminal received by the receiving means is determined. In the terminal position determination apparatus according to claim 1,
The estimated position of the other terminal at the next time and the presence position of the other terminal received at the next time each have a predetermined error range,
The determining means determines the reliability of the information on the location of the other terminal from the degree of overlap of the error range between the estimated location and the location of the other terminal received at the next time. A terminal position determination device. Each terminal in the terminal system
Receiving means for receiving information on the location of the other terminal that is detected and transmitted by another terminal using a satellite;
Acquisition means for acquiring at least information on the moving speed and traveling direction of the other terminal;
Estimating the existence position of the other terminal at the next time from the moving speed and traveling direction of the other terminal acquired by the acquisition means, based on the existence position of the other terminal received by the receiving means Means,
Based on the degree of coincidence between the estimated position of the other terminal of the estimating means and the existing position of the other terminal received by the receiving means at the next time, the receiving means receives from the other terminal. Determining means for determining the reliability of the information on the location of other terminals,
The said terminal position determination system characterized by the said determination means of at least one terminal determining the reliability of the said terminal system from the determination result which each said terminal determined by the said determination means of each other.