JP3458155B2 - Mobile communication system for providing location information - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to automatic toll collection, danger warning, driving assistance,
Aims to realize an information communication platform commonly used for autonomous driving, etc., and also provides information transmission between vehicles traveling on the road and the information communication system on the roadside, and at the same time provides location information of the traveling vehicle The present invention relates to a mobile communication system that provides location information that can be used. 2. Description of the Related Art Conventionally, as a method of providing a communication path between a vehicle and a roadside information communication system, for example, “AHS and Inter-Vehicle Side Control System” written by Masato Arisumi and Yutaka Yamada (Oki Electric Research and Development, Vol.63, No.3, pp.39-46, 19
"July 1996)" is known. This "inter-vehicle side control system" is a system in which a leaky coaxial cable is laid on the road side as a communication system, and a continuous communication path can be provided between the leaky coaxial cable and the vehicle. . [0003] However, in the case of the "inter-vehicle side control system", position information of a running vehicle cannot be provided. In order to realize a so-called "ITS service" such as communication control and driving support, there is a problem that a support system for separately obtaining vehicle position information is required. [0004] Therefore, an object of the present invention is to solve the above-mentioned problems of the conventional mobile communication system, and does not require a support system for separately obtaining vehicle position information.
An object of the present invention is to provide a mobile communication system capable of performing position measurement with high accuracy by a simple configuration. [0005] In order to achieve the above-mentioned object, the present invention provides a method for connecting a mobile station mounted on a vehicle running on a road with a fixed communication network installed on the road. In a mobile communication system that provides position information of a wireless communication path for performing information communication between the base station and a base station having a first transceiver that transmits and receives data to and from the mobile station, the fixed communication network transmits the position information of the mobile station. A mobile station having a first transceiver and a second transceiver for transmitting and receiving data, wherein the first transceiver transmits a signal to the second transceiver. A receiving antenna and a receiver comprising at least two or more antennas arranged at predetermined intervals for receiving signals transmitted from the antenna and the transmitter and the second transceiver; Each is captured Based on the phase difference of the obtained wireless signal, the wireless communication device has an angle measuring device that measures an incident angle of the wireless signal to a receiving antenna and a communication controller that controls data transmission and reception, and the second transceiver is antenna for transmitting and receiving first transceiver and the signal, an antenna duplexer, transmitter, and has a measuring device for measuring the motion state of the mobile station and the communication controller for controlling the transmission and reception of the receiver and data, said angle The measuring instrument has multiple antennas.
Complex multiplication of each of the output signals by a complex sine wave
And the complex conjugate of one of the results of this complex multiplication and the other
Means for performing complex multiplication and the real and imaginary parts of the result of this complex multiplication
Integration means for integrating respectively and the results of these integrations
Calculation means for calculating the angle of incidence of the signal from the
The roadside processing device is configured to determine whether or not the mobile station based on the incident angle calculated by the angle measuring device of the first transceiver and the motion information obtained from the device for measuring the motion state of the mobile station of the second transceiver. Is calculated. FIG. 1 shows an embodiment of the present invention. That is, 1 is a mobile station transceiver installed on a mobile body, 2 is a base station transceiver installed on a roadside support, 3
Indicates a roadside processing device, 4 indicates a wireless communication link, and 5 indicates a transmission line. The transmission line 5 connects the base station transceiver 2 and the roadside processing device 3. Reference numeral 6 denotes a connection line to the roadside communication network. Here, a wireless communication link 4 is established between the mobile station transceiver 1 and the base station transceiver 2 to enable data transmission between the roadside communication network and the mobile station, and the base station transceiver 2 The incident depression angle θ of the radio wave transmitted from the mobile station transceiver 1 is measured. The traveling angle information of the moving object measured by the moving object and transmitted to the base station transceiver 2 via the wireless communication link 4 via the wireless communication link 4 is transmitted to the roadside processing device
And the roadside processing device 3 calculates the position of the moving body using these pieces of information. FIG. 2 is a block diagram showing a configuration of the mobile station transceiver 1. That is, 11 is an antenna, 12 is an antenna duplexer, 13 is a transmitter, 14 is a receiver, 15 is a communication controller, 16
Is a terminal device, and 17 is a speedometer for measuring the traveling speed of the moving object.To transmit data generated from the terminal device 16 and the speedometer 17, the transmitter 13 operates at a frequency according to a command from the communication controller 15. Generates a transmission signal of f1 and uses an antenna duplexer
The signal is sent to the antenna 11 via the antenna 12, converted into an electric wave, and transmitted. The antenna 11 receives the signal of the frequency f2 and sends it to the receiver 14 via the antenna sharing device 12. Receiver
14 demodulates the data contained in the received signal and sends the data to the terminal device 16 via the communication controller 15. FIG. 3 is a block diagram showing the configuration of the base station transceiver 2. That is, 21 is a transmitting antenna, 22 is a transmitter, 23 is a receiving antenna, 24 is a receiver, 25 is a communication controller,
Reference numeral 26 denotes an angle measuring device. The transmitter 22 generates a transmission signal of the frequency f2 in accordance with a command from the communication controller 25 in order to transmit data transmitted from the roadside communication network via the roadside processing device 3. To the transmitting antenna 21, which converts it into a radio wave and transmits it. Further, the receiving antenna 23 receives the signal of the frequency f1 and sends it to the receiver 24 and the angle measuring device 26. The receiver 24 demodulates the data included in the received signal and sends the data to the roadside processing device 3 via the communication controller 25. The roadside processing device 3 calculates the speedometer 17 of the moving body from the data.
While extracting the speed information sent from (Fig. 2),
Send other data to the roadside network. Also an angle measuring device
26 is the angle of depression θ of the reception signal received by the reception antenna 23
Is measured and sent to the roadside processing device 3 via the communication controller 25. FIG. 4 is a block diagram showing the configuration of the angle measuring device 26. That is, 33 is a local oscillator, 34, 35, 36 are complex multipliers, 37, 38 are integrators, 39 is an angle calculator, and the output signals of the upper antenna 31 and the lower antenna 32 of the receiving antenna 23 are The output signal of the local oscillator 33 is complex-multiplied by the complex multipliers 34 and 35, and the baseband components of the outputs are input to the complex multiplier 36. The output signal of the local oscillator 33 is a complex sine wave of frequency f1 (90
Complex sine wave of two different phases)
4 and 35 are each realized by two balanced demodulators. The complex multiplier 36 calculates the complex multiplication of the complex conjugate of the output of the complex multiplier 34 and the output of the complex multiplier 35, and sends the imaginary part of the result to the integrator 37 and the real part to the integrator 38. Integrator 37,
Each integrates the input for a fixed integration time and sends the result to an angle calculator 39. Here, the angle calculator 39 calculates the cosine of the depression angle θ by the following expression (Equation 1),
Further, the depression angle θ is calculated by the inverse cosine function. However, the length of a straight line connecting the electrical center point of the upper antenna 31 of the receiving antenna 23 and the electrical center point of the lower antenna 32 is b, and the angle between this straight line and the incident direction of the received signal is θ. did. Λ is the wavelength of the radio wave of the frequency f1, π is the pi, and ATAN is the arctangent function. ## EQU1 ## cos θ = (λ / 2πb) ATAN (output of integrator 37 /
The output of the integrator 38) The functions of the complex multiplier 36, the integrators 37 and 38, and the angle calculator 39 are DSP (Digital Signal Processor).
Is realized by: That is, when θ is 90 degrees, the phase of the carrier of the output signal of the upper antenna 31 and the phase of the carrier of the output signal of the lower antenna 32 become the same, but as θ deviates from 90 degrees, the phase of these carriers becomes different. FIG. 4 shows a system that measures this phase difference and calculates the angle of incidence of the signal from this phase difference. Then, when the depression angle θ is determined, the distance X from the base of the base station support to the moving object is calculated by the following equation (2). Here, h is the height of the receiving antenna 23 of the base station transceiver 2 from the road surface, and a is the height of the antenna 11 of the mobile station transceiver 1 from the road surface. X = (h−a) tan θ The measured value of the depression angle θ includes an error caused by various factors, and the accuracy of the measured value of the distance X becomes θ due to this error. It gets bigger as it gets bigger. In order to improve the accuracy of the measurement of the distance X, the measured value of the speed of the moving object obtained by the speedometer 17 of the moving object is transmitted to the communication controller 15, the transmitter 13, the antenna duplexer 12, the antenna 11, the receiving antenna
The signal is sent to the roadside processing device 3 via the receiver 23, the receiver 24 and the communication controller 25, and the distance X is estimated in combination with the measured value of the depression angle θ. On the other hand, in the roadside processing device 3, the time (t =
At time tn), a set of the measured value of the depression angle and the measured value of the speed is defined as a vector Yn, a set of the estimated value of the position of the moving object and the estimated value of the speed is defined as a vector Xn, and the time series of Yn is input. A tracking filter to be output is calculated. As a tracking filter algorithm, for example, a “Kalman filter” or the like can be used. In addition, acceleration information is transmitted in addition to the speed information of the moving object, and the accuracy of position estimation can be further improved by using a higher-order tracking filter that processes the acceleration information. Here, in the above description, the base station transceiver 2
Has a function of measuring the angle of depression of the received signal, and measures the position of the moving body in the traveling direction (vertical direction) using the information of the angle of depression. However, the base station transceiver 2 has a function of measuring the azimuth angle. It is also possible to measure the horizontal position at the same time. In such a case, the accuracy of the position information can be improved by estimating the position of the moving object using a tracking filter that uses not only the speed information of the moving object but also the steering information. In this case, it is possible to identify the traveling lane of a moving object traveling on a road with a plurality of lanes, and if this is applied to the entrance gate and the toll collection gate for automatic toll collection, the identification of the vehicle and the connection between the vehicle and the vehicle Since data communication can be realized by one base station transceiver, it is possible to greatly simplify the configuration of the toll collection system. According to the present invention, as described above, when a plurality of base stations are arranged on the road side, when the moving object passes near the base station, the above-described depression angle Position information can be measured with high accuracy, and even when traveling away from the base station, highly accurate position information can be obtained from motion information such as speed obtained from the moving body. For this reason, even if the base stations serving as the reference for position measurement are sparsely arranged,
High-precision location information of the moving body can be obtained throughout the road,
This information can be widely provided for realizing communication control such as handover and realizing “ITS service” such as danger warning. In addition, the base station receiver also has an azimuth angle measurement function, and by adopting a tracking filter for position estimation that also uses the steering information of the mobile object, it is possible to identify the traveling lane of the mobile object. By applying such a function to the entrance gate and the toll collection gate of the automatic toll collection, there is an effect that the configuration of the toll collection system can be simplified.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention. FIG. 2 is a block diagram showing the mobile station transceiver. FIG. 3 is a block diagram showing the base station transceiver. FIG. 4 is a block diagram showing the angle measuring device. [Description of Signs] 1 Mobile station transceiver 2 Base station transceiver 3 Roadside processor 4 Radio communication link 5 Transmission line 11 Antenna 12 Antenna duplexer 13,22 Transmitter 14 Receiver 15 Communication controller 16 Terminal device 17 Speedometer 23 Receiving antenna 26 Angle measuring device 31 Upper antenna 32 Lower antenna 33 Local oscillator 34, 35, 36 Complex multiplier 37, 38 Integrator 39 Angle calculator

Continuation of front page (56) References JP-A-10-319107 (JP, A) JP-A-9-90027 (JP, A) JP-A-9-5432 (JP, A) Atsushi Kitano, Yoshihiko Kuwahara, arrival of radio waves Angle Measurement Method and Communication Vehicle Discrimination System, NEC Technical Report, Japan, NEC Creative Co., Ltd., July 25, 1997, Vol. 50, No. 7 (July 1997), 147-155 (58) Fields investigated (Int. Cl. ⁷ , DB name) G01S 3/46 G01S 3/48 G01S 5/00-5/14 G01S 7/00-7 / 42 G01S 13/00-13/95 G08G 1/00-9/02 G07B 15/00 H04B 7/24-7/26 H04Q 7/00-7/38

Claims (1)

(57) [Claims 1] The position of a wireless communication path for performing information communication between a mobile station mounted on a vehicle traveling on a road and a fixed communication network installed on the roadside. In a mobile communication system that provides information, the fixed communication network includes a base station having a first transceiver that transmits and receives data to and from the mobile station, and a roadside processing device that calculates position information of the mobile station. The mobile station has a second transceiver for transmitting and receiving data to and from a first transceiver. The first transceiver includes a transmitting antenna and a transmitter for transmitting a signal to the second transceiver. Receiving a signal transmitted from a second transceiver, a receiving antenna and a receiver including at least two or more antennas arranged at predetermined intervals, and capturing each of the plurality of antennas Radio signal phase Based on the angle measuring device for measuring the angle of incidence to the receiving antenna of the radio signal,
A communication controller for controlling transmission and reception of data, wherein the second transceiver is configured to transmit and receive signals to and from the first transceiver by transmitting and receiving data to and from an antenna, an antenna duplexer, a transmitter, and a receiver. A communication controller for controlling, and a measuring device for measuring a motion state of the mobile station, wherein the angle measuring device is configured to output signals of a plurality of antennas respectively.
Means for complex multiplication by a complex sine wave, and
Means for complex multiplying one of the complex conjugates of the result by the other;
Integrate the real and imaginary parts of the result of this complex multiplication respectively
Integrating means and the result of these integrations to the signal antenna
The roadside processing device measures the incident angle calculated by the angle measuring device of the first transceiver and the motion state of the mobile station of the second transceiver. A mobile communication system for providing position information, wherein position information of a mobile station is calculated based on exercise information obtained from a device.