JP2022149676A - Position estimation device, position estimation method and position estimation system - Google Patents

Abstract

To improve the accuracy of estimating the traveling position of a vehicle.SOLUTION: A position estimation device 1 includes: a vehicle data acquisition unit 151 for acquiring detection data indicating multiple detected accelerations in a vertical direction of a vehicle; a reference data acquisition unit 152 that acquires multiple reference data representing multiple vertical accelerations occurring at multiple positions on a road in association with position information indicating the positions on the road; an identifying unit 153 for identifying similar reference data selected from reference data having a degree of correlation with the detected data equal to or higher than a threshold among the multiple reference data; and an output unit 154 for outputting a position indicated by the position information associated with the similar reference data as the estimated position of the vehicle.SELECTED DRAWING: Figure 2

Description

The present invention relates to a position estimation device, a position estimation method, and a position estimation system for specifying the position of own vehicle.

When the position of a vehicle is specified using the latitude and longitude information of a positioning satellite, there is a known method of estimating the running position of the vehicle using an inertial sensor in a place where radio waves from the positioning satellite cannot be received ( For example, see Patent Document 1).

JP 2020-169872 A

In the method of estimating the position of the own vehicle using an inertial sensor, there is a problem that the accuracy of estimating the position of the vehicle is reduced due to accumulation of errors.

Accordingly, the present invention has been made in view of these points, and it is an object of the present invention to improve the accuracy of identifying the travel position of a vehicle.

In the position estimating device according to the first aspect of the present invention, a vehicle data acquisition unit that acquires detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle; a reference data acquisition unit that acquires a plurality of reference data indicating a position on the road in association with the position information indicating the position on the road; and an output unit configured to output a position indicated by the position information associated with the similarity reference data as an estimated position of the vehicle.

The vehicle data acquisition unit acquires positioning data indicating the position of the vehicle specified based on radio waves received from a positioning satellite. The plurality of reference data corresponding to a plurality of positions on the traveling direction side may be obtained.

The vehicle data acquisition unit acquires speed data indicating the running speed of the vehicle, and the reference data acquisition unit acquires the elapsed time from the time when the latest positioning data was acquired and the running speed indicated by the speed data. The plurality of reference data corresponding to positions separated from the position indicated by the positioning data by a distance calculated by multiplying by .

The vehicle data acquisition unit detects the plurality of detected accelerations at predetermined time intervals and acquires speed data indicating the traveling speed of the vehicle. of the change patterns of the plurality of reference accelerations selected for each distance interval calculated by multiplying the running speed indicated by the speed data by the time interval, and the change patterns of the plurality of detected accelerations. The similarity reference data may be specified based on the degree of correlation.

The reference data acquisition unit may acquire the plurality of reference data corresponding to the vehicle type of the vehicle.

In the position estimation method of the second aspect of the present invention, a step of acquiring detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle; a step of acquiring a plurality of reference data indicating reference acceleration in association with position information indicating a position on the road; The method includes the steps of specifying similar reference data and outputting a position indicated by the position information associated with the similar reference data as an estimated position of the vehicle.

A position estimation system according to a third aspect of the present invention includes an electronic device provided in a vehicle, and a data processing device that transmits and receives data to and from the electronic device, and the electronic device is positioned above and below the vehicle. a data transmission unit for transmitting detection data indicating a plurality of detected accelerations in a direction to the data processing device; a data reception unit for receiving estimated position data indicating an estimated position of the vehicle received from the data processing device; a display unit for displaying a position, wherein the data processing device includes a vehicle data reception unit for acquiring the detection data from the electronic device, and a plurality of vertical reference accelerations occurring at a plurality of positions on the road. a reference data acquisition unit that acquires a plurality of reference data in association with position information indicating a position on the road; and an output unit configured to transmit to the electronic device the estimated position data indicating the position indicated by the position information associated with the similar reference data as an estimated position of the vehicle.

ADVANTAGE OF THE INVENTION According to this invention, it is effective in the estimation precision of the running position of a vehicle improving.

1 is a schematic diagram illustrating an example of a position estimation method; FIG. 1 is a diagram showing a configuration of a position estimation device 1; FIG. 3 is a diagram showing the configuration of a server 2; FIG. 4 is a flow chart showing the flow of processing in the position estimation device 1. FIG. It is a figure which shows the structure of the position estimation system S of a modification.

<First embodiment>
[Overview of Position Estimation Device]
FIG. 1 is a diagram for explaining an outline of a position estimation method in a position estimation device. A position estimating device is a device for estimating the position of a vehicle based on a pattern of changes in vertical acceleration of the vehicle detected while the vehicle is traveling on a road. As an example, the position estimation device is an in-vehicle terminal mounted on a vehicle. The position estimation device may be configured as part of the functions of the car navigation system.

FIG. 1 shows detection data D1 used by the position estimation device to estimate the position of the vehicle and data D2 as a reference. The detection data D1 is data indicating the relationship between vertical acceleration (hereinafter referred to as "detected acceleration") detected by an acceleration sensor mounted on the vehicle and time. The detection data D1 includes multiple acceleration values obtained from an acceleration sensor (not shown) at multiple positions on the road on which the vehicle is traveling.

The reference data D2 is data indicating the relationship between a plurality of positions on the road and a plurality of vertical accelerations (hereinafter referred to as "reference accelerations") occurring in the reference vehicle traveling on the road. The horizontal axis of the graph showing the reference data D2 shown in FIG. 1 indicates the distance from the reference point. The intervals between the plurality of positions in the reference data D2 are determined based on the time interval at which acceleration can be detected in the vehicle and the maximum speed assumed as the speed of the vehicle, and are, for example, 10 cm. The number of data included in the reference data D2 may be constant, or the number of data in each reference data D2 may be different. Also, a plurality of reference data D2 may include acceleration values corresponding to the same position.

The reference vehicle used to create the reference data D2 is, for example, the vehicle that traveled on the road to create the reference data D2. The position estimation device may select one of a plurality of pieces of reference data created in advance for each vehicle type, chassis, or the like. Note that the reference data is not the acceleration detected when the reference vehicle actually travels on the road, but the acceleration calculated based on the data indicating the unevenness and slope of the road and the model data of the vehicle. may

By analyzing the degree of correlation between the detection data D1 and the reference data D2, the position estimation device finds the similarity reference data R (the data). In the case of the example shown in FIG. 1, the position estimation device 1 determines that the degree of correlation between the change pattern of the detected acceleration and the change pattern of the reference acceleration in the reference data D2 is greater than the degree of correlation with the change pattern in other regions. identify. The position estimation device 1 outputs the position indicated by the position information associated with the similarity reference data R as the position where the vehicle is currently running. The position indicated by the position information associated with the similarity reference data R is, for example, the position information corresponding to the last record in the direction of travel of the vehicle in the similarity reference data R (that is, the rightmost position in FIG. 1).

[Configuration of position estimation device 1]
FIG. 2 is a diagram showing the configuration of the position estimation device 1. As shown in FIG. The position estimation device 1 has a communication section 11 , a sensor 12 , a GPS receiver 13 , a storage section 14 and a control section 15 . The control unit 15 has a vehicle data acquisition unit 151 , a reference data acquisition unit 152 , an identification unit 153 and an output unit 154 . The communication unit 11 is a communication module that communicates with the server device.

The sensor 12 is an acceleration sensor installed on the vehicle. The sensor 12 detects acceleration at predetermined time intervals and outputs a signal indicating the detected acceleration. The predetermined time is, for example, several tens of milliseconds to several hundred milliseconds. Sensor 12 may comprise a vehicle speed sensor.

The GPS receiver 13 receives GPS (Global Positioning System) signals. The storage unit 14 has storage media such as ROM (Read Only Memory), RAM (Random Access Memory), and SSD (Solid State Drive). The storage unit 14 stores programs executed by the control unit 15 . The storage unit 14 may store vehicle type information.

The control unit 15 has, for example, a CPU (Central Processing Unit) and executes various processes. The control unit 15 functions as a vehicle data acquisition unit 151 , a reference data acquisition unit 152 , an identification unit 153 and an output unit 154 by executing programs stored in the storage unit 14 .

The vehicle data acquisition unit 151 acquires vehicle-related data from the sensors 12 and the GPS receiver 13 installed in the vehicle. The vehicle data acquisition unit 151 acquires detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle based on the detected acceleration signal input from the sensor 12 . The detected data is time-series data of detected acceleration detected at predetermined time intervals. The vehicle data acquisition unit 151 inputs the acquired detection data to the identification unit 153 .

The vehicle data acquisition unit 151 may acquire speed data indicating the traveling speed of the vehicle from the sensor 12 . The vehicle data acquisition unit 151 multiplies the time interval at which the acceleration is detected by the running speed of the vehicle specified based on the acquired speed data, thereby dividing the acquired detection data into a plurality of data corresponding to the predetermined distance intervals. may be converted into data containing the detected acceleration of In this case, the vehicle data acquisition unit 151 inputs the converted data to the identification unit 153 . When there is a time at which the detected acceleration is not included in the acquired detection data, the vehicle data acquisition unit 151 may interpolate the detection readability corresponding to the time and input the interpolated data to the identification unit 153 . .

The vehicle data acquisition unit 151 may acquire, from the GPS receiver 13, positioning data indicating the position of the vehicle identified based on radio waves received from positioning satellites. The vehicle data acquisition unit 151 inputs the acquired positioning data to the identification unit 153 . In the following description, the position of the vehicle specified based on the positioning data may be referred to as the approximate position of the vehicle.

The reference data acquisition unit 152 acquires reference data stored in, for example, the server 2 via the communication unit 11 . The reference data acquisition unit 152 acquires a plurality of reference data indicating a plurality of vertical reference accelerations occurring at a plurality of positions on the road in association with position information indicating positions on the road.

By the way, since the amount of reference data is enormous, it is desirable that the position estimation device 1 can narrow down the reference data to be subjected to the correlation degree analysis and acquire it in order to shorten the time required to estimate the position of the vehicle. . Therefore, the reference data acquisition unit 152 may acquire a plurality of reference data corresponding to a plurality of positions on the traveling direction side of the vehicle with respect to the position indicated by the positioning data acquired from the vehicle data acquisition unit 151 . Specifically, it transmits to the server 2 a reference data request including the direction of travel of the vehicle and the position information, and obtains from the server 2 the reference data corresponding to the position indicated by the position information included in the reference data request. By configuring the reference data acquisition unit 152 in this way, the position estimation device 1 can shorten the time required to estimate the position of the vehicle.

Furthermore, in an area such as a tunnel where the approximate position cannot be specified based on the positioning data, the reference data obtaining unit 152 may obtain the reference data. Therefore, the reference data acquisition unit 152 corresponds to a position that is away from the position indicated by the positioning data by a distance calculated by multiplying the elapsed time from the time when the latest positioning data was obtained by the traveling speed indicated by the speed data. A plurality of reference data may be acquired. The latest positioning data is, for example, positioning data acquired just before entering a tunnel. By configuring the reference data acquisition unit 152 in this way, the position estimation device 1 can shorten the time required to estimate the position of the vehicle even in a situation where the approximate position cannot be specified based on the positioning data. can do.

The reference data acquisition unit 152 may acquire the vehicle model data stored in the storage unit 14 and acquire a plurality of reference data corresponding to the vehicle model indicated by the vehicle model data from the server 2 . Vehicle types are classified according to, for example, the type of vehicle suspension that affects the acceleration in the vertical direction, the weight of the vehicle, or the like. By configuring the reference data acquisition unit 152 in this manner, the accuracy of estimating the position of the vehicle by the position estimating device 1 is improved even when the acceleration pattern differs depending on the vehicle type.

The specifying unit 153 specifies similarity reference data selected from reference data having a degree of correlation with the detected data equal to or higher than a threshold among the plurality of reference data. The identifying unit 153, for example, calculates a cross-correlation value between each of the plurality of reference data and the detected data, and selects reference data with a cross-correlation value equal to or greater than a threshold value as similar reference data. When a plurality of pieces of reference data having a threshold value or more exist, the identifying unit 153 identifies, for example, reference data with the highest degree of correlation as similar reference data.

By the way, it is also assumed that the distance intervals in the reference data do not match the intervals of the plurality of positions at which the detected acceleration is detected at the plurality of times included in the detection data. Therefore, the specifying unit 153 selects a plurality of reference acceleration change patterns for each distance interval calculated by multiplying the running speed indicated by the speed data by the time interval from among the plurality of reference accelerations included in the reference data. , the similarity reference data may be identified based on the degree of correlation with a plurality of detected acceleration change patterns.

As an example, the reference data includes reference accelerations corresponding to multiple positions at 10 cm intervals, the detection data includes vehicle accelerations detected at 100 millisecond intervals, and the vehicle speed is Suppose it is 36 km. In this case, the vehicle travels 100 cm in 100 milliseconds, so the acceleration values contained in the detection data correspond to reference data with a distance interval of 100 cm. Therefore, the identifying unit 153 selects an acceleration value for each of ten positions in the reference data, and identifies similarity reference data based on the degree of correlation between the detected data and data obtained by arranging the selected acceleration values in time series. With this operation of the identifying unit 153, even if the time interval at which the detection data is acquired does not match the distance interval in which the reference acceleration is included in the reference data, the identifying unit 153 can detect Reference data can be identified that have patterns of change similar to the data.

The output unit 154 outputs the position indicated by the position information associated with the similarity reference data as the estimated position of the vehicle. For example, the output unit 154 outputs, as an estimated position, the position corresponding to the last reference acceleration in the traveling direction of the vehicle among a plurality of positions whose reference acceleration is included in the similarity reference data. The output unit 154 displays, for example, the output estimated position as the current position of the vehicle on a display unit of a car navigation device (not shown).

The output unit 154 adds the distance obtained by multiplying the position indicated by the position information associated with the similarity reference data by the time normally required to identify the similarity reference data from the detection of the running speed and acceleration of the vehicle, and outputs the result. may By configuring the output unit 154 in this way, the output unit 154 can calculate the distance traveled by the vehicle during the time elapsed from the time when the detection data was acquired until the output unit 154 can output the estimated position. can be output in consideration of the position, it is possible to output a traveling position with higher accuracy.

[Configuration of Server 2]
FIG. 3 is a diagram showing the configuration of the server 2. As shown in FIG. The server 2 stores reference data and transmits the reference data upon request from the position estimation device 1 . The server 2 has a communication section 21 , a storage section 22 and a control section 23 . The control section 23 has a reference data generation section 231 and a reference data transmission section 232 . The communication unit 21 is a communication interface for communicating with the position estimation device 1 .

The storage unit 22 has storage media such as ROM, RAM, and SSD. The storage unit 22 stores programs executed by the control unit 23 . The storage unit 22 stores reference data.

The control unit 23 has, for example, a CPU and executes various processes. The control unit 23 functions as a reference data generation unit 231 and a reference data transmission unit 232 by executing programs stored in the storage unit 22 .

The reference data generation unit 231 obtains a plurality of vertical acceleration values obtained from a reference vehicle traveling on a road, and position information indicating the position of the vehicle at the time when the acceleration values were obtained, and generates a reference that associates them. Data is generated, and the generated reference data is stored in the storage unit 22 . The reference data generation unit 231 stores the generated reference data in the storage unit 22, for example, in association with the information indicating the vehicle type. When there are a plurality of acceleration values obtained from a plurality of vehicles traveling on the same route, the reference data generation unit 231 calculates the statistical value (for example, average value, median value, or mode value) of the plurality of acceleration values. Reference data may be generated based on the

The reference data transmission unit 232 receives a reference data request from the position estimation device 1 . The reference data request includes, for example, information for specifying the approximate position of the vehicle or the vehicle type. Upon receiving the reference data request, the reference data transmission unit 232 acquires from the storage unit 22 the reference data corresponding to the general position or vehicle type of the vehicle in which the position estimation device 1 requesting the reference data is mounted. The reference data transmission unit 232 transmits the acquired reference data to the position estimation device 1 via the communication unit 21 . If the reference data request includes the direction of travel of the vehicle, the reference data transmission unit 232 may transmit the reference data associated with the direction of travel.

[Flow of processing in position estimation device 1]
FIG. 4 is a flow chart showing the flow of processing in the position estimation device 1. As shown in FIG. The flowchart shown in FIG. 4 starts when the position estimation device 1 transmits to the server 2 a reference data request including the approximate position of the vehicle. The reference data acquisition unit 152 acquires reference data corresponding to the approximate position of the vehicle from the reference data transmission unit 232 of the server 2 (S01).

The vehicle data acquisition unit 151 acquires the detected acceleration from the sensor 12 (S02). After obtaining the detected acceleration, the vehicle data obtaining unit 151 updates the detected data by adding the latest detected acceleration to the detected data before obtaining the detected acceleration (S03).

The specifying unit 153 analyzes the degree of correlation between the detection data and multiple pieces of reference data. The specifying unit 153 specifies similarity reference data selected from the reference data having the calculated degree of correlation equal to or greater than a threshold. (S04).

The identifying unit 153 determines whether or not the similarity reference data has been identified (S05). If similar reference data is specified, the process proceeds to step S06; otherwise, the process proceeds to step S07.

When identifying the similarity reference data (YES in S05), identification unit 153 outputs the position indicated by the position information associated with the similarity reference data to output unit 154 as the estimated position of the vehicle. The output unit 154 outputs the position information acquired from the specifying unit 153 as the estimated position of the vehicle (S06). When specifying unit 153 fails to specify similarity reference data (NO in S05), output unit 154 does not output an estimated position.

The control unit 15 determines whether or not to end the process (S07). The control unit 15 ends the process when an operation to stop the engine of the vehicle is performed. When the control unit 15 determines not to end the process, the reference data acquisition unit 152 determines whether or not it is necessary to acquire new reference data (S08). For example, when determining that the approximate position of the vehicle is no longer included in the range corresponding to the previously acquired reference data, the reference data acquisition unit 152 determines that acquisition of new reference data is necessary. If the reference data acquisition unit 152 determines that it is necessary to acquire the reference data (YES in S08), the process proceeds to step S01. When the reference data acquisition unit 152 determines that acquisition of new reference data is unnecessary (NO in S08), the process proceeds to step S02. Thereafter, the position estimation device 1 repeats the same processing until the termination condition is satisfied.

<Second embodiment>
FIG. 5 is a diagram showing the configuration of a position estimation system S according to the second embodiment. A position estimation system S shown in FIG. 5 has an in-vehicle device 1a and a server 2a. The in-vehicle device 1a is an electronic device provided in a vehicle. The server 2a is a data processing device that transmits and receives data to and from the in-vehicle device 1a. The position estimation system S identifies the position of the vehicle through cooperation between the in-vehicle device 1a and the server 2a. The server 2a may be realized as an on-premises server, or may be realized by computing resources such as multiple processors or memories as in a cloud computing system. The configuration of the position estimation system S will be described below with reference to FIG. Parts having the same functions as those of the position estimation device 1 shown in FIG. 2 and the server 2 shown in FIG.

The control unit 15 of the in-vehicle device 1 a of the position estimation system S includes a vehicle data transmission unit 155 , a data reception unit 156 and a display unit 157 . The control unit 23 of the server 2 a includes a vehicle data reception unit 233 , a reference data acquisition unit 234 , an identification unit 235 and an output unit 236 .

The vehicle data transmission unit 155 transmits detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle to the server 2a. The vehicle data transmission unit 155 transmits positioning data indicating the position of the vehicle specified based on the radio wave received from the positioning satellite, speed data indicating the traveling speed of the vehicle acquired from the sensor 12, or vehicle type data indicating the vehicle type. At least one of them may be transmitted to the server 2a.

The data receiving unit 156 receives estimated position data indicating the estimated position of the vehicle received from the server 2a. Data receiving section 156 outputs the received estimated position to display section 157 . A display unit 157 displays the input estimated position.

The vehicle data reception unit 233 of the server 2a acquires the detection data from the vehicle data transmission unit 155. FIG. The vehicle data reception unit 233 inputs the acquired detection data to the identification unit 235 . The vehicle data reception unit 233 may acquire at least one of the positioning data, speed data, and vehicle type data transmitted by the vehicle data transmission unit 155 .

The reference data acquisition unit 234 acquires a plurality of reference data indicating a plurality of vertical reference accelerations occurring at a plurality of positions on the road from the storage unit 22 in association with position information indicating positions on the road. The reference data acquisition unit 234 may acquire a plurality of reference data corresponding to a plurality of positions on the traveling direction side of the vehicle with respect to the position indicated by the positioning data acquired from the vehicle data transmission unit 155 .

The reference data acquisition unit 234 multiplies the elapsed time from the time when the latest positioning data was acquired by the traveling speed indicated by the speed data, and calculates a plurality of positions corresponding to positions separated from the position indicated by the positioning data. of reference data may be acquired. The reference data acquisition unit 234 may acquire the vehicle model data received by the vehicle data reception unit 233 and acquire a plurality of reference data corresponding to the vehicle model indicated by the vehicle model data from the storage unit 22 .

The specifying unit 235 has the same function as the specifying unit 153 shown in FIG. That is, the specifying unit 235 specifies similarity reference data selected from reference data having a degree of correlation with the detected data equal to or higher than a threshold among the plurality of reference data. The output unit 236 transmits to the in-vehicle device 1a the estimated position data indicating the position indicated by the position information associated with the similarity reference data as the estimated position of the vehicle.

[Effects of position estimation device 1]
As described above, in the position estimation device 1, the vehicle data acquisition unit 151 acquires detection data indicating a plurality of detected accelerations in the vertical direction, and the reference data acquisition unit 152 acquires a plurality of reference accelerations in the vertical direction and position information. Get the reference data associated with . The specifying unit 153 specifies similarity reference data having a degree of correlation equal to or greater than a threshold value from the detected data and the reference data, and the output unit 154 outputs position information associated with the similarity reference data as the estimated position of the vehicle. By configuring the position estimation device 1 in this way, it is possible to estimate a position with high accuracy even in a situation where position information cannot be obtained.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.

1 position estimation device 2 server 11 communication unit 12 sensor 13 GPS receiver 14 storage unit 15 control unit 21 communication unit 22 storage unit 23 control unit 151 vehicle data acquisition unit 152 reference data acquisition unit 153 identification unit 154 output unit 155 vehicle data transmission Unit 156 Data reception unit 157 Display unit 231 Reference data generation unit 232 Reference data transmission unit 233 Vehicle data reception unit 234 Reference data acquisition unit 235 Identification unit 236 Output unit

Claims (7)

a vehicle data acquisition unit that acquires detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle;
a reference data acquisition unit that acquires a plurality of reference data indicating a plurality of vertical reference accelerations occurring at a plurality of positions on a road in association with position information indicating a position on the road;
an identifying unit that identifies similar reference data selected from among the plurality of reference data having a degree of correlation with the detected data equal to or higher than a threshold;
an output unit that outputs a position indicated by the position information associated with the similarity reference data as an estimated position of the vehicle;
A position estimator having The vehicle data acquisition unit acquires positioning data indicating the position of the vehicle specified based on radio waves received from a positioning satellite,
The reference data acquisition unit acquires the plurality of reference data corresponding to a plurality of positions on the traveling direction side of the vehicle with respect to the position indicated by the positioning data.
The position estimation device according to claim 1. The vehicle data acquisition unit acquires speed data indicating a running speed of the vehicle,
The reference data acquisition unit acquires a position away from the position indicated by the positioning data by a distance calculated by multiplying the elapsed time from the time when the latest positioning data was obtained and the traveling speed indicated by the speed data. obtaining the plurality of reference data corresponding to
The position estimation device according to claim 2. The vehicle data acquisition unit detects the plurality of detected accelerations at predetermined time intervals and acquires speed data indicating a running speed of the vehicle;
The specifying unit selects a plurality of reference accelerations included in the reference data for each distance interval calculated by multiplying the running speed indicated by the speed data by the time interval. and the similarity reference data based on the degree of correlation between the change pattern of the detected acceleration and the change pattern of the plurality of detected accelerations;
The position estimation device according to any one of claims 1 to 3. The reference data acquisition unit acquires the plurality of reference data corresponding to the vehicle type of the vehicle.
The position estimation device according to any one of claims 1 to 4. the computer runs
obtaining detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle;
a step of acquiring a plurality of reference data indicating a plurality of vertical reference accelerations occurring at a plurality of positions on a road in association with position information indicating positions on the road;
identifying similar reference data selected from among the plurality of reference data having a degree of correlation with the detected data equal to or greater than a threshold;
a step of outputting a position indicated by the position information associated with the similarity reference data as an estimated position of the vehicle;
A position estimation method comprising: An electronic device provided in a vehicle, and a data processing device that transmits and receives data to and from the electronic device,
The electronic device
a data transmission unit configured to transmit detection data indicating a plurality of detected accelerations in the vertical direction of the vehicle to the data processing device;
a data receiving unit that receives estimated position data indicating an estimated position of the vehicle received from the data processing device;
a display unit that displays the estimated position;
has
The data processing device is
a vehicle data receiving unit that acquires the detection data from the electronic device;
a reference data acquisition unit that acquires a plurality of reference data indicating a plurality of vertical reference accelerations occurring at a plurality of positions on a road in association with position information indicating a position on the road;
an identifying unit that identifies similar reference data selected from among the plurality of reference data having a degree of correlation with the detected data equal to or higher than a threshold;
an output unit that transmits to the electronic device the estimated position data indicating the position indicated by the position information associated with the similarity reference data as an estimated position of the vehicle;
A position estimation system having

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