JP2013101013A - Position orientation device, on-vehicle unit, position orientation method, position orientation program, driving support method, driving support program, road accounting method, road accounting program, position orientation system, driving support system and road accounting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a relative position between vehicles even without performing relative DGPS between the vehicles.SOLUTION: A positioning signal reception part 112 receives a positioning signal from a positioning satellite 102 and calculates an observation amount. A self-position orientation part 114 calculates a coordinate value of an approximate position by using the observation amount. A LEX signal reception part 111 receives a LEX signal from a quasi-zenith satellite to acquire positioning reinforcement information for every region. A decode part 113 selects the positioning reinforcement signal of the region including the approximate position and calculates a correction amount of the observation amount. A self-position orientation part 114 corrects the observation amount, and calculates an orientation coordinate value by using the corrected observation amount. A V2 V communication control part 115 transmits the orientation coordinate value to another vehicle 103, and receives an orientation coordinate value of the other vehicle 103. A relative position calculation part 116 calculates a relative position of the other vehicle 103 based on the orientation coordinate values of the self-vehicle 103 and the other vehicle 103, and outputs the calculated relative position to a driving control support device 104.

Description

  The present invention includes, for example, a position locating device, vehicle-mounted device, position locating method, position locating program, driving support method, driving support program, road charging method, road charging program, for vehicle driving support or toll road charging, The present invention relates to a location system, a driving support system, and a road billing system.

In the US, relative DGPS (Differential GPS) calculation is performed by making mutual communication of positioning raw signals between multiple vehicles by utilizing the bandwidth (transmission speed: 3 to 27 Mbps) of the 5.9 GHz band (IEEE802.11p). .
As a result, the packet arrival delay problem, which is a drawback of the IEEE 802.11p standard, can be solved, and the relative position can be determined in real time with an accuracy of 1 to 5 m even at high speeds.

However, in the case of relative DGPS, it is necessary to perform a positioning calculation for a visible satellite (positioning satellite) that is commonly seen from two vehicles.
For this reason, it is necessary to secure a sufficient number of visible satellites as compared with conventional single positioning, and it is essential to eliminate multipath.

C. Basnayake, G.M. Lachapelle, and J.M. Bancroft, "RELATIVE POSITIONING FOR VEHICLE-TO-VEHICLE COMMUNICATION-ENABLED VEHICLE SAFETY APPLICATIONS," 18th world Congress on ITS, 20th. Inaba, Noda, Kuroda, Hase, Kishimoto, Kogure, Sawabe, Terada, Kurosu, Okamoto, CAQN, AA, United States, and I. 2011 Saito, Sato, Miya, Omura, Yoshino, Asato, “Development of centimeter-class positioning reinforcement system using“ Michibiki ””, 54th Space Science and Technology Union, Nov. 2010.

  An object of the present invention is, for example, to obtain a relative position between vehicles without performing relative DGPS between vehicles by locating the position of the vehicle with high accuracy.

The position locating device of the present invention is
A positioning signal receiving unit that receives the positioning signal from a positioning satellite that transmits the positioning signal, and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
The positioning reinforcement signal is received from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the amount of error included in the observation amount of the positioning signal, and from the received positioning reinforcement signal A positioning reinforcement signal receiving unit for acquiring positioning reinforcement information for each region;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector,
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position locator for calculating.

  According to the present invention, for example, the position of a vehicle can be determined with high accuracy. Further, by using the orientation position of each vehicle, the relative position between the vehicles can be obtained without performing relative DGPS between the vehicles.

1 is a schematic diagram of a safe driving support system 100 according to Embodiment 1. FIG. The block diagram which shows the positioning reinforcement system 190 for the quasi-zenith satellite 101 in Embodiment 1 to transmit the LEX signal containing positioning reinforcement information. An example of the map which divided Japan in order in order to produce | generate positioning reinforcement information according to area in Embodiment 1. FIG. 1 is a configuration diagram of a safe driving support system 100 according to Embodiment 1. FIG. 5 is a flowchart showing a safe driving support process of the vehicle-mounted device 110 in the first embodiment. FIG. 6 is a diagram illustrating an example of a V2V communication message 109 according to the first embodiment. FIG. 3 is a schematic diagram showing an example of driving control support of the driving control support device 104 in the first embodiment. FIG. 3 is a schematic diagram showing an example of driving control support of the driving control support device 104 in the first embodiment. FIG. 3 is a schematic diagram showing an example of driving control support of the driving control support device 104 in the first embodiment. FIG. 3 is a schematic diagram showing an example of driving control support of the driving control support device 104 in the first embodiment. FIG. 3 is a diagram illustrating an example of hardware resources of the vehicle-mounted device 110 according to the first embodiment. The block diagram of the safe driving assistance system 100 in Embodiment 2. FIG. 9 is a flowchart showing a safe driving support process of the vehicle-mounted device 110 in the second embodiment. FIG. 6 is a configuration diagram of a safe driving support system 100 in a third embodiment.

Embodiment 1 FIG.
A safe driving support system for assisting driving operation of a vehicle will be described.

FIG. 1 is a schematic diagram of a safe driving support system 100 according to the first embodiment.
The outline | summary of the safe driving assistance system 100 in Embodiment 1 is demonstrated based on FIG.

  The safe driving support system 100 (an example of a driving support system) includes one or more quasi-zenith satellites 101, a plurality of positioning satellites 102, and a plurality of vehicles 103a-c.

A dotted line from the quasi-zenith satellite 101 means transmission of a positioning signal and a LEX signal (L-band EXPeriment), and a dotted line from the positioning satellite 102 means transmission of a positioning signal.
The arrow between the vehicles 103a-c means communication at its own position.

The vehicle-mounted device of each vehicle 103a-c receives a positioning signal from the quasi-zenith satellite 101 and the positioning satellite 102, and includes LEX that includes positioning reinforcement information representing an error amount included in the observed amount of the positioning signal from the quasi-zenith satellite 101. Receive a signal.
The vehicle-mounted device of each vehicle 103a-c corrects the observation amount of the positioning signal based on the positioning reinforcement information included in the LEX signal, and locates its own position using the corrected observation amount of the positioning signal. By correcting the observation amount of the positioning signal based on the positioning reinforcement information, the self-position can be determined with a centimeter-class accuracy (error is less than 1 meter).

  The vehicle-mounted device of each vehicle 103a-c communicates the determined self-position with each other, determines the relative position with the other vehicle, and assists the driving operation of the driver based on the determined relative position with the other vehicle. That is, driving assistance is performed.

For example, the driving control support device for the vehicle 103a performs the following driving support.
When the vehicle 103b in the left turn lane is approaching the vehicle 103a or there is a vehicle 103c behind the intersection, the operation control device of the vehicle 103a suppresses sudden braking, displays a warning message, or sounds Perform output and so on. Thereby, it is possible to suppress a collision accident that easily occurs when the color of the signal of the traffic light changes.

The positioning satellite 102 is an artificial satellite that periodically transmits positioning signals (signals such as L1, L2, and L5) used for positioning.
A positioning system having a plurality of positioning satellites 102 is called a GNSS (Global Navigation Satellite Systems). GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System) are examples of GNSS.

The Quasi-Zenith Satellite 101 (QZS) is an artificial satellite that flies over Japan and is a kind of positioning satellite 102.
A positioning system in which a plurality of quasi-zenith satellites 101 fly in a predetermined eight-shaped quasi-zenith orbit and one quasi-zenith satellite 101 is always located above Japan is called a quasi-zenith satellite system (QZSS: QZS System). .

The quasi-zenith satellite 101 periodically transmits a positioning signal and a LEX signal (an example of a positioning reinforcement signal).
Since the quasi-zenith satellite 101 exists in the direction of a high elevation when viewed from various parts of Japan, the positioning signal and the LEX signal transmitted from the quasi-zenith satellite 101 are rarely shielded by a building or the like. That is, even when each vehicle 103a-c travels in an urban area surrounded by buildings, the vehicle-mounted device of each vehicle 103a-c can receive the positioning signal and the LEX signal from the quasi-zenith satellite 101.

The LEX signal is a signal transmitted from the quasi-zenith satellite 101 at a predetermined frequency (1277.85 MHz) in the L band.
In the embodiment, the quasi-zenith satellite 101 sets the positioning reinforcement information for calculating the error amount included in the observation amount of the positioning signal and transmits the LEX signal. However, the positioning reinforcement information may be transmitted as a signal having a frequency different from that of the LEX signal.
The observation amount of the positioning signal is, for example, a pseudo distance between the vehicle-mounted device and the positioning satellite 102.
The error amount included in the observation amount of the positioning signal is a magnitude of an error component such as an error of a satellite clock provided in the positioning satellite 102, an orbit error of the positioning satellite 102, a transmission delay of the positioning signal caused by the ionosphere or the troposphere.

FIG. 2 is a configuration diagram showing a positioning reinforcement system 190 for transmitting a LEX signal including positioning reinforcement information from the quasi-zenith satellite 101 in the first embodiment.
The positioning reinforcement system 190 in Embodiment 1 is demonstrated based on FIG.

The positioning reinforcement system 190 can be divided into a space segment, a ground segment, and a user segment.
The space segment includes the quasi-zenith satellite 101 and the positioning satellite 102.
The ground segment includes an electronic reference point network 191, a reinforcement information generation station 192, a master control station 193, a tracking control station 194, and a monitor station 195.
The user segment includes a positioning terminal 196.

Next, the operation of the positioning reinforcement system 190 will be described. The following operations are periodically executed, and the positioning reinforcement information is periodically updated.
The electronic reference point network 191 is composed of a plurality of electronic reference points arranged throughout Japan, and each electronic reference point receives a positioning signal from the positioning satellite 102 or the quasi-zenith satellite 101 and receives an observation amount (for example, pseudorange) of the positioning signal. ) Is calculated.
The reinforcement information generation station 192 calculates the coordinate value of each electronic reference point by navigation processing using the observation amount of the positioning signal calculated by each electronic reference point, and the calculated coordinate value of each electronic reference point and the known electron Positioning reinforcement information is generated based on the difference from the coordinate value of the reference point. Since the error amount included in the observation amount of the positioning signal differs depending on the region, the reinforcement information generation station 192 generates the positioning reinforcement information for each region where the electronic reference point is arranged.
The master control station 193 transmits the positioning reinforcement information and the navigation message generated by the reinforcement information generation station 192 from the tracking control station 194 to the quasi-zenith satellite 101.
The quasi-zenith satellite 101 transmits a positioning signal including a navigation message received from the tracking control station 194 and a LEX signal including positioning augmentation information received from the tracking control station 194 to the positioning terminal 196.
The positioning terminal 196 (for example, the vehicle-mounted device) receives a positioning signal from the positioning satellite 102 or the quasi-zenith satellite 101 and calculates an observation amount of the positioning signal, and the positioning reinforcement included in the LEX signal includes the calculated observation amount of the positioning signal. Correction is performed based on the information, and the self-position 197 is determined using the corrected observation amount of the positioning signal.

  In addition, the monitor station 195 receives a positioning signal from the positioning satellite 102 or the quasi-zenith satellite 101 and calculates the observation amount of the positioning signal, and the master control station 193 collects the observation amount of the positioning signal from the monitor station 195.

FIG. 3 is an example of a map in which Japan is divided into regions in order to generate positioning reinforcement information for each region in the first embodiment.
As shown in FIG. 3, for example, the positioning reinforcement system 190 divides Japan into 12 regions and generates positioning reinforcement information for each region. Then, the quasi-zenith satellite 101 transmits a LEX signal including 12 positioning reinforcement information generated for each region to each region in Japan.

FIG. 4 is a configuration diagram of the safe driving support system 100 in the first embodiment.
The configuration of the safe driving support system 100 in the first embodiment will be described with reference to FIG.

  The safe driving support system 100 (an example of a driving support system or a position location system) includes one or more quasi-zenith satellites 101, a plurality of positioning satellites 102, and a plurality of vehicles 103.

The vehicle 103 includes an in-vehicle device 110, an operation control support device 104, and a car navigation system (hereinafter referred to as “car navigation”) (not shown).
The vehicle 103 may be any type of moving body such as a passenger car, a motorcycle, a large vehicle, a bus, and a taxi.

The vehicle-mounted device 110 (an example of a position locating device) includes a LEX signal receiving unit 111, a positioning signal receiving unit 112, a decoding unit 113, a self-positioning unit 114, and an on-vehicle device storage unit 119.
The vehicle-mounted device 110 includes an antenna 111a for receiving a LEX signal and an antenna 112a for receiving a positioning signal.
Further, the vehicle-mounted device 110 includes a V2V communication control unit 115 (V2V: Vehicle to Vehicle) and a relative position calculation unit 116.

  The positioning signal receiving unit 112 (an example of the positioning signal receiving unit) receives a positioning signal from the positioning satellite 102 (or the quasi-zenith satellite 101) that transmits the positioning signal via the antenna 112a, and based on the reception result, receives the positioning signal. Calculate the observed quantity.

The LEX signal receiving unit 111 (an example of a positioning reinforcement signal receiving unit) receives a LEX signal (an example of a positioning reinforcement signal) from the quasi-zenith satellite 101, and acquires positioning reinforcement information for each region from the received LEX signal.
The LEX signal is an example of a positioning reinforcement signal including positioning reinforcement information for each region for calculating an error amount included in the observation amount of the positioning signal.

The decoding unit 113 (an example of the positioning reinforcement information selection unit) includes the approximate position indicated by the coordinate value of the approximate position calculated by the self-position locating unit 114 from the regional positioning reinforcement information acquired by the LEX signal receiving unit 111. Select location enhancement information.
The decoding unit 113 (an example of a correction amount calculation unit) calculates a correction amount corresponding to the error amount included in the observation amount of the positioning signal based on the selected positioning reinforcement information.

The self-location locating unit 114 (an example of the approximate position calculating unit) calculates the approximate position coordinate value (approximate coordinate value) using the observation amount of the positioning signal calculated by the positioning signal receiving unit 112.
The self-positioning unit 114 (an example of the position locating unit) corrects the observed amount of the positioning signal calculated by the positioning signal receiving unit 112 based on the correction amount calculated by the decoding unit 113, and observes the corrected positioning signal. The coordinate value (location coordinate value) of the self position is calculated using the quantity.

  The V2V communication control unit 115 (an example of an inter-vehicle communication unit) includes a V2V communication message 109 (an example of vehicle information) including the coordinate value of the self-position calculated by the self-position locating unit 114 as the coordinate value of the own vehicle 103. Is transmitted to the other vehicle 103, and the V2V communication message 109 including the coordinate value of the other vehicle 103 is received from the other vehicle 103.

The relative position calculation unit 116 (an example of the relative position information generation unit) is received by the V2V communication control unit 115 and the coordinate value of the own vehicle 103 included in the V2V communication message 109 transmitted by the V2V communication control unit 115. Based on the coordinate value of the other vehicle 103 included in the V2V communication message 109, other vehicle relative position information representing the relative position of the other vehicle 103 with respect to the own vehicle 103 is generated.
The relative position calculation unit 116 outputs the generated other vehicle relative position information to the driving control support device 104.

The on-vehicle device storage unit 119 stores data used by the on-vehicle device 110.
For example, the vehicle-mounted device storage unit 119 includes an observation amount of the positioning signal, positioning reinforcement information, a correction amount for correcting the observation amount of the positioning signal, a rough coordinate value, an orientation coordinate value, V2V communication of the own vehicle 103 or another vehicle 103. A message 109 or the like is stored.

  The driving control support device 104 (an example of the driving control device) controls driving of the vehicle 103 (steering, braking, accelerator, light, car navigation, etc.) based on the relative position information of other vehicles input from the relative position calculation unit 116. Control) to assist the driver in driving.

In FIG. 4, the vehicle-mounted device 110 may include one antenna for receiving a LEX signal and a positioning signal instead of the two antennas 111 a and 112 a.
The vehicle-mounted device 110 may include a single signal receiving unit (signal receiver) that receives the LEX signal and the positioning signal instead of the LEX signal receiving unit 111 and the positioning signal receiving unit 112.

FIG. 5 is a flowchart showing the safe driving support process of the vehicle-mounted device 110 in the first embodiment.
A safe driving support process (an example of a self-location determination method and a driving support method) of the vehicle-mounted device 110 according to Embodiment 1 will be described with reference to FIG.

  The vehicle-mounted device 110 periodically executes a safe driving support process described below.

In S101, the quasi-zenith satellite 101 periodically transmits a LEX signal including a plurality of positioning reinforcement information for each region (see FIG. 3).
However, the quasi-zenith satellite 101 may transmit a plurality of positioning reinforcement information for each region using a signal having a frequency different from the frequency of the LEX signal (127.75 MHz).

The positioning reinforcement information is information for obtaining an error amount included in the observation amount of the positioning signal.
For example, the positioning reinforcement information includes error information of a satellite clock included in the positioning satellite 102, error information of a satellite orbit in which the positioning satellite 102 flies, information on a transmission delay of a positioning signal generated by the ionosphere and the troposphere, and the like.

The LEX signal receiving unit 111 receives a LEX signal including a plurality of positioning reinforcement information for each region from the quasi-zenith satellite 101, and acquires a plurality of positioning reinforcement information for each region from the received LEX signal.
After S101, the process proceeds to S104.

In S102, the quasi-zenith satellite 101 and the positioning satellite 102 periodically transmit a positioning signal for performing navigation positioning.
For example, the positioning signal includes information such as a satellite ID for identifying the satellite, a transmission time of the positioning signal (satellite clock time), and a navigation message indicating the orbit of each satellite.

The positioning signal receiving unit 112 receives positioning signals from the quasi-zenith satellite 101 and the positioning satellite 102, and calculates an observation amount of the positioning signal based on the reception result.
For example, the positioning signal receiving unit 112 calculates a pseudo distance between the satellite and the antenna 112a of the positioning signal receiving unit 112 based on the transmission time and the reception time of the positioning signal.
Information included in the positioning signal, the phase of the positioning signal (carrier wave) at the time of reception, the reception time at which the positioning signal is received, and the like are also examples of the observation amount of the positioning signal.
After S102, the process proceeds to S103.

In S103, the self-position locating unit 114 indicates the approximate position of the vehicle 103 by independent positioning (positioning that does not correct the observation amount of the positioning signal as in S105) using the observation amount of the positioning signal calculated in S102. Approximate coordinate values are calculated.
Coordinate values (schematic coordinate values) obtained by independent positioning include errors of about 1 meter to 10 meters, and it is difficult to calculate coordinate values with centimeter-class accuracy (error of less than 1 meter) by independent positioning. .

For example, the self location unit 114 calculates the approximate coordinate value of the vehicle 103 as follows.
The self-positioning unit 114 uses the pseudoranges of each of the three or more positioning satellites 102 (including the quasi-zenith satellite 101) and is separated from each positioning satellite 102 by the pseudorange (corresponding to each positioning satellite 102 as the center). The coordinate value of the intersection of the spheres with the pseudo distance as the radius is calculated as the coordinate value of the antenna 112a of the positioning signal receiving unit 112.
The self-position locating unit 114 calculates the approximate coordinate value of the vehicle 103 by adding the distance (offset amount) from the center point of the local coordinate system of the vehicle 103 to the attachment position of the antenna 112a to the coordinate value of the antenna 112a. However, the coordinate value of the antenna 112 a may be used as the approximate coordinate value of the own vehicle 103.

The self location unit 114 may calculate the approximate coordinate value of the vehicle 103 by other navigation processing.
For example, the vehicle 103 may be provided with a measuring device such as a gyro (angular velocity meter), an accelerometer, and a velocity meter. The self-position locating unit 114 calculates a rough coordinate value by strapdown calculation (integral calculation) using the measurement value of the measuring device.
Moreover, you may equip the onboard equipment 110 with a Kalman filter part. The self position locating unit 114 corrects the approximate coordinate value using the correction amount of the approximate coordinate value calculated by the Kalman filter unit. The self location unit 114 may correct the measurement value using the correction amount of the measurement value calculated by the Kalman filter unit, and calculate the approximate coordinate value using the corrected measurement value.

  It progresses to S104 after S103.

In S104, the decoding unit 113 selects the positioning reinforcement information of the area including the approximate position indicated by the approximate coordinate value calculated in S103 from the plurality of positioning reinforcement information for each area acquired from the LEX signal in S101. For example, as shown in FIG. 3, map data indicating each area is stored in advance in the vehicle-mounted device storage unit 119, and the decoding unit 113 determines the area including the approximate position from the map data.
The decoding unit 113 calculates a correction amount for correcting the observation amount of the positioning signal based on the positioning reinforcement information of the selected region.
For example, the process described in Non-Patent Document 3 can be used as the process for calculating the correction amount. Non-Patent Document 3 discloses a process for calculating a correction amount for a pseudorange (observation amount of a positioning signal) using positioning reinforcement information such as satellite clock error, satellite position error, ionospheric delay, and tropospheric delay.
After S104, the process proceeds to S105.

In S105, the self-positioning unit 114 corrects the observation amount of the positioning signal by adding the correction amount calculated in S104 to the observation amount of the positioning signal calculated in S102.
The self-location locating unit 114 calculates a locating coordinate value indicating the locating position of the own vehicle 103 using the corrected observation amount of the positioning signal.
By using the observation amount of the positioning signal corrected by using the correction amount based on the positioning reinforcement information, it is possible to calculate the orientation coordinate value with centimeter-class accuracy (error less than 1 meter).
The calculation method of the orientation coordinate value is the same as that of S103, for example.

  Further, the self-location locating unit 114 determines the speed, acceleration, and attitude angle (azimuth angle) of the vehicle 103 based on the measured amount of the positioning signal, the coordinate value of the positioning signal, or the measurement value of the measuring device (gyro, accelerometer, speedometer). , Elevation angle, rotation angle). Hereinafter, the angle of the posture angle is simply referred to as “direction”.

For example, the self location unit 114 calculates the speed, acceleration, and direction of the vehicle 103 as follows.
The self-position locating unit 114 sets the speed measured by the speedometer as the speed of the own vehicle 103.
The self position locating unit 114 sets the acceleration measured by the accelerometer as the acceleration of the own vehicle 103.
The self-position locating unit 114 corrects each measured value using the correction amount of each measured value of the gyroscope and the accelerometer calculated by the Kalman filter unit (not shown), and straps down using each corrected measured value. The speed, acceleration and direction of the own vehicle 103 are calculated by calculation (integral calculation).
The self-location locating unit 114 calculates a position vector from the position indicated by the orientation coordinate value calculated in the previous cycle to the position indicated by the orientation coordinate value calculated in the current cycle, and determines the movement direction indicated by the calculated position vector The direction of the vehicle 103 is Further, the self-position locating unit 114 calculates the speed of the vehicle 103 by dividing the movement distance indicated by the position vector by the calculation period (time) of the directional coordinates. The self position locating unit 114 may calculate a position vector of the own vehicle 103 based on three or more ordinate coordinates.

  After S105, the process proceeds to S106.

In S106, the V2V communication control unit 115 generates a V2V communication message 109 including the orientation coordinate value, speed, acceleration, and direction of the own vehicle 103 calculated in S105, and uses the generated V2V communication message 109 as another vehicle. 103.
Further, the V2V communication control unit 115 receives the V2V communication message 109 transmitted from the other vehicle 103.

  For example, the V2V communication control unit 115 communicates the V2V communication message 109 by DSRC (Dedicated Short Range Communication) using 5.8 GHz band radio waves or by V2V communication using 700 Hz radio waves.

For example, the V2V communication control unit 115 may communicate with the V2V communication control unit 115 of another vehicle 103 and perform a predetermined authentication process before communicating the V2V communication message 109. The V2V communication control unit 115 communicates the V2V communication message 109 when the partner V2V communication control unit 115 is approved (authentication OK).
Further, the V2V communication control unit 115 may perform communication by encrypting the V2V communication message 109.

  The V2V communication control unit 115 additionally stores the V2V communication message 109 of the own vehicle 103 and the V2V communication message 109 of the other vehicle 103 in the in-vehicle device storage unit 119. A plurality of V2V communication messages 109 (orientation coordinate values) stored in the in-vehicle device storage unit 119 constitute travel history data indicating the travel route so far of the own vehicle 103 or another vehicle 103.

  It progresses to S107 after S106.

FIG. 6 is a diagram illustrating an example of the V2V communication message 109 according to the first embodiment.
An example of the V2V communication message 109 in the first embodiment will be described with reference to FIG.

The V2V communication message 109 shown in FIG. 6 includes “message ID”, “positioning time”, “latitude”, “longitude”, “altitude”, “speed”, “acceleration”, “azimuth”, “steering angle”, and “other information”.
“Message ID (an example of a vehicle ID)” indicates an ID (identifier) that identifies the vehicle 103 and the V2V communication message 109.
“Positioning time” indicates the time at which the orientation coordinate values “latitude”, “longitude”, and “altitude” are calculated.
“Latitude”, “Longitude”, and “Altitude” indicate orientation coordinate values calculated by the self-position location unit 114.
“Speed”, “Acceleration”, and “Direction” indicate the respective values calculated by the self-position locating unit 114.
“Steering angle” indicates the direction of the steering wheel. For example, the steering angle is acquired from a steering device (not shown) of the vehicle 103 that changes the direction of the tire according to the operation of the steering wheel.

“Other information” includes “throttle position”, “light position”, “vehicle size”, “vehicle weight”, “positioning accuracy information”, and the like.
“Throttle position” indicates the accelerator opening and braking amount (braking strength). For example, the throttle position is acquired from an accelerator control device (or brake control device) (not shown) of the vehicle 103 that controls the accelerator (or brake).
“Light position” indicates the position of each light and lamp (for example, headlight, hazard lamp, tail lamp) provided in the vehicle 103. For example, the light position is represented by coordinate values in the local coordinate system of the vehicle 103. For example, the light position is stored in advance in the in-vehicle device storage unit 119.
“Vehicle size” indicates the planar shape (for example, rectangle, triangle, trapezoid) of the vehicle 103 and the size of the vehicle 103 (for example, vehicle length, vehicle width, vehicle height, or planar shape). For example, the vehicle size is stored in the in-vehicle device storage unit 119 in advance.
“Vehicle weight” indicates the weight of the vehicle 103. For example, the vehicle weight is stored in advance in the in-vehicle device storage unit 119.
“Positioning accuracy information” indicates information regarding the positioning accuracy of the orientation coordinate value. The satellite ID for identifying a visible satellite and the number of visible satellites are examples of positioning accuracy information. The visible satellite is the quasi-zenith satellite 101 or the positioning satellite 102 from which the positioning signal receiving unit 112 has received the positioning signal.

  Returning to FIG. 5, the description will be continued from S107.

In S <b> 107, the relative position calculation unit 116 generates relative position information based on the V2V communication message 109 of the own vehicle 103 and the V2V communication message 109 of the other vehicle 103. The relative position information is information indicating the relative position of another vehicle 103 with respect to its own vehicle 103.
The relative position calculation unit 116 outputs the generated relative position information to the driving control support device 104.

For example, the relative position calculation unit 116 calculates the relative position (relative distance, relative movement direction, and relative speed) as follows.
The relative position calculation unit 116 calculates the distance (relative distance) from the own vehicle 103 to the other vehicle 103 using the orientation coordinate value of the own vehicle 103 and the orientation coordinate value of the other vehicle 103.
The relative position calculation unit 116 compares the direction of the own vehicle 103 with the direction of the other vehicle 103, compares the speed of the own vehicle 103 with the speed of the other vehicle 103, and Then, the moving direction (relative moving direction) and speed (relative speed) in which the other vehicle 103 approaches or moves away are calculated.

  Further, the relative position calculation unit 116 outputs information included in the V2V communication message 109 (see FIG. 6) of the own vehicle 103 and the other vehicle 103 to the driving control support device 104.

  The driving control support device 104 receives the relative position information and the information of the V2V communication message 109 from the relative position calculation unit 116, and performs predetermined driving control support processing based on the input relative position information and the information of the V2V communication message 109. Execute. The driving control support process is a process for assisting the driving operation of the driver by controlling the steering, the brake, the accelerator, the light, the car navigation system, and the like.

  By S107, the safe driving support process of the vehicle-mounted device 110 ends.

7, 8, 9, and 10 are schematic diagrams illustrating an example of driving control support of the driving control support device 104 according to the first embodiment.
For example, the driving control support device 104 performs processing for driving control support as shown in FIGS.

In FIG. 7, the driving control support device 104 determines whether or not its own vehicle 103 is approaching another vehicle 103 based on the relative distance and the relative speed.
When the own vehicle 103 is approaching another vehicle 103, the driving control support device 104 outputs a collision warning screen, a voice message, or a warning sound from a car navigation system (collision warning application).
The driving control support device 104 may control the brake to reduce the speed of the vehicle 103, or may control the accelerator to increase the speed of the vehicle 103.

In FIG. 8, the driving control support device 104 determines the traveling lane of the own vehicle 103 based on the orientation coordinate value of the own vehicle 103 and the road map data.
The driving control support device 104 compares the orientation coordinate value of the own vehicle 103 and the position information of the traveling lane, and determines whether or not the own vehicle 103 protrudes from the traveling lane based on the comparison result.
When the own vehicle 103 protrudes from the driving lane, the driving control support device 104 outputs a warning screen, a voice message, or a warning sound from a car navigation system (lane navigation).
The driving control support device 104 may control the steering so that the own vehicle 103 does not protrude from the traveling lane.
Road map data including position information of roads and driving lanes is stored in advance in the vehicle-mounted device storage unit 119.

In FIG. 9, the driving control support device 104 determines that its own vehicle 103 is based on the orientation coordinate value and orientation of its own vehicle 103 and the orientation coordinate value and orientation of each of the other vehicles 103. A front vehicle traveling in front of 103 is determined.
The driving control support device 104 controls the speed of the own vehicle 103 in accordance with the speed of the preceding vehicle, and tracks the own vehicle 103 to the preceding vehicle so that the own vehicle 103 does not collide with the preceding vehicle (assist travel). .

The relative position calculation unit 116 generates relative position information between the plurality of other vehicles 103, and the driving control support device 104 supports driving control for the own vehicle 103 based on the relative position information between the plurality of other vehicles 103. Processing may be performed (for example, FIG. 10).
In FIG. 10, the driving control support device 104 determines whether the two other vehicles 103 a and 103 b are approaching based on the relative speeds of the two other vehicles 103 a and 103 b traveling on the left rear side of the own vehicle 103. Determine whether or not.
When two other vehicles 103a and 103b are approaching, the driving control support device 104 changes its lane to avoid a collision with another vehicle 103b that the other left vehicle 103a approaches. A warning message screen, a voice message or a warning sound indicating that there is a possibility of approaching the vehicle 103 is output from a car navigation system (collision warning application).

FIG. 11 is a diagram illustrating an example of hardware resources of the vehicle-mounted device 110 according to the first embodiment.
In FIG. 11, the vehicle-mounted device 110 (an example of a computer) includes a CPU 901 (Central Processing Unit). The CPU 901 is connected to hardware devices such as a ROM 903, a RAM 904, a communication board 905, and a magnetic disk device 920 via a bus 902, and controls these hardware devices.
The ROM 903, the RAM 904, and the magnetic disk device 920 are examples of storage devices.

  The storage device (for example, the magnetic disk device 920) stores an OS 921 (operating system), a program group 922, and a file group 923.

  The program group 922 includes programs that execute the functions described as “units” in the embodiments. A program (for example, a position location program, a driving support program, a road billing program) is read and executed by the CPU 901. That is, the program causes the computer to function as “to part”, and causes the computer to execute the procedures and methods of “to part”.

  The file group 923 includes various data (input, output, determination result, calculation result, processing result, etc.) used in “˜part” described in the embodiment.

In the embodiment, arrows included in the configuration diagrams and flowcharts mainly indicate input and output of data and signals.
The processing of the embodiment described based on the flowchart and the like is executed using hardware such as the CPU 901, a storage device, an input device, and an output device.

  In the embodiment, what is described as “to part” may be “to circuit”, “to apparatus”, and “to device”, and “to step”, “to procedure”, and “to processing”. May be. That is, what is described as “to part” may be implemented by any of firmware, software, hardware, or a combination thereof.

In the first embodiment, for example, the following safe driving support system 100 has been described.
The vehicle-mounted device 110 corrects the observation amount of the positioning signal using the positioning reinforcement information, and uses the corrected observation amount of the positioning signal to determine the centimeter-class high-accuracy absolute position (orientation coordinate value).
The vehicle-mounted device 110 communicates vehicle information (V2V communication message 109) including a highly accurate absolute position between vehicles.
The vehicle-mounted device 110 determines the relative position between the own vehicle 103 and the other vehicle 103 based on the highly accurate absolute positions of the own vehicle 103 and the other vehicle 103.
The driving control support device 104 assists the driving operation of the own vehicle 103 based on the highly accurate absolute position of the own vehicle 103 or the relative position between the own vehicle 103 and the other vehicle 103.

For example, the safe driving support system 100 has the following effects.
Since the centimeter-class positioning reinforcement information broadcast from the quasi-zenith satellite 101 in the LEX band is used, the absolute position of the vehicle 103 in the centimeter class can be calculated.
The common visible satellite problem of concern with relative DGPS is eliminated. Furthermore, only the relative positional relationship is known, and the conventional problem that communication with other than the vehicle 103 (for example, road-to-vehicle communication) is necessary to acquire the absolute position and the like is solved.
In the inter-vehicle communication, it is not necessary to exchange the raw data of the positioning satellite 102 (observation amount of the positioning signal, etc.), and the problem of low transmission capacity (1 Mbps or 4 Mbps) that is a problem in the Japanese version 5.8 GHz band DSRC is solved. Is done.
In Japan, “Technical data on frequency sharing conditions between driving support communication system using 700 MHz band and adjacent system (ITS FORM RC RC-007), formulated by Driving Support Communication System Technical Committee of ITS Information Communication System Promotion Conference. A 700 MHz band communication method using "" has been developed. Needless to say, the problem of low transmission capacity is also solved when V2V communication in the 700 MHz band is used as the V2V frequency band.
Furthermore, it becomes possible to develop a safe driving support system 100 such as lane navigation, a collision warning application, and assist driving.
Applications to systems such as collecting probe data (running history) and road pricing that are not fully utilized due to insufficient position accuracy are also possible.

Embodiment 2. FIG.
A vehicle-mounted device that communicates with a communication device other than the vehicle-mounted device of another vehicle to acquire position information of another vehicle or a passer-by will be described.
Hereinafter, items different from the first embodiment will be mainly described. The matters whose explanation is omitted are the same as those in the first embodiment.

FIG. 12 is a configuration diagram of the safe driving support system 100 according to the second embodiment.
The configuration of the safe driving support system 100 according to Embodiment 2 will be described with reference to FIG.

  The safe driving support system 100 includes a roadside device 105, a mobile terminal 106, and a mobile base station 107 in addition to the configuration described in Embodiment 1 (see FIG. 4).

  The roadside machine 105 is a communication device (infrastructure or infrastructure) that communicates with the vehicle-mounted device 110 of each vehicle 103 that is provided on the road and travels on the road.

  The mobile terminal 106 (an example of a communication terminal) is a communication terminal (for example, a mobile phone or a smartphone) owned by a passerby.

  The mobile base station 107 (an example of a relay device) is a relay device that relays communication of the mobile terminal 106.

  The vehicle-mounted device 110 includes a V2I communication control unit 118A and a V2X communication control unit 118B in addition to the configuration described in the first embodiment (see FIG. 4). “V2I” is an abbreviation for “Vehicle to Infrastructure”, and “V2X” is an abbreviation for “Vehicle to X communication”.

  The V2I communication control unit 118A (an example of a road-to-vehicle communication unit) receives a V2I communication message (an example of travel road information) from the roadside machine 105 on the travel road on which the vehicle 103 is traveling. The V2I communication message is information indicating the position of a traveling vehicle (and a traveling vehicle present on an intersection road that intersects the traveling road) existing on the traveling road.

  The V2X communication control unit 118B (an example of a passer information receiving unit) displays the position of the passer-by from at least one of the mobile terminal 106 owned by the passer-by and the mobile base station 107 that relays communication between the mobile terminals 106. A communication message (an example of passer-by information) is received.

The relative position calculation unit 116 (an example of a relative position information generation unit) generates traveling vehicle relative position information representing the relative position of the traveling vehicle with respect to the own vehicle 103 based on the V2I communication message received by the V2I communication control unit 118A. To do. The relative position calculation unit 116 outputs the generated traveling vehicle relative position information to the driving control support device 104.
The relative position calculation unit 116 generates passer relative position information indicating the relative position of the passer with respect to the vehicle 103 based on the V2X communication message received by the V2X communication control unit 118B, and the generated passer relative position information. Is output to the operation control support device 104.

  The driving control support device 104 (an example of the driving control device) performs driving control of the own vehicle 103 based on the relative position information (of other vehicle, traveling vehicle, passerby) input from the relative position calculation unit 116, Assist the driver in driving.

FIG. 13 is a flowchart showing the safe driving support process of the vehicle-mounted device 110 according to the second embodiment.
The safe driving support process of the vehicle-mounted device 110 in the second embodiment will be described based on FIG.

S101 to S106 are the same as those in the first embodiment (see FIG. 5).
In S101 to S105, the vehicle-mounted device 110 calculates the orientation coordinate value of the own vehicle 103.
In S <b> 106, the V2V communication control unit 115 transmits the V2V communication message 109 including the orientation coordinate value of the own vehicle 103 to the other vehicle 103 and receives the V2V communication message 109 of the other vehicle 103 from the other vehicle 103. .
After S106, the process proceeds to S107B.

In S <b> 111, the V2I communication control unit 118 </ b> A communicates with the roadside device 105 on the traveling road on which the vehicle 103 is traveling and receives a V2I communication message from the roadside device 105.
The V2I communication message is information indicating the position of a traveling vehicle (an example of another vehicle 103) present on the traveling road (or an intersection road). For example, the V2I communication message includes information such as the vehicle ID of the traveling vehicle, coordinate values (latitude, longitude, altitude), speed, acceleration, direction, and the like, similar to the V2V communication message 109 (see FIG. 6).

For example, the roadside machine 105 generates a V2I communication message as follows.
An image sensor for imaging the road is installed on each road. The image sensor measures the coordinate value and speed of a traveling vehicle traveling on a road by performing image processing on the captured image (one or a plurality of continuous images). The roadside machine 105 sets the coordinate value and speed of the traveling vehicle measured by the image sensor, and generates a V2I communication message.
The roadside device 105 may receive the V2I communication message (the same data as the V2V communication message 109) of the traveling vehicle by communicating with the V2I communication control unit 118A of the traveling vehicle.

  For example, the V2I communication control unit 118A communicates with the roadside device 105 by DSRC communication using a 5.8 GHz band radio wave.

  After S111, the process proceeds to S107B.

  In S112, the V2X communication control unit 118B receives the V2X communication message indicating the position of the passer-by from at least one of the mobile terminal 106 owned by the passer-by and the mobile base station 107 that relays communication between the mobile terminal 106. For example, the V2X communication message includes information such as a passer ID for identifying a passer and coordinate values (latitude, longitude, altitude) where the passer is located.

  For example, the portable terminal 106 measures the coordinate value by the GPS function, and sets the coordinate value obtained by the positioning as the passer's coordinate value in the V2X communication message. In addition, the mobile terminal 106 sets identification information such as a terminal ID, a telephone number, or a user ID stored in advance as a passer ID in the V2X communication message.

  For example, the mobile base station 107 receives a passer ID (terminal ID, telephone number, user ID, etc.) and a passer's coordinate value (coordinate value of the mobile terminal 106) from the mobile terminal 106, and the received passer ID and pass The coordinate value of the person is set in the V2X communication message.

  After S112, the process proceeds to S107B.

In S107B, the relative position calculation unit 116 determines the own vehicle 103 based on the V2V communication message 109 of the own vehicle 103, at least one of the V2V communication message 109 of the other vehicle 103 and the V2I communication message of the traveling vehicle. Relative position information of other vehicles 103 (including traveling vehicles) is generated.
Further, the relative position calculation unit 116 generates relative position information of the passer with respect to the own vehicle 103 based on the V2V communication message 109 of the own vehicle 103 and the V2X communication message of the passer.
The relative position calculation unit 116 outputs the generated relative position information of the other vehicle 103 and the relative position information of the passerby to the driving control support device 104.

  The method for generating the relative position information of the other vehicle 103 is the same as S107 (see FIG. 5) of the first embodiment. Further, the method for generating the relative position information of the passer-by is the same as S107 in the first embodiment (replaces the other vehicle 103 with the passer-by).

The driving control support device 104 executes driving control support processing based on the relative position information of the other vehicle 103 and the relative position information of the passerby. The contents of the driving control support process are the same as those in the first embodiment (see S107 in FIG. 5).
For example, the driving control support device 104 determines whether or not the passerby is approaching the vehicle 103 based on the relative distance of the passerby.
When the passerby is approaching the own vehicle 103, the driving control support device 104 outputs a warning message screen, a voice message, or a warning sound from a car navigation system (collision warning application).
The driving control support device 104 may control the brake to reduce the speed of the vehicle 103, or may control the accelerator to increase the speed of the vehicle 103.

  By S107B, the safe driving support process of the vehicle-mounted device 110 ends.

  According to the second embodiment, the driving operation can be assisted so as to prevent the traffic accident by grasping the relative position with the passerby or the other vehicle 103 (traveling vehicle) that cannot communicate between the vehicles.

Embodiment 3 FIG.
A mode in which charging (road pricing) of toll roads using the orientation coordinate values will be described.
Hereinafter, items different from the first embodiment will be mainly described. The matters whose explanation is omitted are the same as those in the first embodiment.

FIG. 14 is a configuration diagram of the safe driving support system 100 according to the third embodiment.
A configuration of safe driving support system 100 (an example of a road billing system) in the third embodiment will be described with reference to FIG.

  The vehicle-mounted device 110 includes a road billing control unit 117 in addition to the configuration described in the first embodiment (see FIG. 4).

  The vehicle-mounted device storage unit 119 (an example of a toll road information storage unit) stores toll road information including the location of the toll road and a toll (toll).

The road billing control unit 117 (an example of the billing control unit) is based on the coordinate value (location coordinate value) of the self position calculated by the self location unit 114 and the toll road information stored in the vehicle-mounted device storage unit 119. It is determined whether or not the own vehicle 103 is traveling on a toll road.
The road charging control unit 117 performs predetermined charging control when it is determined that the own vehicle 103 is traveling on a toll road.

For example, the self-location locating unit 114 stores the locating coordinate value of the own vehicle 103 in the in-vehicle device storage unit 119 together with the calculation time. The plurality of orientation coordinate values stored in the in-vehicle device storage unit 119 constitute travel history data indicating the travel route of the vehicle 103.
The road billing control unit 117 determines whether or not the travel route indicated by the travel history data includes the toll road indicated by the toll road information. When a toll road is included in the travel route, the road billing control unit 117 performs toll processing for acquiring the toll for the toll road included in the travel route from the toll road information and charging the acquired toll. For example, the self-location locating unit 114 charges the toll by communicating information on a credit card inserted into the vehicle-mounted device 110 such as ETC (Electronic Toll Collection).
The road charging control unit 117 includes one or a plurality of specific passing points (specific passing points on the road surface within a radius of 1 m to 2 m, specific lanes at the specific points, etc.) on the driving route indicated by the driving history data. ) May be included. When a specific passing point is included in the travel route, the road billing control unit 117 acquires from the road billing information a toll for a road including the specific passing point or the specific passing point included in the travel route. Then, a billing process for billing the acquired toll is performed. The road billing control unit 117 may acquire a toll for a specific passing point included in the travel route from the road billing information and perform a billing process for charging the acquired toll. Furthermore, in this case, the travel time between points based on the time required for traffic between two specific passing points, and the amount of fuel and electricity used for that traffic (such as fuel gauges and power meters mounted on vehicles) ), Or the amount of money to be charged may differ depending on the time zone in which the vehicle passed through. For example, when the transit time between two points is longer than a predetermined time and when it is short, the amount to be charged is changed, or when the amount of fuel and electricity used for passing between two points is longer than a predetermined amount The charge amount may be changed depending on the short case. Alternatively, the GPS time measured by the self-location locating unit 114 is measured, and the same time is a time when the road is congested by determining whether the time is a time when the road is congested or a time when the road is free. The amount of money may vary depending on the case and the available time.

In the third embodiment, the form in which charging (road pricing) of toll roads using the orientation coordinate values has been described.
The orientation coordinate value is calculated using the observation amount of the positioning signal corrected based on the positioning reinforcement information, and has a centimeter class accuracy. For this reason, by using the orientation coordinate values, it is possible to accurately determine whether or not the vehicle 103 has traveled on the toll road and charge the toll road.

  Similarly to the second embodiment (see FIG. 12), the vehicle-mounted device 110 according to the third embodiment may include a V2I communication control unit 118A and a V2X communication control unit 118B.

  DESCRIPTION OF SYMBOLS 100 Safe driving support system, 101 Quasi-zenith satellite, 102 Positioning satellite, 103 Vehicle, 104 Driving control support device, 105 Roadside device, 106 Portable terminal, 107 Portable base station, 109 V2V communication message, 110 Onboard equipment, 111 LEX signal reception Unit, 111a antenna, 112 positioning signal receiving unit, 112a antenna, 113 decoding unit, 114 self-positioning unit, 115 V2V communication control unit, 116 relative position calculation unit, 117 road charge control unit, 118A V2I communication control unit, 118B V2X Communication control unit, 119 On-board unit storage unit, 190 Positioning reinforcement system, 191 Electronic reference point network, 192 Reinforcement information generation station, 193 Master control station, 194 Tracking control station, 195 Monitor station, 196 Positioning terminal, 197 Self-position, 901 CPU, 02 bus, 903 ROM, 904 RAM, 905 communication board, 920 a magnetic disk device, 921 OS, 922 programs, 923 files.

Claims (16)

A positioning signal receiving unit that receives the positioning signal from a positioning satellite that transmits the positioning signal, and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
The positioning reinforcement signal is received from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the amount of error included in the observation amount of the positioning signal, and from the received positioning reinforcement signal A positioning reinforcement signal receiving unit for acquiring positioning reinforcement information for each region;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector,
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position locating apparatus comprising: a position locating unit for calculating. An in-vehicle device mounted on a vehicle,
A position locating device according to claim 1;
The vehicle information including the coordinate value of the self position calculated by the position locating unit of the position locating device as the coordinate value of the vehicle is transmitted to another vehicle, and the coordinate value of the other vehicle is included from the other vehicle. A vehicle-mounted device comprising an inter-vehicle communication unit that receives vehicle information. The in-vehicle device is
Based on the coordinate value of the vehicle included in the vehicle information transmitted by the inter-vehicle communication unit and the coordinate value of the other vehicle included in the vehicle information received by the inter-vehicle communication unit. The in-vehicle device according to claim 2, further comprising: a relative position information generation unit that generates other vehicle relative position information representing a relative position of the other vehicle and outputs the generated other vehicle relative position information. The in-vehicle device is
A road-to-vehicle communication unit that receives travel road information representing a position of a travel vehicle existing on the travel road from a roadside machine provided on the travel road on which the vehicle is traveling;
The relative position information generation unit generates traveling vehicle relative position information representing a relative position of the traveling vehicle with respect to the vehicle based on the traveling road information received by the roadside communication unit, and the generated traveling vehicle relative position 4. The vehicle-mounted device according to claim 3, wherein information is output. The in-vehicle device is
A passer-by information receiver that receives passer-by information representing the position of the passer-by from at least one of a communication terminal owned by the passer-by and a relay that relays communication of the communication terminal;
The relative position information generating unit generates passer relative position information indicating a relative position of the passer with respect to the vehicle based on the passer information received by the passer information receiving unit, and generates the generated passer relative 5. The vehicle-mounted device according to claim 3, wherein the position information is output. The in-vehicle device is
A toll road information storage unit for storing toll road information including a toll road location and fee;
It is determined whether or not the vehicle is traveling on a toll road based on the coordinate value of the self-position calculated by the position locating unit of the position locating device and toll road information stored in the toll road information storage unit. The vehicle-mounted device according to claim 2, further comprising: a charging control unit that performs predetermined charging control when it is determined that the vehicle is traveling on a toll road. An in-vehicle device mounted on a vehicle,
A position locating device according to claim 1;
A toll road information storage unit for storing toll road information including a toll road location and fee;
It is determined whether or not the vehicle is traveling on a toll road based on the coordinate value of the self-position calculated by the position locating unit of the position locating device and toll road information stored in the toll road information storage unit. And a charging control unit that performs predetermined charging control when it is determined that the vehicle is traveling on a toll road. A position location method executed by a position location apparatus,
The positioning signal receiving unit receives the positioning signal from the positioning satellite that transmits the positioning signal, calculates the observation amount of the positioning signal based on the reception result,
The approximate position calculation unit calculates the coordinate value of the approximate position using the observation amount of the positioning signal calculated by the positioning signal receiving unit,
The positioning reinforcement signal receiving unit receives the positioning reinforcement signal from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the error amount included in the observation amount of the positioning signal, Obtain the positioning reinforcement information for each region from the received positioning reinforcement signal,
The positioning reinforcement information selection unit is configured to determine the area including the approximate position indicated by the approximate position coordinate value calculated by the approximate position calculation unit, based on the region-specific positioning reinforcement information acquired by the positioning reinforcement signal reception unit. Select reinforcement information,
A correction amount calculation unit calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The position locator corrects the observed amount of the positioning signal calculated by the positioning signal receiver based on the correction amount calculated by the correction amount calculator, and uses the corrected observed amount of the positioning signal to A position locating method comprising calculating a coordinate value of a position. A positioning signal receiving unit that receives the positioning signal from a positioning satellite that transmits the positioning signal, and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
The positioning reinforcement signal is received from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the amount of error included in the observation amount of the positioning signal, and from the received positioning reinforcement signal A positioning reinforcement signal receiving unit for acquiring positioning reinforcement information for each region;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector,
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position locating program which causes a computer to function as a position locating part to be calculated. A driving support method executed by an in-vehicle device mounted on a vehicle,
The positioning signal receiving unit receives the positioning signal from the positioning satellite that transmits the positioning signal, calculates the observation amount of the positioning signal based on the reception result,
The approximate position calculation unit calculates the coordinate value of the approximate position using the observation amount of the positioning signal calculated by the positioning signal receiving unit,
The positioning reinforcement signal receiving unit receives the positioning reinforcement signal from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the error amount included in the observation amount of the positioning signal, Obtain the positioning reinforcement information for each region from the received positioning reinforcement signal,
The positioning reinforcement information selection unit is configured to determine the area including the approximate position indicated by the approximate position coordinate value calculated by the approximate position calculation unit, based on the region-specific positioning reinforcement information acquired by the positioning reinforcement signal reception unit. Select reinforcement information,
A correction amount calculation unit calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The position locator corrects the observed amount of the positioning signal calculated by the positioning signal receiver based on the correction amount calculated by the correction amount calculator, and uses the corrected observed amount of the positioning signal to Calculate the coordinate value of the position,
The inter-vehicle communication unit transmits vehicle information including the coordinate value of the self-position calculated by the position locating unit as the coordinate value of the vehicle, and the coordinate value of the other vehicle from the other vehicle. Vehicle information including
The relative position information generation unit includes coordinate values of the vehicle included in the vehicle information transmitted by the inter-vehicle communication unit, and coordinate values of the other vehicle included in the vehicle information received by the inter-vehicle communication unit. And generating other vehicle relative position information representing a relative position of the other vehicle with respect to the vehicle, and outputting the generated other vehicle relative position information to an operation control device that controls operation of the vehicle. Driving assistance method to do. A driving support program for functioning an in-vehicle device mounted on a vehicle,
A positioning signal receiving unit that receives the positioning signal from a positioning satellite that transmits the positioning signal, and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
The positioning reinforcement signal is received from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the amount of error included in the observation amount of the positioning signal, and from the received positioning reinforcement signal A positioning reinforcement signal receiving unit for acquiring positioning reinforcement information for each region;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector;
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position location part to be calculated;
The vehicle information including the coordinate value of the self-position calculated by the position locator as the coordinate value of the vehicle is transmitted to another vehicle, and the vehicle information including the coordinate value of the other vehicle is transmitted from the other vehicle. A vehicle-to-vehicle communication unit to receive,
Based on the coordinate value of the vehicle included in the vehicle information transmitted by the inter-vehicle communication unit and the coordinate value of the other vehicle included in the vehicle information received by the inter-vehicle communication unit. The on-vehicle device functions as a relative position information generation unit that generates other vehicle relative position information representing the relative position of the other vehicle and outputs the generated other vehicle relative position information to an operation control device that controls the operation of the vehicle. A driving support program characterized by causing A road billing method executed by an on-vehicle device having a toll road information storage unit for storing toll road information including a toll road location and a charge,
The positioning signal receiving unit receives the positioning signal from the positioning satellite that transmits the positioning signal, calculates the observation amount of the positioning signal based on the reception result,
The approximate position calculation unit calculates the coordinate value of the approximate position using the observation amount of the positioning signal calculated by the positioning signal receiving unit,
The positioning reinforcement signal receiving unit receives the positioning reinforcement signal from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the error amount included in the observation amount of the positioning signal, Obtain the positioning reinforcement information for each region from the received positioning reinforcement signal,
The positioning reinforcement information selection unit is configured to determine the area including the approximate position indicated by the approximate position coordinate value calculated by the approximate position calculation unit, based on the region-specific positioning reinforcement information acquired by the positioning reinforcement signal reception unit. Select reinforcement information,
A correction amount calculation unit calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The position locator corrects the observed amount of the positioning signal calculated by the positioning signal receiver based on the correction amount calculated by the correction amount calculator, and uses the corrected observed amount of the positioning signal to Calculate the coordinate value of the position,
The charging control unit determines whether the vehicle is traveling on a toll road based on the coordinate value of the self-position calculated by the position locating unit and the toll road information stored in the toll road information storage unit And a predetermined charging control is performed when it is determined that the vehicle is traveling on a toll road. A road billing program for causing an on-vehicle device equipped with a toll road information storage unit to store toll road information including a toll road location and a toll,
A positioning signal receiving unit that receives the positioning signal from a positioning satellite that transmits the positioning signal, and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
The positioning reinforcement signal is received from the quasi-zenith satellite that transmits the positioning reinforcement signal including the positioning reinforcement information for each region for calculating the amount of error included in the observation amount of the positioning signal, and from the received positioning reinforcement signal A positioning reinforcement signal receiving unit for acquiring positioning reinforcement information for each region;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector,
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position location part to be calculated;
It is determined whether or not the vehicle is traveling on a toll road based on the coordinate value of the self-position calculated by the position location unit and the toll road information stored in the toll road information storage unit, and the vehicle A road billing program that causes the vehicle-mounted device to function as a billing control unit that performs predetermined billing control when it is determined that the vehicle is traveling on a toll road. A positioning system having a positioning satellite, a quasi-zenith satellite, and a positioning device,
The positioning satellite transmits a positioning signal,
The quasi-zenith satellite transmits a positioning reinforcement signal including positioning reinforcement information for each region for calculating an error amount included in the observation amount of the positioning signal,
The position locator is
A positioning signal receiving unit that receives the positioning signal from the positioning satellite and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
A positioning reinforcement signal receiving unit that receives the positioning reinforcement signal from the quasi-zenith satellite and acquires the positioning reinforcement information for each region from the received positioning reinforcement signal;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector,
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position locating system comprising: a position locating unit for calculating. A driving support system having a positioning satellite, a quasi-zenith satellite, an in-vehicle device mounted on a vehicle, and an operation control device that controls the operation of the vehicle,
The positioning satellite transmits a positioning signal,
The quasi-zenith satellite transmits a positioning reinforcement signal including positioning reinforcement information for each region for calculating an error amount included in the observation amount of the positioning signal,
The in-vehicle device is
A positioning signal receiving unit that receives the positioning signal from the positioning satellite and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
A positioning reinforcement signal receiving unit that receives the positioning reinforcement signal from the quasi-zenith satellite and acquires the positioning reinforcement information for each region from the received positioning reinforcement signal;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector;
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position location part to be calculated;
The vehicle information including the coordinate value of the self-position calculated by the position locator as the coordinate value of the vehicle is transmitted to another vehicle, and the vehicle information including the coordinate value of the other vehicle is transmitted from the other vehicle. A vehicle-to-vehicle communication unit to receive,
Based on the coordinate value of the vehicle included in the vehicle information transmitted by the inter-vehicle communication unit and the coordinate value of the other vehicle included in the vehicle information received by the inter-vehicle communication unit. A driving support system comprising: a relative position information generating unit that generates other vehicle relative position information representing a relative position of the other vehicle and outputs the generated other vehicle relative position information to the driving control device. A road billing system having a positioning satellite, a quasi-zenith satellite, and an in-vehicle device,
The positioning satellite transmits a positioning signal,
The quasi-zenith satellite transmits a positioning reinforcement signal including positioning reinforcement information for each region for calculating an error amount included in the observation amount of the positioning signal,
The position locator is
A positioning signal receiving unit that receives the positioning signal from the positioning satellite and calculates an observation amount of the positioning signal based on a reception result;
An approximate position calculation unit that calculates a coordinate value of an approximate position using an observation amount of the positioning signal calculated by the positioning signal reception unit;
A positioning reinforcement signal receiving unit that receives the positioning reinforcement signal from the quasi-zenith satellite and acquires the positioning reinforcement information for each region from the received positioning reinforcement signal;
Positioning reinforcement that selects the positioning reinforcement information of the area including the approximate position indicated by the coordinate value of the approximate position calculated by the approximate position calculation section from the positioning reinforcement information for each area acquired by the positioning reinforcement signal receiving section. An information selector;
A correction amount calculation unit that calculates a correction amount corresponding to an error amount included in the observation amount of the positioning signal based on the positioning reinforcement information selected by the positioning reinforcement information selection unit;
The observed amount of the positioning signal calculated by the positioning signal receiving unit is corrected based on the correction amount calculated by the correction amount calculating unit, and the coordinate value of the self-position is calculated using the corrected observed amount of the positioning signal. A position location part to be calculated;
A toll road information storage unit for storing toll road information including a toll road location and fee;
It is determined whether or not the vehicle is traveling on a toll road based on the coordinate value of the self-position calculated by the position location unit and the toll road information stored in the toll road information storage unit, and the vehicle A road charging system comprising: a charging control unit that performs predetermined charging control when it is determined that the vehicle is traveling on a toll road.

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