JP2018028528A - Estimation device, estimation method, and estimation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an estimation device, estimation method, and estimation program, which allow for easily estimating running condition (of a vehicle) regardless of an attitude of an installed terminal device.SOLUTION: An estimation device (terminal device 10) allows a user to change attitude thereof with respect to a mobile vehicle (vehicle C10). The estimation device comprises a detection unit for detecting acceleration acting on the estimation device, an acquisition unit for acquiring speed of the mobile vehicle, and an estimation unit configured to select acceleration detected at a time of change in the speed acquired by the acquisition unit from among acceleration measurements detected by the detection unit, and estimate a traveling direction of the mobile vehicle in a coordinate system centered about the estimation device based on a direction of the selected acceleration.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an estimation device, an estimation method, and an estimation program.

  2. Description of the Related Art Conventionally, a car navigation technology (hereinafter also referred to as “guidance”) that guides a vehicle on which a user is boarding to a destination using a portable terminal device such as a smartphone is known. A terminal device that performs such guidance uses a satellite positioning system such as GPS (Global Positioning System) to identify the current location of the vehicle, and displays a map or guidance route screen and the identified current location in an overlapping manner. .

  On the other hand, the terminal device cannot display the current location in a place where it is difficult to receive a signal from a satellite such as in a tunnel. The same problem is not limited to GPS, but is common to all positioning using external signals (for example, radio waves from mobile phone (cellular) base stations, wireless LAN radio waves, etc.). Therefore, an autonomous positioning technique that estimates the current location of the vehicle using the acceleration measured by the accelerometer is conceivable. For example, a method has been proposed in which a device having an accelerometer is fixed in a vehicle in a predetermined posture, and a traveling state of the vehicle is estimated from acceleration detected by the device.

Japanese Patent No. 4736866

  However, the terminal device such as a smartphone has a different installation posture in the vehicle depending on the type of the vehicle on which the user gets on, the usage status of the holder that holds the terminal device, etc. It may not be possible to estimate.

  For example, since the terminal device has an accelerometer that detects axial acceleration with respect to the terminal device, the direction of the detected acceleration is based on the moving direction of the vehicle based on the installation posture of the terminal device. Convert to Then, the terminal device estimates the moving direction and speed of the vehicle using the acceleration whose direction has been changed, and specifies the current location of the vehicle from the estimated moving direction and speed. However, when the installation posture is unknown or the installation posture changes, the terminal device cannot change the direction of acceleration, and the estimation accuracy of the running state deteriorates.

  The present application has been made in view of the above, and an object thereof is to provide an estimation device, an estimation method, and an estimation program that can easily estimate the traveling state regardless of the installation posture of the terminal device.

  The estimation apparatus according to the present application is an estimation apparatus capable of changing a posture with respect to a moving body. The estimation device includes a detection unit that detects acceleration applied to the estimation device, an acquisition unit that acquires the velocity of the moving body, and an acceleration detected by the detection unit when the velocity acquired by the acquisition unit changes. An estimator that selects the detected acceleration and estimates the moving direction of the moving body in the coordinate system based on the estimating device based on the direction of the selected acceleration.

  According to one aspect of the embodiment, there is an effect that the traveling state of the vehicle can be estimated regardless of the installation posture of the terminal device.

Drawing 1 is a figure for explaining an example of an operation effect which a terminal unit concerning an embodiment exhibits. FIG. 2 is a diagram illustrating an example of a functional configuration of the terminal device according to the embodiment. FIG. 3 is a diagram illustrating an example of information registered in the GPS speed database according to the embodiment. FIG. 4 is a diagram illustrating an example of information registered in the acceleration database according to the embodiment. FIG. 5 is a diagram illustrating an example of information registered in the average value database according to the embodiment. FIG. 6 is a flowchart for explaining an example of a flow of guidance processing executed by the terminal device according to the embodiment. FIG. 7 is a flowchart for explaining an example of the flow of acquisition processing executed by the terminal device according to the embodiment. FIG. 8 is a flowchart illustrating an example of the flow of detection processing executed by the terminal device according to the embodiment. FIG. 9 is a flowchart for explaining an example of the flow of estimation processing executed by the terminal device according to the embodiment. FIG. 10 is a diagram illustrating an example of acceleration acquired by the terminal device according to the embodiment. FIG. 11 is a diagram illustrating an example of a process of estimating a moving direction by the terminal device according to the embodiment. FIG. 12 is a diagram illustrating an example of processing in which the terminal device according to the embodiment detects a change in installation posture.

  Hereinafter, an embodiment (hereinafter referred to as “embodiment”) for carrying out an estimation apparatus, an estimation method, and an estimation program according to the present application will be described in detail with reference to the drawings. In addition, the estimation apparatus, the estimation method, and the estimation program according to the present application are not limited by this embodiment. Further, in the following embodiments, the same parts and processes are denoted by the same reference numerals, and redundant description is omitted.

  In the following description, an example of car navigation that guides a vehicle on which a user has boarded to a destination will be described as processing executed by the estimation device, but the embodiment is not limited thereto. For example, the estimation device performs processing described below and guides the user to a destination even when the user is walking or when using a transportation means other than a vehicle such as a train. May be executed.

[1. (Overview of moving state)
First, the concept of the movement mode determined by the terminal device 10 which is an example of the estimation device will be described with reference to FIG. Drawing 1 is a figure for explaining an example of an operation effect which a terminal unit concerning an embodiment exhibits. For example, the terminal device 10 is a mobile terminal such as a smartphone, a tablet terminal or a PDA (Personal Digital Assistant), or a terminal device such as a notebook PC (Personal Computer), such as a mobile communication network or a wireless LAN (Local Area Network). The terminal device can communicate with an arbitrary server via the network N.

  Further, the terminal device 10 has a car navigation function for guiding the vehicle C10 on which the user has boarded to the destination. For example, when receiving an input of a destination from the user, the terminal device 10 acquires route information for guiding the user to the destination from a server or the like (not shown). For example, the route information includes a route to a destination that can be used by the vehicle C10, information on an expressway included in the route, traffic jam information on the route, information on a facility serving as a guide, information on a map displayed on the screen, Data such as images such as voice and maps output at the time of guidance are included.

  Further, the terminal device 10 has a positioning function for specifying the position of the terminal device 10 (hereinafter referred to as “current location”) at a predetermined time interval using a satellite positioning system such as GPS (Global Positioning System). . Then, the terminal device 10 displays an image such as a map included in the route information on a liquid crystal screen, electroluminescence, an LED (Light Emitting Diode) screen or the like (hereinafter simply referred to as “screen”) and specifies the image. The current location is displayed on the map each time. Further, the terminal device 10 displays a left turn or a right turn, a change in lane to be used, an estimated arrival time at the destination, or the like according to the specified current location, or is output by voice from a speaker of the terminal device 10 or the vehicle C10. To do.

  Here, in the satellite positioning system, signals transmitted from a plurality of satellites are received, and the current location of the terminal device 10 is specified using the received signals. For this reason, the terminal device 10 cannot identify the current location when it cannot properly receive a signal transmitted from a satellite, such as a place in a tunnel or a building group. Moreover, the application etc. which implement | achieve guidance for the terminal device 10 do not have a function which acquires information, such as a speed and a moving direction, from the vehicle C10. For this reason, a method is conceivable in which an acceleration sensor that measures acceleration is installed in the terminal device 10 and the current position of the terminal device 10 is estimated based on the acceleration measured by the acceleration sensor. For example, based on the acceleration measured by the acceleration sensor, there is an estimation process for estimating a moving speed, a moving direction, or the like of the terminal device 10 or a method for performing a stop determination for determining whether the terminal device 10 is moving or stopped. Conceivable.

  A more specific example will be described. For example, if the terminal device 10 cannot properly receive a signal transmitted from a satellite, the terminal device 10 determines that the vehicle C10 has entered a tunnel or the like, and advances the estimated position as it is at the last specified vehicle speed and moving direction. Further, the terminal device 10 determines whether or not the vehicle C10 is stopped based on the measured acceleration, and stops the movement of the estimated position when it is determined that the vehicle C10 is stopped. On the other hand, when it is determined that the vehicle C10 is not stopped, the terminal device 10 estimates the moving speed of the vehicle C10 that is a moving body using the measured acceleration, and moves at the estimated moving speed. As a matter of course, the guidance is continued.

[1-1. Example of speed estimation technology)
Here, an example of a speed estimation technique for estimating the moving speed of the vehicle C10 will be described. The technique shown here is an example of a technique that is a pre-stage of the present invention, but does not belong to the original conventional technique. In other words, the technique shown here is a technique that the applicant of the present invention has secretly implemented for development, testing, research, and the like, and is not a secret technique such as so-called public, public, or literature.

  For example, as shown in FIG. 1A, the terminal device 10 has each of a short direction of the screen as an x axis, a long direction of the screen as a y axis, and a direction perpendicular to the screen as a z axis. The acceleration in the xyz axis direction is measured. For example, when the terminal device 10 has the screen as the front, the front side is the + z-axis direction, the back side is the -z-axis direction, and when the terminal device 10 is used, the upper side of the screen is the + x-axis direction and the lower side of the screen is − The acceleration in the terminal coordinate system is measured with the x-axis direction, the left side of the screen as the + y-axis direction, and the right side of the screen as the -y-axis direction.

  On the other hand, as shown in FIG. 1B, the moving direction and speed of the vehicle C10 used by the user are such that on the plane perpendicular to the Z axis, the direction in which the vehicle C10 travels is the Z axis. The direction of turning left or right when C10 travels is represented by a vehicle coordinate system in which the Y-axis direction is the Y-axis direction and the vertical direction of the vehicle C10 is the X-axis direction. For example, the moving direction and speed of the vehicle C10 are the + X axis direction for the upward direction of the vehicle C10, the -X axis direction for the downward direction (that is, the ground side), the + Y axis direction for the left turn direction, and the -Y axis for the right turn direction. It is represented by a vehicle coordinate system in which the rear direction of the vehicle C10 is + Z-axis direction and the front direction is -Z-axis direction.

  Here, the vehicle coordinate system and the terminal coordinate system have a deviation according to the installation posture of the terminal device 10 and the like. Therefore, the terminal device 10 estimates the direction of gravity, that is, the -X-axis direction of the vehicle coordinate system using acceleration measured in the terminal coordinate system, for example, and changes the moving direction when the vehicle C10 is accelerated or decelerated. The movement direction of the vehicle C10 is specified using the variance of the acceleration generated at that time, and a rotation matrix for converting the acceleration measured in the terminal coordinate system into the vehicle coordinate system is obtained based on the estimated reference direction and movement direction. And the terminal device 10 converts the acceleration of the terminal coordinate system into the acceleration of the vehicle coordinate system using the rotation matrix, and determines whether or not the vehicle C10 is stopped using the converted acceleration, The estimation of the moving speed of the vehicle C10 is executed.

  For example, the terminal device 10 collects information such as the amplitude, vibration frequency, average value, standard deviation, maximum value, and minimum value of the converted acceleration in each axial direction as a feature amount. Further, the terminal device 10 accumulates the feature amount acquired when the speed of the vehicle C10 is equal to or higher than a predetermined threshold value as the feature amount during traveling, and when the speed of the vehicle C10 is equal to or lower than the predetermined threshold value. The acquired feature quantity is accumulated as a stopped feature quantity.

  Then, the terminal device 10 learns and learns a stop determination model (for example, using a support vector machine (SVM)) that determines whether or not the vehicle C10 is stopped using the accumulated feature amount. Using the stop determination model, it is determined whether or not the vehicle C10 is stopped when a satellite positioning system such as a tunnel cannot be used. When the terminal device 10 determines that the vehicle C10 has not stopped, the vehicle is based on the integral value of the acceleration values on the surface including the moving direction among the accelerations acquired in the vehicle coordinate system. The moving speed of C10 is estimated.

  However, in such a technique, since the moving direction of the vehicle C10 is specified using the dispersion of the acceleration generated when the vehicle C10 moves, the vehicle C10 repeatedly accelerates and decelerates in order to obtain a rotation matrix. It is necessary to do this, and it takes time to obtain the rotation matrix. As a result, for example, if the vehicle C10 enters the tunnel before starting the rotation matrix after starting the guidance, there is a problem that the rotation matrix cannot be determined and stop determination cannot be started. In such a technique, data for a certain period is used when determining the moving direction of the vehicle C10. For this reason, depending on the quality of the data used when determining the moving direction, there is a possibility that the moving direction cannot be determined accurately.

  The user may get off with the terminal device 10 in a service area or the like. As a result, when the attitude of the terminal device 10 changes, the rotation matrix changes. Therefore, it is necessary to specify the movement direction again and recalculate the rotation matrix based on the specified movement direction and the reference direction. However, even when such processing is executed, stop determination cannot be started until the moving direction is specified. In addition, when the road is inclined, an error is likely to occur because a shift occurs between the terminal coordinate system and the vehicle coordinate system.

  A method of calculating an average value of acceleration without converting the acceleration measured in the terminal coordinate system and learning a stop determination model from the feature value of the calculated average value is also conceivable. However, in such a method, since the installation posture of the terminal device 10 is unknown, it is necessary to learn the stop determination model every time guidance is started. Even when such a method is used, if the installation posture of the terminal device 10 changes, it is necessary to learn a stop determination model again, and if the road is inclined, an error may occur. Prone to occur.

[2. Determination process executed by the terminal device 10 according to the embodiment]
Therefore, the terminal device 10 executes the following determination process. For example, the terminal device 10 detects acceleration in a moving body in which the terminal device 10 is installed, such as the vehicle C10. Moreover, the terminal device 10 acquires the speed of the moving body. And the terminal device 10 estimates the moving direction of a moving body based on the direction of the acceleration detected when the acquired speed changed.

  Hereinafter, an example of a functional configuration and an effect of the terminal device 10 that realizes the determination process described above will be described with reference to the drawings.

[2-1. Example of functional configuration)
FIG. 2 is a diagram illustrating an example of a functional configuration of the terminal device according to the embodiment. As illustrated in FIG. 2, the terminal device 10 includes a communication unit 11, a storage unit 12, a plurality of acceleration sensors 13 a to 13 c (hereinafter, may be collectively referred to as “acceleration sensor 13”), and a GPS receiving antenna. 14, an output unit 15, and a control unit 16. The communication unit 11 is realized by, for example, a NIC (Network Interface Card). The communication unit 11 is connected to the network N in a wired or wireless manner. When the communication unit 11 receives the destination from the terminal device 10 and the terminal device 10, the communication unit 11 distributes route information indicating a route to the destination. Send and receive information.

  The storage unit 12 is realized by, for example, a semiconductor memory device such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 12 includes a guidance information database 12a, a GPS speed database 12b, an acceleration database 12c, and an average value database 12d, which are various data used for executing guidance.

  In the guidance information database 12a, various data used when the terminal device 10 provides guidance is registered. For example, route information to a destination received from a server or the like (not shown) is stored in the guidance information database 12a. The guidance information database 12a stores various images and audio data output in guidance.

  In the GPS speed database 12b, a GPS speed that is the speed of the vehicle C10 acquired using an arbitrary positioning system such as GPS is registered. More specifically, the GPS speed database 12b registers the GPS speed calculated from the difference in the position of the vehicle C10 acquired at a predetermined time interval (for example, 1 second) using the GPS. In addition, although the terminal device 10 demonstrates the example which acquires the GPS speed from the difference of the position of the vehicle C10 in the following description, embodiment is not limited to this. For example, the terminal device 10 may acquire the speed of the vehicle C10 from a signal received from a GPS satellite using the Doppler effect. For example, the terminal device 10 may acquire the speed of the vehicle C10 based on a change in the wave number of a signal (carrier wave) received from a GPS satellite.

  For example, FIG. 3 is a diagram illustrating an example of information registered in the GPS speed database according to the embodiment. As shown in FIG. 3, information having items such as “date and time”, “speed”, and “change amount” is registered in the GPS speed database 12 b. Here, “date and time” is information indicating the date and time when the vehicle C10 is estimated to be moving at the associated “speed”. More specifically, the “date and time” is the date and time at which one of the two GPS signals used when calculating the GPS speed indicated by the associated “speed” or the reception date and time of the two GPS signals. Is the median of Such “date and time” is information indicating the date and time when the vehicle C10 was moving at the speed indicated by the associated “speed”.

  The “speed” is information indicating the GPS speed. For example, the distance between the position indicated by the GPS signal received at a certain date and time and the position indicated by the GPS signal received immediately before the GPS signal is set for each GPS. The moving speed of the vehicle C10 calculated by dividing the signal by the time interval at which it is received is registered. The “change amount” is information indicating the difference between the associated “speed” and the previously acquired “speed”, that is, the change amount of the GPS speed.

  For example, in the example illustrated in FIG. 3, the GPS speed database 12 b is associated with the date and time “2016/10/1/10: 0: 15”, the speed “30 km / h”, and the variation “N / A”. Registered. Such information indicates that the speed “30 km / h” is acquired as the GPS speed of the vehicle C10 at the date “2016/10/1/10: 0: 15”. In the example shown in FIG. 3, the GPS speed database 12 b includes the date and time “2016/10/1/10: 0: 16”, the speed “32 km / h”, and the variation “2 km / h / s”. Registered in association. In such information, the speed “32 km / h” is acquired as the GPS speed of the vehicle C10 at the date “2016/10/1/10: 0: 16”, and the speed acquired last time, that is, the date “ The difference from the speed “30 km / h” at “2016/10/1/10: 00: 00” indicates that the amount of change is “2 km / h / s”. Here, the change amount “2 km / h / s” indicates that acceleration was performed at a rate of 2 km / h per second.

  Acceleration measured by the acceleration sensor 13 included in the terminal device 10 is assumed in the acceleration database 12c. More specifically, the acceleration database 12c holds the acceleration measured by the acceleration sensor 13 at a predetermined time interval (for example, 0.02 seconds) only for a predetermined period.

  For example, FIG. 4 is a diagram illustrating an example of information registered in the acceleration database according to the embodiment. As shown in FIG. 4, information having items such as “date and time”, “acceleration”, and “average value” is registered in the acceleration database 12c. Here, the “date and time” shown in FIG. 4 is information indicating the date and time at which the associated acceleration is measured at predetermined intervals. The “acceleration” is information indicating the acceleration detected at the associated date and time. The “average value” is the average value of the associated accelerations, that is, the average value of the accelerations detected at the date and time indicated by the associated “date and time”.

  For example, when the acceleration sensor 13 measures acceleration at a rate of 50 times per second (that is, at intervals of 0.02 seconds), 50 accelerations measured during any one second and the accelerations Are registered in the acceleration database 12c in a state in which the average value of each is associated with the median value of the date and time when each acceleration is measured. More specifically, in the example illustrated in FIG. 4, the acceleration database 12 c includes date and time “2016/10/1/10: 00: 00” and accelerations “acceleration # 1-1” to “acceleration # 1-3”. , And the average value “average value # 1” are registered in association with each other. Such information includes that the median of the date and time when the accelerations “acceleration # 1-1” to “acceleration # 1-3” are measured is the date and time “2016/10/1/10: 00: 00”, and the acceleration “ The average value of “acceleration # 1-1” to “acceleration # 1-3” is the average value “average value # 1”. In FIG. 4, conceptual values such as “acceleration # 1-1” and “average value # 1” are described, but actually, values indicating acceleration and average value are registered. .

  In the average value database 12d, a collection average value that is an average value collected from the acceleration database 12c by a process described later is registered. For example, FIG. 5 is a diagram illustrating an example of information registered in the average value database according to the embodiment. As shown in FIG. 5, information having items such as “collected average value ID (Identifier)” and “collected average value” is registered in the average value database 12d. Here, “collection average value ID” is an identifier for identifying the collection average value, and “collection average value” is a collection average value that is an average value collected from the acceleration database 12c.

  For example, in the example illustrated in FIG. 5, the collection average value ID “1” and the collection average value “average value # 1” are associated and registered in the average value database 12 d. Such information indicates that the average value “average value # 1” is collected from the acceleration database 12c as the collected average value.

  Returning to FIG. 2, the description will be continued. The acceleration sensor 13 measures the magnitude and direction of acceleration related to the terminal device 10 at predetermined time intervals. For example, the acceleration sensor 13a measures the acceleration in the x-axis direction in the terminal coordinate system. The acceleration sensor 13b measures acceleration in the y-axis direction in the terminal coordinate system. The acceleration sensor 13c measures the acceleration in the z-axis direction in the terminal coordinate system. That is, the terminal device 10 can obtain a vector indicating the direction and magnitude of the acceleration with respect to the terminal device 10 by using the acceleration measured by each of the acceleration sensors 13a to 13c as the acceleration in each axial direction of the terminal coordinate system. it can.

  The GPS receiving antenna 14 is an antenna for receiving signals used in a satellite positioning system such as GPS from a satellite. The output unit 15 is a screen for displaying a map and a current location when performing guidance, and a speaker for outputting sound. The acceleration sensor 13 and the GPS receiving antenna 14 are realized by predetermined hardware.

  The control unit 16 is stored in a storage device inside the terminal device 10 by, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like. The various programs are executed by using a storage area such as a RAM as a work area. In the example illustrated in FIG. 2, the control unit 16 may be described as the guidance execution unit 17, the audio output unit 18, the image output unit 19, and the movement state determination unit 20 (hereinafter collectively referred to as the processing units 17 to 20). .) The moving state determination unit 20 includes a detection unit 21, a specification unit 22, a conversion unit 23, an acquisition unit 24, an estimation unit 25, and a determination unit 26.

  The connection relationship between the processing units 17 to 20 included in the control unit 16 is not limited to the connection relationship illustrated in FIG. 2 and may be other connection relationship. Each of the processing units 17 to 20 realizes / executes the function / action (for example, FIG. 1) of the guidance process as described below, but these are functional units arranged for explanation, The actual hardware elements and software modules may be matched. That is, the terminal device 10 may realize and execute the guidance process in arbitrary functional units as long as the following guidance process functions and actions can be realized and executed.

[2-2. Example of effects in guidance processing]
Hereinafter, the contents of the guidance process executed and realized by each of the processing units 17 to 20 will be described using the flowchart shown in FIG. FIG. 6 is a flowchart for explaining an example of a flow of guidance processing executed by the terminal device according to the embodiment.

  First, the guidance execution unit 17 determines whether or not a destination is input from the user (step S101). When the destination is input (step S101: Yes), the guidance execution unit 17 acquires route information from an external server (not shown) (step S102). Here, the guidance execution unit 17 determines whether or not the GPS can be used (step S103).

  For example, the guidance execution unit 17 determines that the GPS cannot be used when the GPS receiving antenna 14 cannot receive a signal from a satellite or when the number of satellites that can receive the signal is smaller than a predetermined threshold. (Step S103: Yes), the current position is acquired from the moving direction and speed of the vehicle C10 estimated by the moving state determination unit 20 (Step S104). For example, the guidance execution unit 17 acquires the current location estimated by the movement state determination unit 20. In addition, the specific content of the process in which the movement state determination part 20 estimates the present location of the vehicle C10 is mentioned later.

  On the other hand, when it is determined that the GPS can be used (step S103: No), the guidance execution unit 17 specifies the current location using the GPS (step S105). Then, the guidance execution unit 17 controls the voice output unit 18 and the image output unit 19 to output guidance using the current location using GPS or the estimated current location (step S106). For example, the voice output unit 18 outputs, from the output unit 15, voice indicating the current location, the direction in which the vehicle C <b> 10 should travel, and the like according to control from the guidance execution unit 17. Further, the image output unit 19 outputs, from the output unit 15, an image in which the current location and the surrounding map are overlaid, an image indicating the direction in which the vehicle C <b> 10 should travel, etc.

  Subsequently, the guidance execution unit 17 determines whether or not the current location is around the destination (step S107). If the guidance execution unit 17 determines that the current location is around the destination (step S107: Yes), the guidance execution unit 17 controls the audio output unit 18 and the image output unit 19 to output end guidance indicating the end of the guidance. (Step S108), and the process ends. On the other hand, when the guidance execution unit 17 determines that the current location is not around the destination (step S107: No), it executes step S103. In addition, when the destination is not input (step S101: No), the guidance execution part 17 waits until it is input.

[2-3. Example of effects in the acquisition process]
Next, the contents of the acquisition process executed and realized by the acquisition unit 24 will be described using the flowchart shown in FIG. FIG. 7 is a flowchart for explaining an example of the flow of acquisition processing executed by the terminal device according to the embodiment.

  For example, the acquisition unit 24 executes the acquisition process illustrated in FIG. 7 at a predetermined time interval (for example, 1 second). First, the acquisition unit 24 specifies the position of the terminal device 10, that is, the position of the vehicle C10 using GPS (step S201). And the acquisition part 24 calculates a GPS speed based on the difference of the position specified using GPS last time and the position specified in step S201 (step S202).

  Further, the acquisition unit 24 calculates the difference between the previously calculated GPS speed and the newly calculated GPS speed as a change amount (step S203). For example, when calculating the GPS speed every t seconds, the acquisition unit 24 may use a value obtained by dividing the difference between the previously calculated GPS speed and the newly calculated GPS speed by t as the amount of change. Then, the acquiring unit 24 registers the date and time when the position of the vehicle C10 is identified in step S201, the calculated GPS speed, and the calculated change amount in association with each other in the GPS speed database 12b (step S204). That is, the acquisition unit 24 specifies the position of the vehicle C10 that is the moving body at predetermined time intervals using a predetermined position positioning system, and based on the change in the specified position, the speed of the vehicle C10 that is the moving body. Execute the process to get.

  For example, as shown in FIG. 1D, the acquisition unit 24 acquires GPS information at intervals of 1 second, and GPS speed # 1 and GPS at intervals of 1 second from the position difference indicated by the acquired GPS information. Speed # 2 and GPS speed # 3 are acquired. Then, the acquisition unit 24 calculates the change amount # 1 from the GPS speed # 1 and the GPS speed # 2, and calculates the change amount # 2 from the GPS speed # 2 and the GPS speed # 3.

  The acquisition unit 24 acquires the speed of the vehicle C10 through a general standard for acquiring information from an information system or control system control device of the vehicle C10, such as an OBD (On-Board diagnostics) terminal. May be. In addition, the acquisition unit 24 may acquire the moving speed of the vehicle C10 from an information system or a control system control device of the vehicle C10 using a short-range wireless communication technology such as Bluetooth (registered trademark). Thus, when the speed is directly acquired from the control device of the vehicle C10, the speed accuracy can be improved and the delay can be suppressed as compared with the case where the moving speed is estimated using GPS. For this reason, the terminal device 10 can improve the estimation accuracy of the moving direction of the vehicle C10 in the estimation process described later.

[2-4. Example of effects in detection processing]
Next, an example of the flow of detection processing executed by the detection unit 21, the specification unit 22, and the conversion unit 23 will be described using the flowchart shown in FIG. FIG. 8 is a flowchart illustrating an example of the flow of detection processing executed by the terminal device according to the embodiment.

For example, the detection unit 21 acquires acceleration from the acceleration sensor 13 (step S301). Specifically, the acceleration sensor 13 acquires the magnitude of acceleration measured for each (x, y, z) axis direction of the terminal coordinate system at predetermined time intervals. Moreover, the detection part 21 calculates the average value of the magnitude | size of the acceleration which the acceleration sensor 13 measured during the predetermined period for every axial direction of a terminal coordinate system (step S302). For example, the detecting unit 21 collects the acceleration of the terminal coordinate system detected by the acceleration sensor 13 every 20 milliseconds (that is, at a rate of 50 times per second) for one second. Then, the detection unit 21 calculates an average value x _m of the values of the collected accelerations in the x-axis direction, an average value y _{m of} the values in the y-axis direction, and an average value z _m of the values in the z-axis direction, A vector (x _m , y _m , z _m ) composed of the calculated average values in the respective axis directions is defined as an average vector G.

  Subsequently, the specifying unit 22 specifies the reference direction based on the acceleration calculated by the detecting unit 21 (step S303). More specifically, as shown in FIG. 1C, the specifying unit 22 sets the direction of the average vector G formed of the average value of accelerations calculated by the detecting unit 21 as the reference direction.

  Subsequently, the conversion unit 23 calculates a rotation matrix that matches a predetermined axial direction of the terminal coordinate system with the reference direction set by the specifying unit 22 (step S304). And the conversion part 23 converts each component of the acceleration acquired by the detection part 21 by the terminal coordinate system using the calculated rotation matrix (step S305). That is, the conversion unit 23 converts the acceleration acquired by the detection unit 21 into an acceleration in a coordinate system based on the reference direction instead of the vehicle coordinate system.

  For example, the specifying unit 22 sets the direction of the average acceleration vector G as the reference direction. Then, the conversion unit 23 calculates a rotation matrix such that the −x axis direction of the terminal coordinate system and the direction of the average vector G coincide with each other as a C1 conversion formula. Here, when the vehicle C10 is stopped, the direction of the average vector G is predicted to coincide with the direction of gravity acceleration. Therefore, the conversion unit 23 matches the −x-axis direction of the terminal coordinate system with the X-axis direction of the vehicle coordinate system by matching the −x-axis direction of the terminal coordinate system with the direction of the average vector G.

  The conversion unit 23 determines whether or not the vehicle C10 is stopped using the SVM, the GPS speed, and the like, and the acceleration sensor 13 acquired when it is determined that the vehicle C10 is stopped. The direction of the average vector G may be the reference direction. In addition, the conversion unit 23 may adopt any rotation matrix as long as the rotation matrix matches the −x axis direction of the terminal coordinate system and the direction of the average vector G. That is, the conversion unit 23 may employ a rotation matrix that rotates the y-axis direction or the z-axis direction in an arbitrary direction. In the following description, the process of converting the coordinate system of the acceleration measured by the acceleration sensor 13 using the C1 conversion formula that matches the −x-axis direction of the terminal coordinate system with the direction of the average vector G is referred to as C1 conversion. May be described.

  And the conversion part 23 calculates the average value on the YZ plane in the acceleration which performed C1 conversion, and hold | maintains the calculated average value for a predetermined period with the date and time when the acceleration was measured (step S306). For example, the conversion unit 23 converts the acceleration acquired by the detection unit 21 into an acceleration in a coordinate system (coordinate system with reference to the reference direction) in which the y-axis and the Y-axis and the z-axis and the Z-axis do not match. Convert. Further, the conversion unit 23 extracts the acceleration on the YZ plane, that is, on the plane perpendicular to the x-axis direction, from the acceleration detected during a predetermined period (for example, 1 second).

  Then, the conversion unit 23 registers the extracted acceleration, the date and time when each acceleration was detected, and the average value of the extracted accelerations in association with each other in the acceleration database 12c. For example, the conversion unit 23 associates a date and time that is a start point, an end point, or a center point for a certain second, an acceleration on the YZ plane measured during the one second, and an average value of the acceleration. Register in the acceleration database 12c.

  As described above, the conversion unit 23 applies the rotation matrix to the measured acceleration, as shown in FIG. 1E, and averages acceleration values # 1, # 2, # 3 on the YZ plane. To get. That is, the terminal device 10 calculates a change amount by calculating a GPS speed from GPS information, and calculates an average value of acceleration detected by the acceleration sensor 13 at a predetermined time interval.

  When the above-described C1 conversion is performed on the acceleration measured by the acceleration sensor 13, the x-axis of the terminal coordinate system and the X-axis of the vehicle coordinate system can be matched, but the y-axis of the terminal coordinate system or The z-axis cannot always coincide with the Y-axis or Z-axis of the vehicle coordinate system. Accordingly, the terminal device 10 estimates the moving direction of the vehicle C10 from the acceleration by an estimation process described later, and based on the estimated moving direction, the y-axis and z-axis of the terminal coordinate system are changed to the Y-axis and Z-axis of the vehicle coordinate system. A rotation matrix that matches the axis is calculated as a C2 conversion formula.

[2-5. Example of effects in estimation process)
Next, an example of the flow of estimation processing executed by the estimation unit 25 and the determination unit 26 will be described using the flowchart shown in FIG. FIG. 9 is a flowchart for explaining an example of the flow of estimation processing executed by the terminal device according to the embodiment.

  For example, the estimation unit 25 refers to the GPS speed database 12b and identifies the date and time when the change amount exceeds a predetermined threshold (step S401). That is, the estimation unit 25 specifies the date and time when it is estimated that acceleration greater than a predetermined threshold is applied to the vehicle C10 due to acceleration or deceleration using the GPS speed. The acceleration information detected at such timing is predicted to include information indicating the magnitude and direction of acceleration caused by acceleration or deceleration, that is, the moving direction of the vehicle C10. Therefore, the estimation unit 25 estimates the moving direction of the vehicle C10 by executing the following process using the acceleration detected at the specified date and time. More specifically, the estimation unit 25 estimates the moving direction of the vehicle C10 based on the direction of acceleration detected when the acquired amount of change in speed exceeds a predetermined threshold.

  For example, the estimation unit 25 extracts an average value of acceleration measured a predetermined period before the specified date and time from the acceleration database 12c (step S402). That is, the estimation unit 25 estimates the moving direction of the vehicle C10 that is a moving body based on the direction of acceleration detected when the acquired speed changes. Here, when the moving speed of the vehicle C10 is acquired using GPS, a predetermined delay (for example, about 2 seconds) may occur. For example, if the vehicle C10 is moving at the speed “B” on the date “A”, and the vehicle C10 is acquired using the GPS, the vehicle at the date and time when it is delayed by about 2 seconds from the date “A”. The speed “B” will be measured as the speed of C10. Therefore, the estimation unit 25 extracts an average value calculated from the acceleration measured a predetermined period before the specified date and time from the acceleration database 12c.

  For example, as shown in FIG. 1 (F), the estimation unit 25 calculates an average value of accelerations detected only before the time considering the delay of the GPS speed from the time when the value of the change amount exceeds a predetermined threshold. Extract. For example, when the value of the change amount # 2 exceeds a predetermined threshold, the estimation unit 25 acquires the date and time when the change amount # 2 was acquired, for example, the GPS speed # 2 and the GPS speed # 3. The median of the date and time specified is specified, and the average value calculated from the acceleration acquired 2 seconds before the specified median is specified as the average value # 1. In such a case, the estimation unit 25 extracts the average value # 1 from the acceleration database 12c.

  As a more specific example, the estimation unit 25 refers to the GPS speed database 12b, and the date and time associated with the amount of change that is 2 km / h / s or more, or −2 km / h / s or less, that is, The date and time when acceleration / deceleration is performed more than a predetermined threshold is specified. For example, when the information illustrated in FIG. 3 is registered in the GPS speed database 12b, the estimation unit 25 associates the change amount “18 km / h / s” with the date “2016/10/1/10: 00: 00: 17 ”is specified. In such a case, the estimation unit 25 considers the GPS delay and the date and time “2016/10/1/10: 00: 00” two seconds before the identified date and time “2016/10/1/10: 0: 17”. : 15 ”, and the average acceleration value associated with the calculated date“ 2016/10/1/10: 0: 15 ”is extracted from the acceleration database 12c. For example, when the information illustrated in FIG. 4 is registered in the acceleration database 12c, the estimation unit 25 determines that the average value “average value #” of the acceleration associated with the date “2016/10/1/10: 0: 15” is used. 1 ”is extracted. That is, the estimation unit 25 extracts the acceleration associated with the date and time “2016/10/1/10: 0: 15” as an average value of acceleration due to acceleration / deceleration that greatly changes the GPS speed.

  In addition, the terminal device 10 can acquire the moving speed of the vehicle C10 almost in real time when acquiring the moving speed of the vehicle C10 from the control device of the information system or the control system of the vehicle C10. Therefore, when the moving speed of the vehicle C10 is acquired from an information system or a control system control device of the vehicle C10, the estimation unit 25 includes a time when the amount of change in the speed of the vehicle C10 exceeds a predetermined threshold value. You may extract the average value of the acceleration detected at the same time as the acceleration detected at the same time and the time when the amount of change in the speed of the vehicle C10 exceeds a predetermined threshold.

  Here, it is considered that when the vehicle C10 is accelerated, acceleration in the Z-axis direction is detected in the vehicle coordinate system, and when the vehicle C10 is decelerated, acceleration in the -Z-axis direction is detected in the vehicle coordinate system. It is done. Therefore, the estimation unit 25 identifies whether the vehicle C10, which is a moving body, has accelerated or decelerated based on the acquired change in speed, and detects the direction of acceleration and whether the moving body has accelerated or decelerated. Based on this, the moving direction of the moving body is estimated. More specifically, when the GPS speed indicates deceleration (for example, when the value of change is negative), the estimation unit 25 reverses the sign of the extracted average value (step S403), thereby accelerating the acceleration. Align the direction of acceleration extracted from the database 12c. That is, when the estimation unit 25 determines that the vehicle C10 has accelerated, the direction of the detected acceleration is set to the direction opposite to the moving direction of the moving body, and when it is determined that the vehicle C10 has decelerated, The direction of the detected acceleration is set as the moving direction of the moving body.

  Then, the estimation unit 25 registers the extracted average value in the average value database 12d (step S404). That is, the estimation unit 25 is an acceleration estimated to be detected when the vehicle C10 accelerates or decelerates more than a predetermined threshold, and the acceleration on a plane perpendicular to the direction of gravity is used as the collected average value. Register in the average value database 12d. In addition, when a predetermined number of collection average values are registered in the average value database 12d, the estimation unit 25 calculates the collection average value with the oldest registered date and time and the date and time when the acceleration that is the calculation source is measured. The average value that is deleted and newly extracted may be registered in the average value database 12d as the collected average value. Moreover, the estimation part 25 may perform the process mentioned above whenever the variation | change_quantity of GPS speed whose absolute value is larger than a predetermined threshold value is measured.

  And the estimation part 25 estimates the moving direction of the vehicle C10 based on the average value of the average value registered into the average value database 12d (step S405). Here, the average value registered in the acceleration database 12c is an acceleration on a plane perpendicular to the direction of gravity, that is, an average value on the YZ plane. Therefore, the estimation unit 25 calculates the average value of the average values registered in the average value database 12d, whereby the direction of acceleration generated when the vehicle C10 performs linear acceleration, that is, the Z axis in the vehicle coordinate system. Specify the direction of acceleration of direction.

  That is, the estimation unit 25 estimates a direction on a plane perpendicular to the direction of gravity as the moving direction of the vehicle C10. More specifically, the conversion unit 23 performs C1 conversion of the detected direction of acceleration into a direction on a plane perpendicular to the direction of gravity. And the estimation part 25 estimates the moving direction of the vehicle C10 on the plane perpendicular | vertical with respect to a gravitational direction based on the average value of the converted acceleration. Then, the estimation unit 25 converts the terminal coordinate system into the vehicle coordinate system based on the estimated movement direction of the vehicle C10 (that is, coordinate conversion that converts the C1-converted acceleration into the vehicle coordinate system). Is calculated as a C2 conversion formula (step S406). Thereafter, the determination unit 26 converts the acceleration measured by the acceleration sensor from the terminal coordinate system to the vehicle coordinate system using the C2 conversion formula, and estimates the moving state of the vehicle C10 based on the converted acceleration ( Step S407).

  For example, as shown in FIG. 1G, the estimation unit 25 corrects the direction of the average value according to whether it is deceleration or acceleration, and continuously collects the average value. Further, the estimation unit 25 further calculates an average value of the collected average values, that is, an average value of the average values registered in the average value database 12d, as shown in FIG. Based on the above, the moving direction of the vehicle C10 is estimated, and the C2 conversion formula is calculated based on the estimated moving direction of the vehicle C10.

  For example, FIG. 10 is a diagram illustrating an example of acceleration acquired by the terminal device according to the embodiment. In addition, in the example shown in FIG. 10, as shown to (A)-(C) in FIG. 10, the drawing which plotted the acceleration which carried out C1 conversion on the YZ plane was described. For example, in the drawing shown in FIG. 10A, a plurality of accelerations estimated to have occurred during a period (for example, 1 second) in which the change amount of the GPS speed exceeds a predetermined threshold value is C1 converted, and the C1 converted acceleration is obtained. It is the figure which plotted on the YZ plane. Here, in the C1 conversion, since the moving direction of the vehicle C10 is unknown, the rotational direction around the Z axis is not accurate. For this reason, as shown in FIG. 10A, when the acceleration generated when the vehicle C10 is accelerated or decelerated is C1 converted and plotted on the YZ plane, the acceleration and the Z axis are shifted, and the −Z axis It is unclear which direction is the direction of movement or the Z-axis direction.

  Therefore, the terminal device 10 specifies the moving direction of the vehicle C10 using the average value on the YZ plane of the C1-converted acceleration. For example, as shown in FIG. 10B, the terminal device 10 calculates an average value of the acceleration obtained by C1 conversion for each period during which the acceleration is measured. Then, as shown in FIG. 10B, the terminal device 10 can obtain an average value in the direction of acceleration caused by acceleration and an average value in the direction of acceleration caused by deceleration.

  And the terminal device 10 reverses the direction of the acceleration which arose by deceleration among the averages of the acceleration shown to (B) in FIG. 10 on a YZ plane. For example, as shown in FIG. 10C, the terminal device 10 determines the direction of the average value of acceleration estimated to have occurred when the change amount of GPS speed is negative, with the YZ plane centered on the X axis. Rotate by π above. Then, as shown in FIG. 10D, the terminal device 10 calculates the average value of the direction of each acceleration, and determines the direction of the calculated average value as the direction of the acceleration generated by the acceleration of the vehicle C10, that is, + Z. Axial direction. As a result, the terminal device 10 can obtain an angle α between the Z axis and the z axis with the X axis direction as the center. The terminal device 10 calculates the angle between the average value shown in (C) of FIG. 10 and the + Z-axis direction, and calculates the average value of the calculated angle about the Z-axis and the z-axis centered on the X-axis direction. It is good also as angle (alpha) between an axis | shaft.

  And the determination part 26 calculates the moving direction and speed of the vehicle C10 from the acceleration which the acceleration sensor 13 measured using C2 conversion type | formula. For example, the estimation unit 25 performs C1 conversion of the acceleration measured by the acceleration sensor 13, and the acceleration measured by the acceleration sensor from the terminal coordinate system to the vehicle coordinate system when the C2 conversion formula is applied to the acceleration after the C1 conversion. A C2 conversion formula for conversion is generated.

  And the determination part 26 estimates the moving direction of the vehicle C10 using the acceleration after C2 conversion. For example, the determination unit 26 determines that the vehicle C10 is accelerating when acceleration in the + Z-axis direction is measured, and decelerates the vehicle C10 when acceleration in the −Z-axis direction is detected. Is determined. Further, when the acceleration in the + Y-axis direction perpendicular to the −Z-axis direction that is the moving direction is measured, the determination unit 26 determines that the vehicle C10 has turned to the right, and the acceleration in the −Y-axis direction is measured. In this case, it is determined that the vehicle C10 has made a left turn.

  Moreover, the determination part 26 calculates the moving speed of the vehicle C10 using the acceleration after conversion. Specifically, the determination unit 26 uses the average value of the Z-axis component of acceleration when the vehicle C10 is stopped as the origin (0), and uses the integrated value of the Z-axis component of acceleration as the moving speed of the vehicle C10. Note that the determination unit 26 may correct the integration value to 0 when it is determined that the vehicle C10 is not moving in order to eliminate the accumulation of errors caused by adopting the integration value. For example, when the determination unit 26 determines whether or not the vehicle C10 is stopped by using the SVM that has learned the feature amount of acceleration when the vehicle C10 is stopped, and determines that the vehicle C10 is stopped. The integral value may be corrected to zero. In this manner, the determination unit 26 estimates the moving speed and moving direction of the vehicle C10 using the acceleration measured by the acceleration sensor 13.

[2-6. Example of processing flow)
Next, an example of a process of estimating the moving direction by the terminal device 10 will be described with reference to FIG. FIG. 11 is a diagram illustrating an example of a process of estimating a moving direction by the terminal device according to the embodiment. For example, the terminal device 10 measures GPS information at intervals of 1 second as shown in FIG. 11A, and a rate of about 50 times per second as shown in FIG. 11B. Then, the acceleration is measured by the terminal coordinate system.

  In such a case, as shown in FIG. 11C, the terminal device 10 calculates the average value of acceleration at a predetermined time interval, and considers the direction of the calculated average value of acceleration as the reference direction. Thus, a C1 conversion formula (rotation matrix) for performing C1 conversion for converting the x-axis direction of the terminal coordinate system into the X-axis direction of the vehicle coordinate system is derived at predetermined time intervals. And the terminal device 10 performs C1 conversion which converts the measured acceleration using a C1 conversion type | formula, as shown to (D) in FIG.

  Subsequently, as illustrated in FIG. 11E, the terminal device 10 calculates an average value on the YZ plane from the acceleration after the C1 conversion. Further, as shown in FIG. 11F, the terminal device 10 extracts an average value estimated to be acquired when the change amount of the GPS speed calculated based on the GPS information exceeds a predetermined threshold value. . For example, as illustrated in FIG. 11G, the terminal device 10 considers the delay amount related to the acquisition of the GPS speed, and determines a predetermined period (from the time when the change amount of the GPS speed is determined to exceed a predetermined threshold). For example, the average value calculated from the previous acceleration by 2 seconds) is extracted.

  Then, the terminal device 10 derives a C2 conversion equation for converting from the terminal coordinate system to the vehicle coordinate system using the extracted average value, as shown in FIG. More specifically, the terminal device 10 derives a new C2 conversion formula every time the amount of change in GPS speed exceeds a predetermined threshold. As a result, at the time of initial setting, the terminal device 10 quickly estimates the moving direction of the vehicle C10, derives the C1 conversion formula and the C2 conversion formula, and at the same time interval, obtains the C1 conversion formula and the C2 conversion formula. Since the update is performed, the estimation accuracy can be maintained.

[2-7. Example formula)
Next, an example of processing in which the estimation unit 25 calculates a C2 conversion expression for converting the terminal coordinate system into the vehicle coordinate system will be described using mathematical expressions. In addition, the process which the estimation part 25 performs is not limited to the process which the following numerical formula shows. For example, the estimation unit 25 may perform coordinate conversion from the terminal coordinate system to the vehicle coordinate system using a mathematical expression expressing the primary conversion.

For example, each axis of the terminal coordinate system is an xyz axis, and each axis of the vehicle coordinate system is an XYZ axis. In such a case, the process of converting the vehicle coordinate system to the terminal coordinate system is expressed by the following equation (1). In equation (1), the rotation angle around the x axis is α, the rotation angle around the y axis is β, the rotation angle around the z axis is γ, and the coordinates by rotation around the x axis R _x (α) is a rotation matrix that performs transformation, R _y (β) is a rotation matrix that performs coordinate transformation by rotation around the y axis, and R _z is a rotation matrix that performs coordinate transformation by rotation around the z axis. (Γ).

Further, the rotation matrix R _x (α), the rotation matrix R _y (β), and the rotation matrix R _z (γ) (hereinafter, may be collectively referred to as “each rotation matrix”) are expressed by the following equations. (2) to (4).

  Here, since the direction of the average vector G is acceleration in the −X-axis direction, it can be expressed by the following expression (5) in the vehicle coordinate system.

On the other hand, the average vector G in each axis direction detected in the terminal coordinate system is described as (a _x , a _y , a _z ). In such a case, a _x , a _y , and a _z are values obtained by converting the average vector G shown in Expression (5) using each rotation matrix, and therefore, Expression (6) below is established.

  As a result, Expression (7) is obtained from the value in the z-axis direction in Expression (6).

  Further, since the expression (8) is established by normalization in consideration of the size of the average vector G, the expression (9) is obtained from the values in the x-axis and y-axis directions in the expression (6). As a result, the terminal device 10 can specify the rotation angle β around the y-axis from the equations (7) and (9).

  Here, when the case is divided according to the sign of the value shown in Expression (9), the following Expressions (10) to (13) can be obtained as the solution of Expression (6).

  On the other hand, the process of converting the terminal coordinate system to the vehicle coordinate system is the inverse conversion of the coordinate conversion shown in Expression (1), and is expressed by Expression (14) below.

Further, since the values of β and γ have already been derived from the equations (10) to (13), only the y-axis and the z-axis of the accelerations a _x , a _y , and _az of the terminal coordinate system are rotated to obtain the terminal coordinates. The C1 transformation that matches the x-axis of the system with the X-axis of the vehicle coordinate system can be expressed by equation (15).

  Here, the terminal device 10 calculates the direction on the YZ plane of the acceleration that determines the moving direction, that is, the acceleration that is estimated to have occurred when the GPS speed changes greatly, and the calculated direction matches the Z-axis direction. Thus, the rotation angle α around the x-axis (same as the X-axis after C1 conversion) may be calculated. For example, when the acceleration estimated to have occurred when the GPS speed has changed significantly is taken as a sample, the acceleration sample in the y-axis direction is y, the acceleration sample in the z-axis direction is z, and the acceleration projected on the YZ plane If the components of the sample are y ′ and z ′, Equation (16) is obtained.

  Here, if the rotation angle between the y-axis direction and the z′-axis direction is θ, α can be expressed by the following equation (17), and the sine and cosine of θ are expressed by the following equation (18): (19).

  Here, from the equations (17) to (19), the value of y ′ becomes zero as shown in the following equation (20). More specifically, the following formulas (21) and (22) hold from formula (17). As a result, when the left side of Expression (18) and Expression (19) is converted into Expression α using Expression (21) and Expression (22) and substituted into Expression (16), Expression (20) is established.

  Summarizing the above calculation results, the C1 conversion equation represented by the following equation (23) can be represented by the following equation (24).

  Moreover, the C2 conversion formula which performs C2 conversion by rotating the acceleration which performed C1 conversion centering on the X-axis can be shown by the following formula | equation (25).

[3. (Modification)
The terminal device 10 according to the above-described embodiment may be implemented in various different forms other than the above-described embodiment. Therefore, in the following, another embodiment of the terminal device 10 will be described.

[3-1. About weighting)
Here, in the estimation process described above, the moving direction of the vehicle C10 is estimated based on the direction of acceleration. However, the embodiment is not limited to this. For example, the terminal device 10 may estimate the moving direction of the vehicle C10 in consideration of the magnitude of acceleration. For example, when a large acceleration or deceleration occurs during traveling of the vehicle C10, it is predicted that the vehicle C10 is traveling straight. For example, if the vehicle stops at a signalized intersection and then accelerates or suddenly brakes, it is predicted that a large acceleration / deceleration and thus a large acceleration will be measured. In such a state, the vehicle C10 Is predicted to be straight. For this reason, acceleration larger than the predetermined threshold is more reliable data when estimating the moving direction of the vehicle C10 than acceleration smaller than the predetermined threshold.

  Therefore, the terminal device 10 may estimate the moving direction of the vehicle C10 that is a moving body using a plurality of detected accelerations in a state in which weighting based on the magnitude of acceleration is taken into consideration. More specifically, the terminal device 10 may estimate the moving direction of the vehicle C10 by weighting each acceleration so that the weight increases as the magnitude of the acceleration increases.

For example, when calculating the average value of acceleration used when estimating the moving direction of the vehicle C10, the terminal device 10 performs C1 conversion on the acceleration detected by the acceleration sensor 13, and calculates the average value of acceleration after C1 conversion. When calculating, weighting according to the magnitude of acceleration may be performed. To give a more specific example, for example, when the acceleration vector obtained by C1 conversion is described as a _i (in the mathematical formula, a is shown in bold. The same applies hereinafter), the terminal device 10 uses the following formula ( as shown in 26), is the norm of a vector a _i to the vector a _i | a i _| and a value obtained by multiplying the predetermined weighting factor w, may calculate an average value as the value of the vector a _i .

In addition, the terminal device 10 may estimate the moving direction of the vehicle C10 that is a moving body based on the average value of the directions of a plurality of accelerations in a state in which weighting based on the magnitude of each acceleration is taken into consideration. . That is, the terminal device 10 is centered on the X axis from the average value of acceleration acquired when the change amount of the GPS speed is larger than a predetermined threshold, that is, the average value registered in the average value database 12d. When calculating the rotation direction, weighting based on the size of each average value may be considered. For example, when a vector of average values registered in the average value database 12d is a vector a _i and an angle between the direction of the vector a _i and the −Z axis direction is θi, the terminal device 10 uses the following formula: Using the equation shown in (27), the average value of the angle between the −Z-axis direction and each average value may be calculated to estimate the moving direction of the vehicle C10.

  Note that the above-described formulas (26) and (27) are merely examples, and the terminal apparatus 10 can estimate the moving direction of the vehicle C10 in consideration of weighting based on the magnitude of acceleration. Any formula may be employed. The weighting process described above is realized by, for example, the estimation unit 25 shown in FIG.

[3-2. (Attitude detection function)
Here, when the terminal device 10 is realized by a mobile terminal device such as a smart device, the user performs a search process using the terminal device 10 or gets off the vehicle C10 while holding the terminal device 10. It is predicted that such actions will be performed. For this reason, the installation posture of the terminal device 10 may change. However, the terminal device 10 moves when the moving direction and the moving speed of the vehicle C10 are estimated using the C1 conversion formula and the C2 conversion formula before the installation posture is changed although the installation posture is changed. The estimation accuracy of the direction and the moving speed is deteriorated.

  Therefore, the terminal device 10 has means for detecting a change in the installation posture. When a change in the installation posture is detected, the C1 conversion formula or the C2 conversion formula is recalculated, and the recalculated C1 conversion formula or You may convert the acceleration of a terminal coordinate system into the acceleration of a vehicle coordinate system using C2 conversion type | formula. More specifically, the terminal device 10 includes a first average value that is an average value of acceleration before a predetermined time has elapsed since detection, and an average of acceleration before a time shorter than the predetermined time has elapsed. A second average value that is a value is calculated. For example, the terminal device 10 calculates a long-term average acceleration (hereinafter referred to as “long-term average”) continuously calculated while the installation posture does not change, and an acceleration calculated at regular intervals (for example, 1 second). The average (hereinafter referred to as “short-term average”) is calculated.

  And the terminal device 10 may determine whether or not the installation posture of the terminal device 10 has changed based on the difference between the first average value and the second average value, that is, the difference between the long-term average and the short-term average. Good. For example, FIG. 12 is a diagram illustrating an example of a process in which the terminal device according to the embodiment detects a change in the installation posture. For example, as shown in FIG. 12A, when the installation posture does not change during a predetermined period, the long-term average indicated by the dotted arrow and the short-term average indicated by the solid arrow It is predicted that the direction of On the other hand, as shown in FIG. 12B, when the installation posture of the terminal device 10 changes, the direction of the long-term average indicated by the dotted arrow and the short-term average indicated by the solid arrow deviate. is expected.

Accordingly, as shown in FIG. 12C, the terminal device 10 is assumed to change its posture when the value of the angle θ between the long-term average vector and the short-term average vector exceeds a predetermined threshold. judge. For example, when the terminal device 10 continues for a predetermined period when the value of the cosine product of the first average value and the second average value exceeds “0.8”, the installation posture of the terminal device 10 is You may determine with having changed. For example, the terminal device 10 uses the following formula (28) to calculate the long-term average vector a _L , the short-term average vector a _s , and the angle between the long-term average and the short-term average as θ: A cosine product (that is, inner product) value of the average and the short-term average is calculated, and when the calculated value is equal to or less than a predetermined threshold, it may be determined that the installation posture of the terminal device 10 has changed.

  For example, if the terminal device 10 determines that the installation posture of the terminal device 10 has changed, the terminal device 10 deletes the information registered in the GPS speed database 12b, the acceleration database 12c, and the average value database 12d, and creates a new one. In addition, the GPS speed, the change amount of the GPS speed, the acceleration detected by the acceleration sensor 13, and the like are collected. Further, the terminal device 10 estimates the gravity direction from the average value of the collected accelerations, and calculates a new C1 conversion formula corresponding to the estimated gravity direction. Then, the terminal device 10 estimates the moving direction of the vehicle C10 based on the acceleration when the change amount of the GPS speed exceeds a predetermined threshold, and calculates a new C2 conversion formula based on the estimated moving direction. do it.

  As described above, the terminal device 10 detects the acceleration in the moving body, and the first average value that is the average value of the acceleration before the predetermined time has elapsed since the detection and the time shorter than the predetermined time have elapsed. A second average value that is an average value of acceleration before the calculation is calculated. Then, the terminal device 10 determines whether or not the attitude of the terminal device 10 has changed based on the first average value and the second average value. For this reason, the terminal device 10 can determine easily whether the installation attitude | position of the terminal device 10 changed. The process for detecting the change in the installation posture described above may be realized by, for example, the determination unit 26 illustrated in FIG. 2, for example, a calculation unit provided independently of each of the units 21 to 26 illustrated in FIG. You may implement | achieve by functional structures, such as an attitude | position determination part. When the terminal device 10 has such a functional configuration, the calculation unit calculates the first average value and the second average value. Then, the posture determination unit determines whether or not the posture of the terminal device 10 has changed based on the first average value and the second average value calculated by the calculation unit.

[3-3. (Distinction between curve and right / left turn)
Here, the terminal device 10 converts the acceleration of the terminal coordinate system into the acceleration of the vehicle coordinate system using the C2 conversion formula, and estimates the moving direction of the vehicle C10 based on the acceleration of the vehicle coordinate system. For example, the terminal device 10 can estimate that the vehicle C10 has turned right or left based on the acceleration in the Y-axis direction. However, with only the acceleration in the Y-axis direction, it becomes difficult to determine whether the curve is bent at a constant speed or the intersection.

  Here, when using the terminal device 10 to perform not only guidance processing but also diagnosis of whether or not driving is appropriate (hereinafter referred to as “driving force diagnosis”), the terminal device 10 displays a curve. It is desirable to make a detailed analysis by discriminating whether the car is bent or bent at an intersection. Here, when turning an intersection, it is predicted that deceleration greater than a predetermined threshold is performed before a right turn or left turn, and acceleration greater than a predetermined threshold is performed after a right turn or left turn. On the other hand, when the vehicle is turning a curve, it is considered that no significant deceleration or acceleration is performed.

  Therefore, after the speed of the vehicle C10 is decelerated, the terminal device 10 detects an acceleration in a direction different from the moving direction of the moving body. After that, if the speed of the vehicle C10 is accelerated, It may be determined that a certain vehicle C10 has made a right turn or a left turn. Further, the terminal device 10 detects an acceleration in a direction different from the moving direction of the moving body when the speed is not reduced before the acceleration in a direction different from the moving direction of the moving body is detected. If the speed has not accelerated later, it may be determined that the vehicle C10 as a moving body is traveling on a curved road.

  For example, the terminal device 10 specifies the acceleration in the Y-axis direction from the acceleration after C2 conversion. Subsequently, when the acceleration in the Y-axis direction exceeds a predetermined threshold, the terminal device 10 specifies the date and time when the acceleration in the Y-axis direction exceeds the predetermined threshold as the reference date and time, and the number immediately before the reference date and time. The second is the immediately preceding period, and the few seconds immediately after the reference date is the immediately following period. And the terminal device 10 calculates the variation | change_quantity of the speed | velocity | rate of the vehicle C10 in the last period or the last period using GPS speed. Note that the terminal device 10 may take into account a delay that occurs when acquiring the GPS speed when performing such a calculation. Further, the terminal device 10 uses the OBD or the like to acquire the speed of the vehicle C10 and acquire the speed through a general standard for acquiring information from the information system and control system control device of the vehicle C10. From this, the amount of change in the speed of the vehicle C10 in the immediately preceding period or immediately following period may be calculated.

  When the speed of the vehicle C10 is decelerated from the predetermined threshold value in the immediately preceding period and the speed of the vehicle C10 is accelerated from the predetermined threshold value in the immediately following period, the terminal device 10 Is determined to have made a right or left turn. On the other hand, when the speed of the vehicle C10 has not decreased below a predetermined threshold in the immediately preceding period or when the speed of the vehicle C10 has not accelerated more than the predetermined threshold in the immediately following period, It is determined that the vehicle C10 has made a turn.

  And the terminal device 10 should just perform driving force diagnosis according to whether the vehicle C10 made the right turn or the left turn, or the vehicle C10 turned the curve. For example, when the terminal device 10 determines that the vehicle C10 has made a right turn or a left turn, and the acceleration value measured at the reference date and time is greater than a predetermined threshold, it is assumed that the terminal device 10 has made a sudden right turn or left turn. A message for alerting the user may be output. In addition, when the terminal device 10 determines that the vehicle C10 has made a right turn or a left turn, if the acceleration in the immediately following period is greater than a predetermined threshold value, the terminal device 10 may output a message to alert the user. Good.

  Thus, the terminal device 10 detects the acceleration in the moving body. Moreover, the terminal device 10 acquires the speed of the moving body. Then, after the acquired speed is decelerated, the terminal device 10 detects an acceleration in a direction different from the moving direction of the moving body. After that, if the acquired speed is accelerated, the moving body It is determined that a right or left turn has been made. Acquired when the acquired speed was not decelerated before acceleration in a direction different from the moving direction of the moving object was detected, or after acceleration in a direction different from the moving direction of the moving object was detected. If the determined speed has not accelerated, it is determined that the moving body is traveling on a curved road.

  In addition, although it is conceivable that constant deceleration and acceleration cannot be detected due to traffic jams or the like, in such a case, since it is not a problem driving operation in the first place, it can be ignored. Therefore, for example, the terminal device 10 determines whether or not the vehicle C10 is involved in a traffic jam based on information of a road traffic information communication system such as VICS (Vehicle Information and Communication System) (registered trademark). If the vehicle C10 is caught in the vehicle, it is not necessary to perform a determination process such as whether the vehicle C10 has made a right turn or a left turn, or whether the vehicle C10 has made a turn. In addition, the process which detects the change of the installation attitude | position mentioned above may be implement | achieved by the determination part 26 shown, for example in FIG. 2, for example, the movement determination part provided independently from each part 21-26 shown in FIG. It may be realized by a functional configuration such as.

[3-4. About sudden braking)
Further, since sudden acceleration and sudden deceleration are one of dangerous driving operations, it is desirable that such sudden acceleration and sudden deceleration can be detected in the driving force diagnosis. However, when switching from a general road to a highway, there is a case where the vehicle accelerates suddenly when joining the highway. For this reason, when it is determined that a dangerous driving operation has been performed when sudden acceleration or deceleration is simply performed, the accuracy of the driving force diagnosis deteriorates.

  Here, when switching from a general road to a highway, it is predicted that the speed after acceleration will continue for a certain time (for example, 10 minutes) or more after rapid acceleration. Therefore, the terminal device 10 is based on the acceleration measured by the acceleration sensor 13, the amount of change in the GPS speed, the speed acquired from the control device of the information system or the control system of the vehicle C10, etc. That is, it is determined whether or not rapid acceleration has occurred. If the terminal device 10 determines that sudden acceleration has occurred, the acceleration measured by the acceleration sensor 13, the amount of change in GPS speed, the speed acquired from the control device of the information system or control system of the vehicle C10, etc. Based on the above, it is determined whether or not a predetermined speed (for example, 80 km / h or more) has continued for a predetermined period (for example, 10 minutes) after the rapid acceleration. And the terminal device 10 is good also as that the dangerous driving | operation operation was not performed, when predetermined speed continued only for the predetermined period after rapid acceleration.

  Further, in a tunnel or the like, there may be a case where the GPS speed cannot be acquired during rapid acceleration. Therefore, when the GPS speed cannot be acquired, the terminal device 10 determines whether or not a constant deceleration has occurred for a predetermined period based on the acceleration detected by the acceleration sensor 13, and the constant deceleration is predetermined. If it does not occur during this period, dangerous driving operation may not be performed.

  As described above, when the acceleration exceeding the predetermined threshold is detected by the acceleration sensor 13, the terminal device 10 performs a dangerous operation when the speed exceeding the predetermined threshold is not acquired beyond the predetermined period. It may be determined that it has been performed. In addition, when the terminal device 10 cannot acquire the speed of the moving object such as the GPS speed, the terminal device 10 determines whether or not the moving object has decelerated based on the acceleration detected by the acceleration sensor 13, and the predetermined period is If the moving body decelerates before the passage, it may be determined that a dangerous operation has been performed. When the acceleration exceeding the predetermined threshold is detected and the speed exceeding the predetermined threshold is acquired beyond the predetermined period, the terminal device 10 travels on the road for high-speed movement. You may determine that you are doing.

  Thus, the terminal device 10 acquires the speed of the vehicle C10 using an arbitrary method such as acceleration, GPS speed, or speed acquired from an information system or control system control device of the vehicle C10. Further, when the amount of change in the speed of the vehicle C10 exceeds a predetermined threshold, the terminal device 10 determines whether the vehicle C10 has decelerated during a predetermined period. Then, the terminal device 10 determines that the dangerous driving operation is not performed when the vehicle C10 does not decelerate during the predetermined period, and when the vehicle C10 decelerates, the dangerous driving operation is performed. Determine that it was done. In addition, the process which detects the change of the installation attitude | position mentioned above may be implement | achieved by the determination part 26 shown, for example in FIG. 2, for example, the operation determination part provided independently from each part 21-26 shown in FIG. It may be realized by a functional configuration such as.

[3-5. (About processing interval)
Moreover, the terminal device 10 described above may execute the above-described acquisition process, estimation process, guidance process, and the like at arbitrary time intervals. Moreover, the terminal device 10 may divide the acquisition process, the estimation process, and the guidance process into arbitrary granularities, and may execute the divided processes independently at arbitrary time intervals. For example, the terminal device 10 performs independent timing for acquisition of acceleration, acquisition of GPS speed, calculation of rate of change, C1 or C2 conversion of acceleration, calculation of an average value of acceleration, estimation of the moving direction of the vehicle C10, and the like. It may be executed with.

[3-6. Other embodiments]
In addition, the said embodiment is only an illustration and this invention includes what is illustrated below and other embodiment other than that. For example, the functional configuration, data structure, processing order and contents shown in the flowchart in the present application are merely examples, and the presence / absence of each element, the order of arrangement and processing execution, and specific contents can be changed as appropriate. . For example, the above-described guidance processing and determination processing can be realized as a device, a method, and a program in a terminal realized by a smartphone application, in addition to the terminal device 10 as exemplified in the above embodiment.

  Moreover, the structure which implement | achieves each process part 17-20 which comprises the terminal device 10 by a further independent apparatus is also common. Moreover, the structure which implement | achieves each part 21-26 which comprises the movement state determination part 20 with an respectively independent apparatus may be sufficient. Similarly, the configuration of the present invention is flexible, such as by realizing each means shown in the above embodiment by calling an external platform or the like with an API (application program interface) or network computing (so-called cloud). Can be changed. Furthermore, each element such as means relating to the present invention may be realized by other information processing mechanisms such as a physical electronic circuit as well as a computer control unit.

  For example, the terminal device 10 may execute the guidance process described above in cooperation with a distribution server that can communicate with the terminal device 10. For example, the distribution server includes the respective units 21 to 26, and performs the above-described detection processing, acquisition processing, estimation processing, and the like using the acceleration and GPS speed detected by the terminal device 10, and estimates the moving direction of the vehicle C10. Alternatively, the estimation of the moving speed of the vehicle C10 or the like may be distributed to the terminal device 10 to perform user guidance.

[4. effect〕
As described above, the terminal device 10 detects acceleration in the moving body. Moreover, the terminal device 10 acquires the speed of the moving body. And the terminal device 10 estimates the moving direction of a moving body based on the direction of the acceleration detected when the acquired speed changed. For example, the terminal device 10 estimates the moving direction of the moving body based on the direction of acceleration detected when the acquired amount of change in speed exceeds a predetermined threshold.

  Thus, since the terminal device 10 estimates the moving direction of the vehicle C10 using the acceleration measured by the acceleration sensor 13 when acceleration or deceleration is performed, the moving direction of the vehicle C10 is accurately determined in a short time. Can be estimated well. Moreover, since the terminal device 10 can specify the moving direction of the vehicle C10 with high accuracy, the terminal device 10 can quickly and accurately determine acceleration, deceleration, left / right turn, and further estimate the speed of the vehicle C10 (including stop determination). be able to. In addition, the terminal device 10 can quickly and accurately estimate the installation posture of the terminal device 10. Further, since the terminal device 10 repeatedly estimates the moving direction of the vehicle C10 using the acceleration measured by the acceleration sensor 13 when acceleration or deceleration is performed, the difference between the terminal coordinate system and the vehicle coordinate system is determined. It is possible to reduce the error associated with.

  Further, the terminal device 10 can estimate the moving direction of the vehicle C10 in a stand-alone manner using the acceleration or GPS signal measured by the acceleration sensor 13 installed in the device itself. As a result, the terminal device 10 does not have to acquire the moving direction of the vehicle C10 from, for example, a server device that estimates the moving direction of the vehicle C10 or a control device of the vehicle C10 itself. The amount of data communicated with the device can be reduced.

  Further, since the terminal device 10 can accurately estimate the moving direction of the vehicle C10 without installing the terminal device 10 in the vehicle C10 in a predetermined installation posture, the holder that keeps the terminal device 10 in the predetermined installation posture Can be made unnecessary. Moreover, the terminal device 10 can make it unnecessary to fix the manufacturer of the holder and the orientation of the holder.

  Further, the terminal device 10 specifies the position of the moving body using a predetermined position positioning system, and acquires the speed of the moving body based on the change in the specified position. For example, the terminal device 10 specifies the position of the moving body at a predetermined time interval, and acquires the speed of the moving body based on the difference between the newly specified position and the previously specified position. For this reason, the terminal device 10 can estimate the moving direction of the vehicle C10 in a stand-alone manner without having the function of acquiring the speed from the control device or the like of the vehicle C10.

  Here, there are cases where a predetermined error is included in advance in a consumer GPS or the like. For this reason, when the movement direction of the vehicle C10 is estimated using the position indicated by the GPS as it is, the estimation accuracy is deteriorated unless the vehicle C10 moves more than the GPS error. However, the terminal device 10 calculates a GPS speed based on the position indicated by the GPS, and determines acceleration or deceleration of the vehicle C10 based on the calculated change amount of the GPS speed. And since the terminal device 10 estimates the moving direction of the vehicle C10 based on the acceleration accompanying the acceleration or deceleration of the vehicle C10, for example, the time for the initial adjustment performed at the start of the guidance process is shortened, and the vehicle is accurately obtained. The moving direction of C10 can be estimated.

  In addition, the terminal device 10 estimates the moving direction of the moving body based on the direction of acceleration detected only a predetermined period before the date and time when the acquired speed changes. That is, the terminal apparatus 10 estimates the moving direction of the moving body based on the direction of acceleration detected when the speed exceeds a predetermined threshold in consideration of the delay of the GPS speed. For this reason, even if it is a case where the GPS speed is used, the terminal device 10 can estimate the moving direction of the vehicle C10 with high accuracy.

  Further, the terminal device 10 identifies whether the moving body has accelerated or decelerated based on the acquired change in speed, and based on the detected direction of acceleration and whether the moving body has accelerated or decelerated. The moving direction of the moving body is estimated. For example, when the terminal device 10 determines that the moving body has accelerated, the terminal device 10 sets the direction of the detected acceleration to a direction opposite to the moving direction of the moving body, and when the terminal device 10 determines that the moving body has decelerated, The direction of the detected acceleration is set as the moving direction of the moving body. For this reason, since the terminal device 10 can estimate the moving direction of the vehicle C10 based on not only the acceleration generated by the acceleration of the vehicle C10 but also the acceleration generated by the deceleration of the vehicle C10, the moving direction of the vehicle C10. Can be estimated with high accuracy.

  Moreover, the terminal device 10 specifies the direction of gravity using the average value of acceleration detected in a predetermined state. And the terminal device 10 estimates the direction on a plane perpendicular | vertical to a gravitational direction as a moving direction of a moving body. For example, the terminal device 10 converts the direction of the detected acceleration into a direction perpendicular to the direction of gravity, that is, a direction on the YZ plane, and moves on the YZ plane based on the average value of the converted acceleration. Estimate the direction of body movement. For this reason, since the terminal device 10 can identify the direction of gravity without measuring the acceleration of the vehicle C10 for a long period of time, the terminal device 10 can quickly estimate the moving direction of the vehicle C10 based on the direction of gravity.

  In addition, the terminal device 10 estimates the moving direction of the moving body using a plurality of detected accelerations in a state where weighting based on the magnitude of acceleration is taken into consideration. For example, the terminal device 10 performs weighting so that the weight increases as the magnitude of acceleration increases. Further, the terminal device 10 estimates the moving direction of the moving body based on the average value of the detected directions of accelerations in a state in which weighting based on the magnitude of each acceleration is considered. As a result, the terminal device 10 can accurately estimate the moving direction of the vehicle C10.

  Further, the terminal device 10 is installed in a moving body, and the first average value (that is, the long-term average) that is an average value of acceleration before a predetermined time has elapsed since the detection, and a predetermined time. A second average value (that is, a short-term average) that is an average value of acceleration before a short time has elapsed is calculated. Then, the terminal device 10 determines whether or not the installation posture of the terminal device 10 has changed based on the first average value and the second average value. Specifically, when the value of the cosine product of the first average value and the second average value is equal to or less than a predetermined threshold value for a predetermined period, the terminal device 10 determines that the installation posture has changed. judge. As a result, since the terminal device 10 can quickly detect a change in the installation posture, the C1 conversion formula and the C2 conversion formula can be updated quickly, and as a result, the moving state of the vehicle C10 is accurately estimated. be able to.

  Further, after the acquired speed is decelerated, the terminal device 10 detects acceleration in a direction different from the estimated moving direction of the moving body, and then when the acquired speed is accelerated, It is determined that the mobile body has made a right turn or a left turn. In addition, the terminal device 10 is configured such that the speed has not accelerated before the acceleration in the direction different from the estimated moving direction of the moving body is detected, or the speed has accelerated after the acceleration is detected. If not, it is determined that the moving body is traveling on a curved road. For this reason, in the driving force diagnosis, the terminal device 10 can distinguish between a case where the vehicle C10 makes a right / left turn and a case where the vehicle C10 is traveling on a curved road.

  In addition, after the acceleration exceeding the predetermined threshold is detected, the terminal device 10 determines that a dangerous operation has been performed when the speed exceeding the predetermined threshold is not acquired beyond the predetermined period. As a result, in the driving force diagnosis, the terminal device 10 can appropriately determine whether or not the vehicle C10 has accelerated to get on the highway.

  Further, when the terminal device 10 cannot acquire the speed of the moving body, the terminal device 10 determines whether or not the moving body has decelerated based on the detected acceleration, and the moving body before the predetermined period elapses. Is decelerated, it is determined that a dangerous operation has been performed. In addition, after the acceleration exceeding the predetermined threshold is detected, the terminal device 10 travels on the road for high-speed movement when the speed exceeding the predetermined threshold is acquired beyond the predetermined period. It is determined that For this reason, the terminal device 10 can realize a driving force diagnosis in a stand-alone manner even when GPS or the like cannot be used. Further, the terminal device 10 can reduce the amount of communication with an external server or the like that performs driving force diagnosis.

  As described above, some of the embodiments of the present application have been described in detail with reference to the drawings. However, these are merely examples, and various modifications, including the aspects described in the disclosure section of the invention, based on the knowledge of those skilled in the art, It is possible to implement the present invention in other forms with improvements.

  Moreover, the above-mentioned “section (module, unit)” can be read as “means”, “circuit”, and the like. For example, the movement state determination unit can be read as movement state determination means or a movement state determination circuit.

DESCRIPTION OF SYMBOLS 11 Communication part 12 Memory | storage part 13 Acceleration sensor 14 GPS receiving antenna 15 Output part 16 Control part 17 Guidance execution part 18 Audio | voice output part 19 Image output part 20 Moving state determination part 21 Detection part 22 Specification part 23 Conversion part 24 Acquisition part 25 Estimation Part 26 Judgment part

Claims (21)

An estimation device capable of changing posture with respect to a moving object,
A detection unit for detecting acceleration applied to the estimation device;
An acquisition unit for acquiring the speed of the moving body;
From the accelerations detected by the detection unit, select the acceleration detected when the speed acquired by the acquisition unit is changed, and based on the direction of the selected acceleration, coordinates based on the estimation device An estimation device comprising: an estimation unit configured to estimate a moving direction of the moving body in the system. The said acquisition part specifies the position of the said mobile body using a predetermined position positioning system, and acquires the speed of the said mobile body based on the change of the specified position. Estimating device. The acquisition unit specifies a position of the moving body at a predetermined time interval, and acquires the speed of the moving body based on a difference between a newly specified position and a previously specified position. Item 3. The estimation device according to Item 2. The estimation unit estimates the moving direction of the moving body based on the direction of acceleration detected by the detection unit only a predetermined period before the date and time when the speed acquired by the acquisition unit changes. The estimation apparatus according to claim 2, wherein: The estimating unit estimates the moving direction of the moving body based on the direction of acceleration detected by the detecting unit when the amount of change in speed acquired from the acquiring unit exceeds a predetermined threshold. The estimation apparatus according to any one of claims 1 to 4, wherein the estimation apparatus is characterized. The estimation unit identifies whether the moving body has accelerated or decelerated based on the change in speed acquired by the acquiring unit, and the direction of acceleration detected by the detecting unit and the moving body accelerated The estimation apparatus according to claim 1, wherein the moving direction of the moving body is estimated based on whether the moving body is decelerated or decelerated. When it is determined that the moving body has accelerated, the estimating unit determines that the direction of acceleration detected by the detecting unit is opposite to the moving direction of the moving body and that the moving body has decelerated. In such a case, the direction of acceleration detected by the detection unit is set as the moving direction of the moving body. The estimation apparatus according to claim 6. A specific unit that specifies the direction of gravity using an average value of acceleration detected by the detection unit in a predetermined state;
The estimation device according to claim 1, wherein the estimation unit estimates a direction on a plane perpendicular to the gravitational direction as a moving direction of the moving body. The estimation unit converts the direction of acceleration detected by the detection unit into a direction on a plane perpendicular to the gravity direction, and is perpendicular to the gravity direction based on the average value of the converted accelerations. The estimation apparatus according to claim 8, wherein a moving direction of the moving body on a smooth plane is estimated. The estimation unit estimates a moving direction of the moving body using a plurality of accelerations detected by the detection unit in a state in which weighting based on a magnitude of acceleration is taken into consideration. The estimation apparatus according to any one of 1 to 9. The estimation device according to claim 10, wherein the estimation unit performs weighting such that the weight increases as the magnitude of acceleration increases. The estimation unit estimates a moving direction of the moving body based on an average value of a plurality of acceleration directions detected by the detection unit in a state in which weighting based on the magnitude of each acceleration is considered. The estimation apparatus according to claim 10 or 11, wherein: The estimation device is installed in the moving body,
A first average value that is an average value of acceleration before a predetermined time elapses after detection by the detection unit, and a second average that is an average value of acceleration before a time shorter than the predetermined time elapses. A calculation unit for calculating a value;
The apparatus further comprises: an attitude determination unit that determines whether an attitude of the estimation device installed in the moving body has changed based on the first average value and the second average value. The estimation apparatus according to any one of 1 to 12. The posture determination unit determines that the posture of the estimation device has changed when the value of the cosine product of the first average value and the second average value is equal to or less than a predetermined threshold value for a predetermined period. The estimation apparatus according to claim 13, wherein determination is performed. After the speed acquired by the acquisition unit is decelerated, acceleration in a direction different from the moving direction of the moving body estimated by the estimation unit is detected by the detection unit, and then acquired by the acquisition unit. The estimation apparatus according to any one of claims 1 to 14, further comprising: a movement determination unit that determines that the mobile body has made a right turn or a left turn when the speed has accelerated. The movement determination unit is configured when the acceleration is not decelerated before the detection unit detects an acceleration in a direction different from the moving direction of the moving body estimated by the estimation unit, or the acceleration is The estimation apparatus according to claim 15, wherein if the speed has not accelerated after being detected by the detection unit, it is determined that the moving body is traveling on a curved road. After an acceleration exceeding a predetermined threshold is detected by the detection unit, if a speed exceeding the predetermined threshold is not acquired beyond a predetermined period by the acquisition unit, it is determined that a dangerous operation has been performed. The estimation apparatus according to claim 1, further comprising an operation determination unit.   The operation determining unit determines whether the moving body has decelerated based on the acceleration detected by the detecting unit when the acquiring unit cannot acquire the speed of the moving body, and for a predetermined period of time. The estimation apparatus according to claim 17, wherein when the moving body decelerates until the time elapses, it is determined that a dangerous operation has been performed. When the acceleration exceeding the predetermined threshold is detected by the detection unit and the speed exceeding the predetermined threshold is acquired by the acquisition unit over a predetermined period, the operation determination unit It is determined that the vehicle is traveling on a road for high-speed movement. An estimation method executed by an estimation device capable of changing posture with respect to a moving object,
A detection step of detecting acceleration applied to the estimation device;
An acquisition step of acquiring the speed of the moving body;
From the accelerations detected by the detection step, select the acceleration detected when the speed acquired by the acquisition step changes, and based on the direction of the selected acceleration, coordinates based on the estimation device And an estimation step of estimating a moving direction of the moving body in the system. To a computer that controls an estimation device that can change posture with respect to a moving object,
A detection procedure for detecting acceleration applied to the estimation device;
An acquisition procedure for acquiring the speed of the moving body;
From the acceleration detected by the detection procedure, select the acceleration detected when the speed acquired by the acquisition procedure has changed, and based on the direction of the selected acceleration, the coordinates based on the estimation device An estimation program for executing an estimation procedure for estimating a moving direction of the moving body in a system.

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