JP2024033351A - Control device and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device and its control method capable of reducing the processing load related to estimating the position of a portable terminal.

SOLUTION: A control device 20 estimates a position of a portable terminal 10 by radio waves and controls the locking/unlocking of a lock 2 of an automobile 1. The control device includes an acquisition section 20a that acquires distance information about distances between terminals that are distances between first to fourth antennas 21a to 21d receiving radio waves transmitted from the portable terminal 10 and the portable terminal 10, and an execution section 20b that executes position estimation processing Sa for estimating the position of the portable terminal 10 on the basis of the distance information. In the position estimation processing Sa, the control device uses the positions of the first to fourth antennas 21a to 21d as a center to generate and analyze virtual spherical surfaces S1 to S4 with radii of the distances between terminals, selects an intersection point on a minimum spherical surface Smin of which the distance between terminals is smallest from among intersection points between the virtual spherical surfaces S1 to S4, and estimates the position of the portable terminal 10 on the basis of the intersection point on the minimum spherical surface Smin.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a control device and a control method for controlling locking and unlocking of a lock provided in a vehicle.

Conventionally, as a control device for controlling the locking and unlocking of a lock provided in a vehicle, for example, the position of a portable device is determined based on communication using radio waves between a portable device carried by a user and a vehicle-side device installed in the vehicle. There is a device that determines the lock and controls locking/unlocking (for example, see Patent Document 1).

Japanese Patent Application Publication No. 2010-62736

In the technology described in Patent Document 1, a vehicle-side device communicates with a portable device using radio waves, and the radius is the distance between each of the plurality of antennas and the portable device, and a plurality of antennas are arranged around the position of each antenna. In this configuration, a spherical surface is assumed, and the position of the intersection of these spherical surfaces is determined as the position of the portable device. In such a configuration, there is a risk that the load associated with the processing of analyzing a plurality of spherical surfaces assumed for a plurality of antennas and determining the position of the portable device becomes excessive.

The present invention has been made against the background of the above-mentioned problems, and an object of the present invention is to provide a control device and a control method thereof that can reduce the processing load related to estimating the position of a mobile terminal.

A control device (20) according to the present invention communicates with a mobile terminal (10) carried by a user (U) using radio waves, estimates the position of the mobile terminal (10), and installs it in a vehicle (1). A control device (20) that controls locking and unlocking of a lock (2), which is provided in the vehicle (1) and includes a plurality of antennas (21a to 21d) that receive radio waves transmitted from the mobile terminal (10). ), an acquisition unit (20a) that acquires distance information regarding the inter-terminal distance, which is the distance between the mobile terminal (10) and each antenna (21a to 21d); ), and in the position estimation process (Sa), the distance between the terminals is calculated centering on the position of the antenna (21a to 21d). A virtual spherical surface (S1 to S4) with a radius of The configuration is such that an intersection point on a small minimum spherical surface (Smin) is selected, and the position of the mobile terminal (10) is estimated based on the intersection point on the minimum spherical surface (Smin).

According to such a configuration, in the position estimation process (Sa), the control device (20) selects an intersection point on the smallest spherical surface (Smin) with the smallest inter-terminal distance among the intersection points between the virtual spherical surfaces (S1 to S4). Since the position of the mobile terminal (10) is estimated based on the intersection on the minimum spherical surface (Smin), the processing load related to estimating the position of the mobile terminal (10) can be reduced.

A control method for a control device (20) according to the present invention estimates the position of a mobile terminal (10) carried by a user (U) by communicating with the mobile terminal (10) using radio waves, and A method for controlling a control device (20) for controlling locking/unlocking of a lock (2) provided in a vehicle, wherein a plurality of antennas (21a to 21d) that receive radio waves transmitted from the mobile terminal (10) are connected to the vehicle. an acquisition step (Sa01) provided in (1), in which the acquisition unit (20a) acquires distance information regarding the inter-terminal distance, which is the distance between the mobile terminal (10) and each antenna (21a to 21d); an execution step (Sa01 to Sa09) in which an execution unit (20b) executes a position estimation process (Sa) for estimating the position of the mobile terminal (10) based on distance information, the position estimation process (Sa) Then, virtual spherical surfaces (S1 to S4) centered on the positions of the antennas (21a to 21d) and having a radius equal to the distance between the terminals are generated and analyzed for each of the plurality of antennas (21a to 21d), and Among the intersections between the spherical surfaces (S1 to S4), the intersection on the minimum spherical surface (Smin) with the smallest distance between the terminals is selected, and the intersection of the mobile terminal (10) is selected based on the intersection on the minimum spherical surface (Smin). This is a configuration in which the position is estimated.

According to such a configuration, in the position estimation process (Sa), the control method of the control device (20) is to select the smallest spherical surface (Smin) with the smallest inter-terminal distance among the intersection points of the virtual spherical surfaces (S1 to S4). Since the intersection point on the above is selected and the position of the mobile terminal (10) is estimated based on the intersection point on the minimum sphere (Smin), the processing load related to estimating the position of the mobile terminal (10) can be reduced. .

Note that the present invention may have only the matters specifying the invention stated in the claims of the present invention, or may have a configuration other than the matters specifying the invention together with the matters specifying the invention stated in the claims of the present invention. It may be something.

FIG. 1 is a diagram for explaining the configuration of a locking/unlocking system in an embodiment. FIG. 2 is a diagram for explaining the configuration of a control device. FIG. 3 is a diagram for explaining the flow of position estimation processing executed by the control device. FIG. 3 is a diagram for explaining a virtual sphere in position estimation processing. FIG. 3 is a diagram for explaining a layer including the smallest spherical surface. FIG. 7 is a diagram for explaining an angle formed by two intersection points on a minimum spherical surface and a center point of a minimum spherical circle corresponding to the minimum spherical surface in a layer. FIG. 3 is a diagram for explaining terminal position candidate points and evaluation values in a layer.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of embodiments of a control device and a control method thereof according to the present invention will be described below with reference to the drawings. In the drawings, the same or similar members or portions may be denoted by the same reference numerals. Note that the configurations, operations, etc. described in the embodiments are merely examples, and the present invention is not limited to such configurations, operations, etc. In the embodiments, explanations and illustrations of details of the same or similar configurations and structures may be simplified or omitted, and reference numerals may be omitted to the same or similar members or parts in the drawings. .

<Embodiment>
The control device and its control method according to the present embodiment will be described with reference to an example in which it is applied to a locking and unlocking system 100 that locks and unlocks a lock 2 provided in an automobile 1 as a vehicle. The present invention is not limited to the examples of the embodiments, and can be applied to vehicles other than automobiles (for example, motorcycles, bicycles, heavy machinery, etc.).

[About the lock/unlock system]
A locking/unlocking system 100 according to this embodiment will be described based on FIG. 1. The locking/unlocking system 100 is a system that locks/unlocks a lock 2 provided in a car 1 based on a radio signal using radio waves transmitted from a mobile terminal 10 carried by a user U (for example, a user of the car 1). .

As shown in FIG. 1, a locking/unlocking system 100 includes a lock 2 provided on a door of an automobile 1, a mobile terminal 10 carried by a user U, and a locking/unlocking system 100 mounted on the automobile 1 that is related to controlling the locking/unlocking of the lock 2. a control device 20 that performs processing to perform the processing of the lock 2, a plurality of antennas 21a to 21d that are mounted on the automobile 1 and allow the mobile terminal 10 and the control device 20 to communicate by radio waves, and a lock device 30 that controls the locking and unlocking of the lock 2. include. Hereinafter, the control device 20 may be referred to as a DKECU (Digital Key Electronic Unit).

The mobile terminal 10 is a small, portable electronic device that can be carried by the user U, and can communicate with the DKECU 20 by radio waves via the antennas 21a to 21. The mobile terminal 10 includes a lock button that receives a locking operation by the user U to lock the lock 2 and an unlock button that receives an unlocking operation by the user U to unlock the lock 2 (not shown). When an operation and an unlocking operation are received, a wireless signal including operation information regarding the corresponding operation is transmitted to the DKECU 20 by radio waves.

Note that the mobile terminal 10 may be any device as long as it has a function of communicating with the control device 20 by radio waves, and may be configured by a general-purpose information processing device such as a mobile phone, a smartphone, or a tablet PC. It may be configured by a dedicated device such as a remote control key.

The mobile terminal 10 and the DKECU 20 perform communication based on, for example, a communication standard of short-range wireless communication technology. As a communication standard for short-range wireless communication technology, for example, BLE (Bluetooth (registered trademark) Low Energy), which is a low-power communication standard based on Bluetooth (registered trademark), can be applied. 10 and DKECU 20 can start communication by detecting the partner device. The communication module having the function of communicating in the mobile terminal 10 and the control device 20 may be configured to comply with a wireless communication standard other than BLE as a communication standard of short-range wireless communication technology, such as UWB (Ultra-Wideband), It may be compliant with standards for wireless communication using radio waves, such as NFC (Near Field Communication) and WiFi (registered trademark). Further, the communication module may be configured to perform communication using a technology for communicating using radio waves other than short-range wireless communication technology.

The antennas 21a to 21d are configured to be able to transmit and receive radio waves compliant with the communication standard of short-range wireless communication technology, and include first to fourth antennas 21a to 21d arranged at mutually different positions in the automobile 1. The first antenna 21a is arranged at the front left corner of the automobile 1 (for example, the left side of the front bumper, etc.), and the second antenna 21b is arranged at the front right corner of the automobile 1 (for example, the right side of the front bumper, etc.). The third antenna 21c is located at the left rear corner of the vehicle 1 (for example, the left side of the rear bumper), and the fourth antenna 21d is located at the right rear corner of the vehicle 1 (for example, the left side of the rear bumper). (see Figure 1).

The DKECU 20 (control device) is electrically connected to the first to fourth antennas 21a to 21d and the lock device 30 by signal lines (see FIG. 2), and is connected to the first to fourth antennas 21a to 21d via signal lines. Information regarding radio waves including wireless signals transmitted from the mobile terminal 10 can be acquired, and a control signal can be output to the lock device 30 to control the operation of the lock device 30 and the like, and to control locking and unlocking of the lock 2. can. Furthermore, by executing the position estimation process described below, the position of the mobile terminal 10 can be estimated based on the radio waves received by the first to fourth antennas 21a to 21d, and the position of the mobile terminal 10 is determined in advance. control to unlock the lock 2 when the lock 2 is within the specified predetermined area. Thereby, the security provided by the lock 2 of the automobile 1 can be improved.

The lock device 30 is electrically connected to the lock 2 and the DKECU 20 by a signal line, and can be operated to switch the lock 2 to a locked state or an unlocked state based on a control signal input from the control device 20. This allows the DKECU 20 to control locking and unlocking of the lock 2 via the lock device 30.

As described above, the lock/unlock system 100 of the present embodiment includes the lock 2, the mobile terminal 10, the DKECU 20 (control device), the first to fourth antennas 21a to 21d, and the lock device 30. . The DKECU 20 can communicate with the mobile terminal 10 by radio waves, and estimates the position of the mobile terminal 10 based on the radio waves received by the first to fourth antennas 21a to 21d by executing a position estimation process. It looks like this.

In addition, in this embodiment, in the locking/unlocking system 100, the DKECU 20 is configured to control the lock 2 via the lock device 30, but the DKECU 20 also has the function of the lock device 30 and directly controls the lock 2. It can also be a configuration.

Furthermore, in this embodiment, the DKECU 20 is connected to the first to fourth antennas 21a to 21d, and is configured to be able to directly acquire information regarding radio waves received by the first to fourth antennas 21a to 21d. , the first to fourth antennas 21a to 21d for communicating with the mobile terminal by radio waves may be connected to other devices other than the DKECU 20. In a configuration in which the first to fourth antennas 21a to 21d are connected to other devices different from the DKECU 20, the DKECU 20 connects the first to fourth antennas via an in-vehicle network CAN (Controller Area Network) provided in the automobile 1, for example. Information regarding radio waves received by the four antennas 21a to 21d can be obtained.

Further, in this embodiment, the lock 2 is provided on the door of the automobile 1, but the lock 2 may be provided on a location other than the door of the automobile 1, such as in the trunk of the automobile, a fuel filler port, a charging port, etc. It may be a configuration provided in , or a combination of these configurations.

Further, in the present embodiment, the lock/unlock system 100 is configured to include four first to fourth antennas 21a to 21d, but the number of antennas included in the lock/unlock system 100 is not limited to four; for example, Depending on the shape and size of the automobile 1, there may be three or five or more.

Further, in the present embodiment, the first to fourth antennas 21a to 21d are arranged on the front bumper and rear bumper of the automobile 1, but the first to fourth antennas 21a to 21d are, for example, Depending on the shape and size, it may be arranged in a side garnish, a rear garnish, a center console, a ceiling, a floor, a cabin, etc. of the automobile 1.

[About the control unit (DKECU)]
The control device 20 (DKECU) according to this embodiment will be explained based on FIG. 2.

The DKECU 20 communicates with the mobile terminal 10 in accordance with the communication standard of short-range wireless communication technology, and is related to control for locking and unlocking the lock 2 based on radio waves received by the first to fourth antennas 21a to 21d. It is a device that executes processing. The DKECU 20 is composed of an electronic circuit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. (not shown), and various programs stored in a storage device such as the ROM are transferred to the CPU. By executing this, a predetermined process is realized and control of locking/unlocking the lock 2, etc. is executed.

Note that the functions of the DKECU 20 may be realized by dedicated hardware resources and dedicated software resources, or, for example, by common hardware resources included in a control device installed in the automobile 1 that executes other controls. , may be realized by common software resources. Furthermore, the hardware resources that make up the DKECU 20 may be made up of one hardware resource, or may be made up of two or more plural hardware resources.

As shown in FIG. 2, the DKECU 20 includes an acquisition unit 20a that acquires information related to radio waves received by each of the first to fourth antennas 21a to 21d, and a and an execution unit 20b that executes predetermined processing.

The acquisition unit 20a acquires distance information regarding the distance between each antenna and the mobile terminal 10 based on the radio waves received by the first to fourth antennas 21a to 21d, and outputs it to the execution unit 20b. The distance between each antenna and the mobile terminal 10 is determined by, for example, the strength of the radio waves received by each antenna, the flight time of the radio waves received by each antenna (the time of transmission of the radio waves from the mobile terminal 10, and the time of the radio waves received by each antenna). (can be calculated based on the time difference between the reception times at each antenna). Further, the acquisition unit 20a acquires operation information included in radio signals transmitted by the mobile terminal 10 and received by the first to fourth antennas 21a to 21d, and outputs the information to the execution unit 20b.

The execution unit 20b executes predetermined processing based on the information etc. acquired by the acquisition unit 20a. The predetermined processing includes, for example, a position estimation process for estimating the position of the mobile terminal 10 based on distance information obtained by the obtaining section 20a, as described later, and a position estimation process for estimating the position of the mobile terminal 10 based on the operation information obtained by the obtaining section 20a. This includes lock control processing that controls locking and unlocking.

[About the control method of the control device]
As an example of the control method of the control device 20 (DKECU) according to the present embodiment, the position estimation process Sa executed by the control device 20 will be explained based on FIGS. 3 to 6. The position estimation process is a process executed by the execution unit 20b of the DKECU 20 based on, for example, an unlocking operation performed on the mobile terminal 10 in a process related to locking/unlocking control of the lock 2.

As shown in FIG. 3, in the position estimation process Sa, first, the acquisition unit 20a of the DKECU 20 acquires distance information regarding the distance between each of the first to fourth antennas 21a to 21d and the mobile terminal 10 (Sa01 ). For example, the mobile phone is The flight time Tn of the radio waves reaching each antenna from the terminal 10 is calculated, and the distance Dn between each antenna and the mobile terminal 10 is calculated based on each flight time Tn (for example, when the propagation speed of the radio wave is c, Dn = cTn/2, etc.) is calculated. Then, the acquired distance information is output to the execution unit 20b. The distance information is, for example, information that can specify the distance between each acquired antenna and the mobile terminal 10, and is information that includes the value of each distance or a value that can be converted into the distance. Hereinafter, the distance between the antenna and the mobile terminal 10 will be referred to as the inter-terminal distance, and for example, the distance Ra between the first antenna 21a and the mobile terminal 10 may be referred to as the inter-terminal distance of the first antenna 21a.

After the distance information is acquired in step Sa01, the execution unit 20b, for example, as shown in FIG. A virtual spherical surface S1 to S4 having a radius of and centered at the position of the corresponding antenna is generated in a virtual space (for example, a space expressed by an xyz axis coordinate system orthogonal to each other) (Sa02). Then, the execution unit 20b moves the layers L1 to Ln (for example, the xy planes L1 to L4 extending in the x-axis and y-axis directions perpendicular to the z-axis, see FIG. 5) including the virtual spherical surface at a predetermined interval in a predetermined direction. The coordinates (for example, the coordinates of the center and the value of the radius) of each circle corresponding to each virtual spherical surface are obtained for each layer (Sa03). After that, the virtual spherical surface with the smallest radius among the virtual spherical surfaces S1 to S4 is set as the minimum spherical surface Smin, and the coordinates of the minimum spherical circle Cmin corresponding to the minimum spherical surface Smin are specified in each layer (Sa04).

Then, the execution unit 20b executes an analysis process of analyzing the virtual spheres S1 to S4 and searching for intersection points based on the plurality of layers generated in step Sa03 (Sa05 to Sa9).

In the analysis process, first, for each layer, the number Con of intersections where the minimum spherical circle Cmin intersects with other circles C2 to C3 is counted (Sa05). If the minimum spherical circle Cmin intersects other circles C2 to C3 at the same position within the same layer, each intersection is counted as a different intersection. Then, layers in which the number of intersection points Con exceeds a predetermined threshold (for example, 3, etc.) are extracted (Sa06).

Then, as shown in FIG. 6, the execution unit 20b selects two intersection points (for example, P2, P3) on the minimum spherical circle Cmin in each layer extracted in step Sa06, and The angle θ of the angle formed by the center O of the minimum spherical circle Cmin (for example, ∠P2OP3) is calculated, and the combination of intersections where the angle θ is the smallest in the corresponding layer is extracted as the optimal combination intersection, and the combination of the intersections is Extract the angle θ (Sa07). Thereafter, the angle θ between the two intersection points of the optimal combination intersections extracted for each layer is compared, and a predetermined number of layers (for example, 5 layers, etc.) are extracted in descending order of the angle θ (Sa08).

Then, the execution unit 20b performs evaluation value processing to obtain evaluation values ΣDc for each of the predetermined number of layers extracted in step Sa08 (Sa09). In the evaluation value process, for example, as shown in FIG. 7, the execution unit 20b sets terminal position candidate points Pcan at predetermined intervals on the arc between the optimal combination intersections of the minimum spherical circle Cmin in each layer (see FIG. 7 is an enlarged view of the area around the intersections P2 and P3 in FIG. Distances Dc2 to Dc3 between the candidate point and each of the circles C2 to C4 other than the smallest spherical circle Cmin in the layer are calculated and summed to obtain an evaluation value candidate ΣDcan. Thereafter, each evaluation value candidate in the layer is compared, and the evaluation value candidate with the smallest value is obtained as the evaluation value ΣDc of the layer. Then, the evaluation values of each layer extracted in step Sa08 are compared, and the layer with the smallest evaluation value ΣDc is set as the position layer where the mobile terminal 10 is located, and the terminal position corresponding to the evaluation value ΣDc of the position layer is determined. Extract candidate point Pcan.

Then, the execution unit 20b determines the position (for example, z coordinate, etc.) of the position layer extracted in step Sa09 in the virtual space and the position of the terminal position candidate point Pcan (for example, xy coordinates or angular coordinates and radial coordinates of a circular coordinate system whose origin is the center of the smallest spherical circle Cmin) is acquired as the estimated position of the mobile terminal 10, and is stored in the storage unit of the control device 20, for example. (Sa10), and then the position estimation process Sa is ended.

After the position estimation process Sa is completed, in the process related to controlling the locking and unlocking of the lock 2, for example, it is determined whether the position of the mobile terminal 10 acquired in the position estimation process Sa is within a predetermined area. If it is determined that the position of the mobile terminal 10 is within a predetermined area, a control signal based on the operation information specified by the wireless signal is sent to the lock device 30 to lock or unlock the lock 2. On the other hand, if the position of the mobile terminal 10 is not determined to be within a predetermined area, control is performed so as not to send a control signal to the locking device 30 . Thereby, when the mobile terminal 10 is located within the predetermined area, the lock 2 is locked or unlocked, so that the security provided by the lock 2 of the automobile 1 can be improved.

As described above, in the position estimation process of this embodiment, the execution unit 20b selects the intersection point on the minimum spherical circle Cmin that corresponds to the minimum spherical surface Smin among the circles C1 to C4 included in the layer, and Since the position of the mobile terminal 10 is estimated based on this, the processing load related to estimating the position of the mobile terminal 10 can be reduced compared to the processing load of analyzing the entire surface of the virtual spheres S1 to S4.

In the position estimation process of this embodiment, the execution unit 20b also selects a terminal position candidate point that has the smallest evaluation value obtained by the evaluation process executed in step Sa09, that is, the sum of the distances from each of the circles C2 to C4. The position of the mobile terminal 10 is estimated based on. Thereby, the accuracy of detecting the position of the mobile terminal 10 can be improved.

[About effects]
Conventionally, control devices that determine the location of a portable device based on radio wave communication between a portable device carried by the user and a vehicle-side device installed in the vehicle and control locking/unlocking of the vehicle The radius is the distance between each of the multiple antennas provided and the mobile device, and multiple spherical surfaces are assumed to be centered at the position of each antenna, and the position of the intersection of these spherical surfaces is determined as the location of the mobile device. There are some configurations that can be used. In such a configuration, there is a possibility that the load associated with the processing of analyzing a plurality of spherical surfaces assumed for a plurality of antennas and determining the position of the portable device becomes excessive.

In contrast, the control device 20 of the present embodiment communicates with the mobile terminal 10 carried by the user U using radio waves, estimates the position of the mobile terminal 10, and locks the lock 2 provided in the automobile 1. It is a control device that controls a lock, and relates to the distance between terminals, which is the distance between the first to fourth antennas 21a to 21d, which are installed in the automobile 1 and receive radio waves transmitted from the mobile terminal 10, and the mobile terminal 10. It includes an acquisition unit 20a that acquires distance information, and an execution unit 20b that executes a position estimation process Sa that estimates the position of the mobile terminal 10 based on the distance information. Virtual spherical surfaces S1 to S4 centered at the positions of 21a to 21d and having a radius equal to the distance between the terminals are generated and analyzed for each of the first to fourth antennas 21a to 21d (Sa02), and the virtual spherical surfaces S1 to S4 are Among the intersections, the intersections P1 to P4 on the minimum spherical surface Smin with the smallest inter-terminal distance are selected (Sa03), and the position of the mobile terminal 10 is estimated based on the intersections on the minimum spherical surface Smin (Sa09). .

According to such a configuration, in the position estimation process Sa, the control device 20 does not analyze the entire surface of the virtual spheres S1 to S4, but analyzes the smallest sphere with the smallest inter-terminal distance among the intersection points of the virtual spheres. Since the intersection point on Smin is selected and the position of the mobile terminal 10 is estimated based on the intersection point on the minimum spherical surface Smin, the processing load related to estimating the position of the mobile terminal 10 is analyzed over the entire surface of the virtual spheres S1 to S4. The processing load can be reduced compared to the processing load.

In the position estimation process Sa executed by the control device 20 of this embodiment, a plurality of layers including the minimum spherical surface Smin are generated and analyzed (Sa04), and a layer in which the number of intersections on the minimum spherical surface Smin exceeds a predetermined threshold is selected. (Sa06), and the position of the mobile terminal 10 is estimated based on the intersection on the layer (Sa09).

According to such a configuration, in the position estimation process Sa, the control device 20 selects a layer in which the number of intersections on the minimum spherical surface Smin exceeds a predetermined threshold (Sa06), thereby determining the number of intersections on the minimum spherical surface Smin. By reducing the analysis of layers whose number does not exceed a predetermined threshold, it is possible to reduce the processing load related to estimating the position of the mobile terminal 10.

In the position estimation process Sa executed by the control device 20 of this embodiment, the angle formed by two of the intersection points on the layer and the center point of the minimum spherical circle Cmin corresponding to the minimum spherical surface Smin is analyzed (Sa07), The configuration is such that the position of the mobile terminal 10 is estimated based on two intersections on the smallest spherical surface Smin whose angle is less than a predetermined threshold (Sa09).

According to such a configuration, in the position estimation process Sa, the control device 20 analyzes the angle formed by two of the intersection points on the layer and the center point of the minimum spherical circle Cmin corresponding to the minimum spherical surface Smin, By estimating the position of the mobile terminal 10 based on two intersection points on the minimum spherical surface Smin whose angle is below a predetermined threshold, analysis of two intersections on the minimum spherical surface Smin whose angle is not below a predetermined threshold is reduced. Therefore, the processing load related to estimating the position of the mobile terminal 10 can be reduced.

In the position estimation process Sa executed by the control device 20 of this embodiment, the position of the mobile terminal 10 is estimated in the area between two intersections on the minimum spherical surface Smin (Sa09).

According to such a configuration, in the position estimation process Sa, the control device 20 estimates the position of the mobile terminal 10 in the area between the two intersection points on the minimum spherical surface Smin, so the control device 20 estimates the position of the mobile terminal 10 in the area between the two intersections on the minimum spherical surface Smin, By reducing the above analysis, the processing load related to estimating the position of the mobile terminal 10 can be reduced.

The control method of the control device 20 of this embodiment is to estimate the position of the mobile terminal 10 by communicating with the mobile terminal 10 carried by the user U using radio waves, and to control the locking/unlocking of the lock 2 provided in the automobile 1. A control method of a control device 20 that performs an inter-terminal distance, which is a distance between the mobile terminal 10 and first to fourth antennas 21a to 21d provided in the automobile 1 and receiving radio waves transmitted from the mobile terminal 10. an acquisition step (Sa01) in which the acquisition unit 20a acquires distance information regarding the mobile terminal 10; and an execution step (Sa01 to Sa10) in which the execution unit 20b executes a position estimation process Sa to estimate the position of the mobile terminal 10 based on the distance information; In the position estimation process Sa, virtual spherical surfaces S1 to S4 whose center is the position of the first to fourth antennas 21a to 21d and whose radius is the distance between the terminals are created for each of the first to fourth antennas 21a to 21d. Among the intersection points of virtual spherical surfaces S1 to S4 that are generated and analyzed, the intersection point on the minimum spherical surface Smin with the smallest distance between terminals is selected, and the position of the mobile terminal 10 is estimated based on the intersection point on the minimum spherical surface Smin. The configuration is as follows.

According to such a configuration, the control method of the control device 20 determines, in the position estimation process Sa, the angle between two points of intersections on the layer and the center point of the minimum spherical circle Cmin corresponding to the minimum spherical surface Smin. analysis and estimate the position of the mobile terminal 10 based on the two intersections on the minimum spherical surface Smin whose angle is below a predetermined threshold, thereby analyzing the two intersections on the minimum spherical surface Smin whose angle does not fall below a predetermined threshold. It is possible to reduce the processing load related to estimating the position of the mobile terminal 10.

Although examples of embodiments of the present invention have been described above, the present invention is not limited to these examples of embodiments, and the present invention may be modified or added without departing from the spirit of the present invention. Needless to say, it is included.

1 Car 2 Lock 10 Mobile terminal 20 DKECU (control unit)
20a Acquisition unit 20b Execution unit 21a to 21d First to fourth antennas 30 Locking device 100 Locking/unlocking system

Claims (5)

Control that communicates with a mobile terminal (10) carried by the user (U) using radio waves to estimate the position of the mobile terminal (10) and controls locking/unlocking of a lock (2) provided in the vehicle (1). A device (20),
Distance information regarding the inter-terminal distance, which is the distance between the mobile terminal (10) and a plurality of antennas (21a to 21d) provided in the vehicle (1) and receiving radio waves transmitted from the mobile terminal (10). an acquisition unit (20a) that acquires
an execution unit (20b) that executes a position estimation process (Sa) for estimating the position of the mobile terminal (10) based on the distance information;
Equipped with
In the position estimation process (Sa),
Generate and analyze virtual spherical surfaces (S1 to S4) for each of the plurality of antennas (21a to 21d) with the center at the position of the antenna (21a to 21d) and the radius to the distance between the terminals,
Among the intersection points of the virtual spherical surfaces (S1 to S4), select the intersection point on the minimum spherical surface (Smin) where the distance between the terminals is the smallest,
estimating the position of the mobile terminal (10) based on the intersection on the minimum spherical surface (Smin);
Control device. In the position estimation process (Sa),
Generate and analyze multiple layers including the minimum spherical surface (Smin),
selecting a layer in which the number of intersections on the minimum spherical surface (Smin) exceeds a predetermined threshold, and estimating the position of the mobile terminal (10) based on the intersections on the layer;
The control device according to claim 1. In the position estimation process (Sa),
On the layer, analyze the angle formed by two of the intersection points and the center point of the circle (Cmin) corresponding to the smallest spherical surface (Smin),
estimating the position of the mobile terminal (10) based on two intersections on the minimum spherical surface (Smin) where the angle of the corner is less than a predetermined threshold;
The control device according to claim 2. In the position estimation process (Sa),
estimating the position of the mobile terminal (10) in a region between two intersections on the minimum spherical surface (Smin);
The control device according to claim 3. Control that communicates with a mobile terminal (10) carried by the user (U) using radio waves to estimate the position of the mobile terminal (10) and controls locking/unlocking of a lock (2) provided in the vehicle (1). A method of controlling a device (20), comprising:
an acquisition unit for acquiring distance information regarding an inter-terminal distance that is a distance between a plurality of antennas (21a to 21d) provided in the vehicle (1) and receiving radio waves transmitted from the mobile terminal (10) and the mobile terminal; (20a) acquires an acquisition step (Sa01);
an execution step (Sa01 to Sa10) in which the execution unit (20b) executes a position estimation process (Sa) for estimating the position of the mobile terminal (10) based on the distance information;
Equipped with
In the position estimation process (Sa),
A virtual spherical surface (S1 to S4) whose center is the position of the antenna (21a to 21d) and whose radius is the distance between the terminals is generated and analyzed for each of the plurality of antennas (21a to 21d),
Among the intersection points of the virtual spherical surfaces (S1 to S4), the intersection point on the minimum spherical surface (Smin) with the smallest distance between the terminals is selected,
The position of the mobile terminal (10) is estimated based on the intersection on the minimum spherical surface (Smin),
Control method.

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