JP2020197387A - Position calculation system - Google Patents

Abstract

To provide a position calculation system for correctly calculating a position of a mobile body traveling on a pedestrian passage.SOLUTION: The position calculation system collects right and left sounds of a personal mobility 100, and detects, from the collected sounds, either of directions on right and left sides of the personal mobility 100 is a roadway as a roadway direction. A history of a positioning position (black circle in the figure) of a GNSS receiver 14 of the personal mobility 100 may indicate that the personal mobility 100 has moved in an upward direction on a road R having side walks on both sides of a roadway to a positioning position CP of a latest-time entry. In this case, when a roadway direction (white arrow in the figure) where the personal mobility 100 has been detected during a movement in the upward direction on the road R is a right direction (a1), a closest position P in a direction where the road R is extended toward the positioning position CP on a sidewalk of a left side in the upward direction of the road R is calculated as a position of the personal mobility 100.SELECTED DRAWING: Figure 6

Description

The present invention relates to a technique for calculating the position of a moving body that can pass through a pedestrian passage.

As a technology for calculating the position of a moving body that can pass through a pedestrian passage, a technology that mounts a GPS receiver that performs satellite positioning on personal mobility that passes on a sidewalk and calculates the position of personal mobility by the GPS receiver is available. It is known (for example, Patent Document 1).

Japanese Patent No. 6328710

When calculating the position of personal mobility traveling on the sidewalk using the on-board GPS receiver, due to a positioning error that can occur for several meters, the personal mobility is actually located on the sidewalk on the opposite side of the roadway. The position of may be calculated as the position of personal mobility.

And for this, for example, the following problems may occur.
That is, when an emergency occurs for a personal mobility occupant while the actual position of the personal mobility is on the sidewalk opposite to the calculated sidewalk, the calculated personal mobility on the sidewalk. Consider the case where an ambulance heads for rescue at a position on the lane closest to the calculated position on the sidewalk based on the position.

In this case, rescue vehicle personnel approaching the calculated sidewalk position will discover that personal mobility is on the sidewalk facing the lane opposite the lane in which the rescue vehicle is traveling. In this case, even if personal mobility is discovered, if the roadway is a U-turn or a roadway that is difficult to cross due to the presence of a central separation zone, etc., it is possible to immediately go to rescue personal mobility from that point. Instead, in order to approach personal mobility, it is necessary to temporarily leave the point and return to the lane opposite to the lane in which the vehicle is traveling, which delays the rescue activities of the occupants of personal mobility.

Therefore, it is an object of the present invention to more accurately calculate the position of a moving body that can pass through a pedestrian passage such as personal mobility.

In order to achieve the above object, the present invention provides a position calculation system for calculating the position of a moving body that can pass through a pedestrian passage, which is a passage for pedestrians attached to a roadway, by satellite positioning. From the positioning means for positioning the position and the left and right conditions of the moving body, it is identified whether the roadway exists on the left side or the right side of the moving body, and the roadway exists on the left side of the moving body. Then, when it is identified, the left direction is detected as the road direction, and when it is identified that the road exists on the right side of the moving body, the right direction is detected as the road direction, and the positioning means From the positioned position, the traveling state calculation means for calculating the traveling road on the road on which the moving body is located and calculating the moving direction of the latest moving object on the traveling road as the traveling direction, and the traveling When viewed in the direction, the direction opposite to the roadway direction detected during the most recent period of movement of the traveling road in the traveling direction is defined as the vehicleway direction, and the drivingway direction of the traveling road. A position calculation means that calculates the position closest to the latest position of the moving body as the position of the moving body, which is a position from the side edge and is positioned by the positioning means in the extending direction of the traveling road. It is equipped with.

Here, in the position calculation means, when the sidewalk on the roadway direction side is provided on the traveling road, such a position calculation system determines the position on the sidewalk on the roadway direction side. It may be configured to be calculated as the position of a moving body.

Further, in the above position calculation system, when the roadside zone on the roadway direction side is provided on the traveling road, the position on the roadside band on the roadway direction side is determined by the position calculation means. It may be configured to be calculated as the position of a moving body.

Further, the above position calculation system includes the moving body with a right microphone for collecting sound on the right side of the moving body and a left microphone for collecting sound on the left side of the moving body. In the road direction detecting means, there is a road in the left direction and the right direction of the moving body from the left and right situations of the moving body represented by the sound picked up by the right microphone and the sound picked up by the left microphone. It may be configured to calculate the direction to be driven and detect the calculated direction as the road direction.

Alternatively, in the above position calculation system, the moving body is provided with a camera that captures the left and right appearance of the moving body, and the left and right moving bodies represented by the image captured by the camera in the road direction detecting means. Depending on the situation, the direction in which the roadway exists may be calculated from the left and right directions of the moving body, and the calculated direction may be detected as the roadway direction.

Further, the above-mentioned position calculation system may be provided with a position information transmission means for transmitting the position information representing the position calculated by the position calculation means to a predetermined transmission destination via communication.

Further, in the above position calculation system, the moving body may be personal mobility.
According to such a position calculation system, even if the positioning error of the position of the moving body due to the satellite positioning of the positioning means is large, the moving body detected from the traveling direction of the moving body and the left and right conditions of the moving body. It is possible to correctly calculate which side of the roadway the moving body is located on, based on the state of the roadway on the left or right side.

As described above, according to the present invention, the position of a moving body that can pass through a pedestrian passage such as personal mobility can be calculated more accurately.

It is a figure which shows the structure of the monitoring system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the watching client which concerns on embodiment of this invention. It is a figure which shows the personal mobility which concerns on embodiment of this invention. It is a block diagram which shows the structure of the monitoring server which concerns on embodiment of this invention. It is a figure which shows the client position management table which concerns on embodiment of this invention. It is a figure which shows the position calculation example in embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 shows the configuration of the monitoring system according to the present embodiment.
As shown in the figure, the watching system is connected to the watching client 1 mounted on each of the self-propelled personal mobility 100s such as electric wheelchairs and electric carts treated as pedestrians under the Road Traffic Act, and WAN200 such as the Internet. The monitoring server 2 is provided, and the monitoring client 1 can communicate with the monitoring server 2 via mobile communication and WAN200. Further, the terminal device 300 such as a mobile terminal or a PC can also access the watching server 2 via the WAN 200.

Next, FIG. 2 shows the configuration of the watching client 1 mounted on each personal mobility 100.
As shown in the figure, the watching client 1 includes a left microphone 11, a right microphone 12, a road direction detection unit 13, a GNSS receiver 14 that performs satellite positioning such as a GPS receiver, a control unit 15, an emergency state detection unit 16, and mobile communication. The mobile communication device 17 is provided.

Here, as shown in the right side view of the personal mobility 100 of FIG. 3a, the left side view of the personal mobility 100 of FIG. 3b, and the top view of the personal mobility 100 of FIG. 3c, the left microphone 11 is the left side surface of the personal mobility 100. The right microphone 12 is installed on the right side surface of the personal mobility 100 and collects the sound on the right side of the personal mobility 100.

Returning to FIG. 2, the roadway direction detection unit 13 detects whether the roadway is on the left side or the right side of the personal mobility 100 from the sound picked up by the left microphone 11 and the sound picked up by the right microphone 12. .. That is, the road direction detection unit 13 detects the magnitude of the road noise component and the driving sound component of the automobile contained in each of the sound picked up by the left microphone 11 and the sound picked up by the right microphone 12, and the left microphone 11 When the sound picked up by the sound is louder than the sound picked up by the right microphone 12 by the road noise component or the running sound component of the automobile by a predetermined level or more, the road is in the left direction of the personal mobility 100. Personal mobility when the sound picked up by the right microphone 12 is louder than the sound picked up by the left microphone 11 by the road noise component or the running sound component of the automobile by a predetermined level or more. It detects that there is a roadway in the direction to the right of 100.

Next, the emergency state detection unit 16 detects that an emergency has occurred in the personal mobility 100.
To detect an emergency situation in the emergency state detection unit 16, for example, an emergency button is provided on the personal mobility 100 to detect the occurrence of an emergency situation when an occupant of the personal mobility 100 presses the emergency button, or a power source of the personal mobility 100. An emergency situation occurs when the occurrence of an emergency situation is detected when the battery becomes empty, or when the inclination of the personal mobility 100 measured by the inclination meter provided in the personal mobility 100 indicates a fall of the personal mobility 100. It is performed by detecting the occurrence of.

Then, the control unit 15 determines the positioning position representing the current position of the personal mobility 100 positioned by the GNSS receiver 14 and the roadway direction detected by the roadway direction detection unit 13 at predetermined time intervals (for example, at intervals of several seconds). The location report data including the location report data is transmitted to the monitoring server 2 via the mobile communication device 17 together with the client ID indicating the identification of the user of the personal mobility 100 on which the monitoring client 1 is mounted.

Further, when the emergency state detection unit 16 detects the occurrence of an emergency situation, the control unit 15 performs a process of transmitting an emergency notification together with the client ID to the monitoring server 2 via the mobile communication device 17.

Next, FIG. 4 shows the configuration of the watching server 2.
As shown in the figure, it includes a monitoring server 2, a client management database 21, a map database 22 that stores map data of each location, a client position management table 23, a client position calculation unit 24, and a notification processing unit 25.

In the client management database 21, the client ID indicating the identification of the user of the personal mobility 100 on which the watching client 1 is mounted and the watching user who is a user who is permitted to access the information about the watching client 1 in advance for each watching client A watching user ID or the like representing the identification of is registered. The watching user is, for example, a family member of a user of the personal mobility 100 equipped with the watching client 1.

Next, as shown in FIG. 5, the client position management table 23 stores client position data provided for each watching client.
Then, the client position data includes the client ID of the watching client 1 and the position table.
The location table has entries (each row in the figure) corresponding to each of the location report data received by the monitoring server 2 from the monitoring client 1 within the past predetermined period (for example, several minutes), and each entry has a location report. The time indicating the data reception time, the positioning position included in the position report data, the road direction included in the position report data, and the calculated position are registered. Here, the calculated position is the position of the personal mobility 100 calculated by the client position calculation unit 24 with respect to the position report data, and the details of calculating the position of the personal mobility 100 of the client position calculation unit 24 will be described later.

When the watching server 2 receives the position report data from the watching client 1, the client position calculation unit 24 determines the position of the client position data in the client position management table 23 in which the client ID associated with the received position report data is registered. Create a new entry in the table, register the time indicating the reception time of the position report data in the created entry, the positioning position included in the position report data, and the road direction included in the position report data, and register the position table. Deletes the entry with the oldest registered time.

Next, the client position calculation unit 24 calculates the position of the personal mobility 100 based on the positioning position registered in each entry of the position table and the direction of the roadway, and registers the position as the calculated position in the created entry.

Here, the position of the personal mobility 100 in the client position calculation unit 24 is calculated as follows.
That is, the client position calculation unit 24 first calculates the road on which the personal mobility 100 is currently located as a traveling road from the map data of the map database 22 and the positioning position of the entry whose time in the position table is the latest.

Then, from the map data of the map database 22 and the history of the positioning position registered in the position table, the moving direction (upward or downward direction) along the traveling road up to the present of the personal mobility 100 is determined. Calculate.

Then, using the sidewalk or roadside zone attached to the roadway as a pedestrian passage, the direction of the roadway detected during the period of movement in the calculated movement direction of the traveling road. The position closest to the positioning position of the entry whose position table is the latest on the pedestrian passage on the opposite direction to the direction in which the road extends is calculated as the position of the personal mobility 100.

That is, if the roadway direction detected during the period of movement in the calculated movement direction of the traveling road, which is registered in the position table, is to the left, the right side of the traveling road is to the right. The position closest to the direction in which the road extends to the positioning position of the entry whose position table is the latest on the pedestrian passage is calculated as the position of the personal mobility 100, and the moving road is moved in the calculated movement direction. If the roadway direction detected during the period is to the right, drive to the positioning position of the latest entry on the pedestrian passage on the left side of the moving direction of the driving road. The position closest to the direction in which the middle road extends is calculated as the position of the personal mobility 100.

The position of the personal mobility 100 to be calculated in the direction perpendicular to the extending direction (left-right direction) of the traveling road is, for example, the central position of the pedestrian passage.
In addition, if there is no pedestrian passage on the driving road, or if there is no information on the pedestrian passage on the driving road in the map data, for example, head toward the calculated movement direction of the traveling road. The positioning position of the entry whose position table time is the latest in the direction in which the road extends, which is the position near the end on the side opposite to the road direction detected during the period of movement in the moving direction. The position closest to is calculated as the position of the personal mobility 100.

As a result, for example, as shown in FIG. 6a1, the personal mobility 100 has sidewalks on both sides of the roadway until the history of the positioning position (black circle in the figure) registered in the position table reaches the positioning position CP of the entry with the latest time. When the personal mobility 100 is moving up the road R, the history of the road direction registered in the position table is detected while the personal mobility 100 is moving up the road R. When the direction of the roadway (white arrow in the figure) indicates that the direction is to the right, as shown in FIG. 6a2, the positioning position CP on the sidewalk on the left side of the road R in the upward direction The nearest position P in the direction in which the road R extends is calculated as the position of the personal mobility 100.

On the other hand, for example, as shown in FIG. 6b1, the history of the positioning position (black circle in the figure) registered in the position table is up to the positioning position CP of the entry whose time is the latest, as in FIG. 6a1, personal mobility 100. The road direction (white arrow in the figure) detected while the personal mobility 100 is moving up the road R is to the left even if indicates that the vehicle has moved up the road R. If this is the case, as shown in FIG. 6b2, the position P closest to the direction in which the road R extends to the positioning position CP on the sidewalk on the right side in the upward direction of the road R is calculated as the position of the personal mobility 100. To.

Here, since the personal mobility 100 moves forward, the detected roadway direction is the direction of the roadway seen from the personal mobility 100 toward the movement direction of the personal mobility 100, and therefore, the direction of the roadway toward the movement direction. The sidewalk on the opposite side of the road is the sidewalk on which the personal mobility 100 is running.

Therefore, according to the present embodiment, even if the positioning error of the position of the personal mobility 100 by the satellite positioning of the GNSS receiver 14 is large, the personal mobility 100 is located at which end of the roadway or which side of the roadway. You can correctly calculate whether you are in the pedestrian passageway.

Next, when the monitoring server 2 receives a position inquiry including the user ID of the user of the terminal device 300 from the terminal device 300, the notification processing unit 25 registers the user ID as the monitoring user ID in the client management database 21. The process of responding to the terminal device 300 with the calculated position where the time is registered in the latest entry in the position table of the client position data of the watching client 1 is performed.

Further, when the watching server 2 receives the emergency notification from the watching client 1, the notification processing unit 25 registers the time in the latest entry in the position table of the client position data of the watching client 1 included in the emergency notification. A process is performed in which a rescue request including the calculated position is transmitted to a predetermined rescue organization or a terminal device 300 of a user whose user ID is registered as a watching user ID for the watching client 1.

Here, by heading to the calculated position included in the rescue request transmitted in this way, the personnel of the rescue organization and the watching user recognize the current position of the personal mobility 100 in which the emergency has occurred, and the personal mobility 100 Can rescue the user of.

The embodiment of the present invention has been described above.
By the way, in the above embodiment, the roadway direction detection unit 13 of each personal mobility 100 detects the roadway direction, but this is collected by the left microphone 11 and the right microphone 12 from each personal mobility 100 to the watching server 2. The sound may be transmitted, and the monitoring server 2 may detect for each personal mobility 100 which side of the personal mobility 100 is in the direction of the roadway from the sound received from the personal mobility 100. ..

Further, in the above embodiment, in the personal mobility 100, which direction the roadway is in the left or right direction of the personal mobility 100 is determined from the left sound and the right sound picked up by the left microphone 11 and the right microphone 12. Although it was detected, the direction of the roadway is determined by analyzing the image of the personal mobility 100 taken by the camera in the left-right direction and setting the side on which the vehicle is running or the side where the road can be observed as the roadway direction. It may be detected.

Further, in the above embodiment, in the monitoring server 2, for each personal mobility 100, the history of the position determined by the GNSS receiver 14 of the personal mobility 100 and the direction of the roadway detected by the roadway direction detection unit 13 are further personal mobility 100. However, this is to provide each personal mobility 100 with a function of calculating the position of the watching server 2, and in each personal mobility 100, the history of the position determined by its own GNSS receiver 14 and itself. The direction of the roadway detected by the roadway direction detection unit 13 and its own position may be calculated.

In addition to the personal mobility 100 that travels on sidewalks such as electric wheelchairs and electric carts, the above embodiments are for pedestrians such as children's bicycles and strollers that travel on sidewalks and pedestrian passages in roadside zones. It can also be applied to the calculation of the position of any moving body traveling on the sidewalk.

1 ... Watching client, 2 ... Watching server, 11 ... Left microphone, 12 ... Right microphone, 13 ... Road direction detector, 14 ... GNSS receiver, 15 ... Control unit, 16 ... Emergency status detector, 17 ... Mobile communication device , 21 ... Client management database, 22 ... Map database, 23 ... Client location management table, 24 ... Client location calculation unit, 25 ... Notification processing unit, 100 ... Personal mobility, 200 ... WAN, 300 ... Terminal device.

Claims (7)

It is a position calculation system that calculates the position of a moving body that can pass through the pedestrian passage, which is a passage for pedestrians attached to the roadway.
Positioning means for positioning the position of the moving object by satellite positioning,
From the left and right situations of the moving body, it is identified whether the road is on the left side or the right side of the moving body, and if it is determined that the road is on the left side of the moving body, the left direction is obtained. Is detected as the direction of the road, and when it is determined that the road exists on the right side of the moving body, the right direction is detected as the direction of the road.
A traveling state calculation means that calculates from the position positioned by the positioning means as a traveling road on the road on which the moving body is located, and calculates the moving direction of the latest moving object on the traveling road as a traveling direction. When,
When viewed in the traveling direction, the pair of the traveling road is defined as the direction opposite to the road direction detected during the most recent period of movement in the traveling direction. Position calculation that is the position from the end on the side of the roadway, and the position closest to the latest position of the moving body, which is positioned by the positioning means in the extending direction of the traveling road, is calculated as the position of the moving body. A position calculation system characterized by having means. The position calculation system according to claim 1.
The position calculation means is characterized in that, when a sidewalk on the sidewalk in the direction of the roadway is provided on the traveling road, the position on the sidewalk in the direction of the roadway is calculated as the position of the moving body. Position calculation system. The position calculation system according to claim 1 or 2.
When the roadside zone on the roadway direction side is provided on the traveling road, the position calculation means calculates the position on the roadside band on the roadway direction side as the position of the moving body. A featured position calculation system. The position calculation system according to claim 1, 2 or 3.
The moving body includes a right microphone that collects sound on the right side of the moving body and a left microphone that picks up sound on the left side of the moving body.
The road direction detecting means has a road in the left direction and the right direction of the moving body according to the left and right situations of the moving body represented by the sound picked up by the right microphone and the sound picked up by the left microphone. A position calculation system characterized in that the direction to be driven is calculated and the calculated direction is detected as the road direction. The position calculation system according to claim 1, 2 or 3.
The moving body includes a camera that captures the left and right appearance of the moving body.
The road direction detecting means calculates the direction in which the road exists from the left and right directions of the moving body based on the left and right situations of the moving body represented by the image captured by the camera, and determines the calculated direction. A position calculation system characterized by detecting the direction of the road. The position calculation system according to claim 1, 2, 3, 4 or 5.
A position calculation system characterized by having a position information transmitting means for transmitting position information representing a position calculated by the position calculating means to a predetermined destination via communication. The position calculation system according to claim 1, 2, 3, 4, 5 or 6.
The moving body is a position calculation system characterized by being personal mobility.