JP5430512B2 - MOBILE POSITION DETECTING DEVICE, IN-VEHICLE SAFETY CONTROL DEVICE, AND MOBILE POSITION DETECTING METHOD - Google Patents

Description

  The present invention relates to a mobile body position detection device, an in-vehicle safety control device, and a mobile body position detection method that detect the position of a mobile body using information distributed from a roadside wireless device installed on the roadside. .

  In recent years, there has been proposed a technology that can suppress the occurrence of traffic accidents by alerting the driver using a warning or the like when there is another vehicle that is highly likely to collide with the vehicle (moving body). ing.

  As such a technique, for example, using GPS satellites, current GPS position information is detected for each of the vehicle (first vehicle) and the other vehicles (second vehicle), and the first GPS position information is used to detect the first GPS position information. It has been proposed to determine the relative distance of the second vehicle viewed from the vehicle and determine the collision risk based on the relative distance. However, with this technology, there is a problem that even if the second vehicle is traveling on a route that does not collide with the first vehicle, a warning is given if the relative distance is short. In addition, considering the road network, when trying to obtain the relative distance on the road between the first vehicle and the second vehicle, the map information is used together, and these vehicles exist in which road on which position. It is necessary to analyze whether to do so, and the processing becomes complicated.

  Therefore, the first vehicle receives position information (moving body position information) from the origin of the second vehicle distributed from the roadside wireless device installed on the roadside, and the moving body position information and the first vehicle A technique for determining a collision risk based on position information from the origin has been proposed. However, in this technique, it is necessary to detect position information from the origin of the first vehicle by the technique disclosed in Patent Document 1.

  In the technique disclosed in Patent Literature 1, a near infrared communication device such as an optical beacon roadside wireless device is installed for each lane, and an optical beacon communication device capable of communicating with the optical beacon roadside wireless device is mounted on the vehicle. Then, the vehicle-side optical beacon communication device calculates the journey distance using the elapsed time from the time when the communication starts with the optical beacon roadside wireless device to the current time, and the speed vector, and the installation position of the optical beacon roadside wireless device A position advanced from the (origin) by a distance is detected as the current position of the vehicle.

JP 2008-181207 A

  In the technique disclosed in Patent Document 1, communication between the optical beacon roadside wireless device and the optical beacon communication device is a communication with a relatively narrow communication range of 3 to 5 meters, that is, the entire length of one vehicle. Is used. However, in the technique described in Patent Document 1, using other communication media such as DSRC (Dedicated Short Range Communication) having a relatively wide communication range of several tens to several hundreds of meters or communication using a 700 MHz band radio wave, There has been a problem that the accuracy of vehicle position detection becomes low.

  Therefore, the present invention has been made in view of the above-described problems, and provides a technique capable of detecting the current position of a moving body using communication having a relatively wide communication range. For the purpose.

  A mobile body position detection device according to the present invention is a mobile body position detection device mounted on a mobile body, and has a coordinate system composed of an origin and a coordinate axis for indicating the position of the mobile body distributed from a roadside wireless device. Based on the moving body position coordinate information to be identified and a plurality of moving body position history information of the detection target moving body on which the moving body detection device is mounted, the current position in the coordinate system of the detection target moving body is detected. A moving body position detecting means is provided. The moving body position history information includes past GPS position information of the detection target moving body and an accumulated travel distance associated with the GPS position information, and the moving body position detecting means includes the plurality of moving bodies. Among the position history information, the mobile body position history information including the GPS position information closest to the position of the origin specified by the mobile body position coordinate information is searched, and the accumulation of the searched mobile body position history information is performed. A position advanced in the direction of the coordinate axis from the origin by the difference between the travel distance and the current cumulative travel distance is detected as the current position in the coordinate system of the detection target moving body.

  According to the present invention, the current position in the coordinate system of the detection target moving body is detected based on the moving body position coordinate information from the roadside apparatus and the plurality of moving body position history information. In this detection, since the size of the communication range of the roadside apparatus is hardly affected, communication having a relatively wide communication range can be used when detecting the current position of the detection target moving body. In addition, since the current position is the difference between the cumulative travel distance of the moving body position history information and the current cumulative travel distance, the calculation is simplified and the current position can be detected with high accuracy.

It is a figure which shows the structure of the safe driving assistance system which concerns on Embodiment 1. FIG. It is a figure which shows the example of application of the safe driving assistance system which concerns on Embodiment 1. FIG. 1 is a block diagram illustrating a configuration of an in-vehicle safety control device according to a first embodiment. It is a figure which shows operation | movement of the vehicle-mounted safety control apparatus which concerns on Embodiment 1. FIG. 3 is a flowchart showing the operation of the in-vehicle safety control device according to the first embodiment.

<Embodiment 1>
FIG. 1 is a diagram illustrating a concept of a safe driving support system using a mobile body position detection device, an in-vehicle safety control device, and a mobile body position detection method according to the present embodiment, and FIG. It is a figure which shows the example of application of a support system. As shown in the lower side of FIG. 2, in the present embodiment, with respect to the vehicle that is a moving body, an origin on the upstream side, and a one-dimensional coordinate axis with a positive direction from the origin toward the downstream along the journey, A coordinate system consisting of is used.

  As shown in FIG. 1, the safe driving support system includes an in-vehicle safety control device 1 according to the present embodiment mounted on a vehicle 11, a road-side moving body detection device 2 installed on a road (roadside), a road And a roadside apparatus 3 installed on the roadside.

  The roadside moving body detection device 2 includes, for example, an image sensor, an ultrasonic sensor, and an optical sensor. When a vehicle is present in the detection range 2a, the roadside moving body detection device 2 detects the current position in the coordinate system of the vehicle and indicates the current position. Mobile object position information is generated. In addition, the vehicle-mounted safety control apparatus 1 may be mounted in the vehicle which exists in the detection range 2a, and it does not need to be mounted. The roadside mobile body detection device 2 outputs the generated mobile body position information to the roadside wireless device 3.

  When the vehicle-mounted safety control device 1 of the vehicle 11 is present in the communication area, the roadside wireless device 3 is wirelessly connected to the vehicle-mounted safety control device 1 using a DSRC having a communication range of several tens to several hundreds of meters or a 700 MHz band radio wave. Communicate.

  In the present embodiment, the roadside apparatus 3 is connected to the central apparatus 4 and can receive from the central apparatus 4 mobile body position coordinate information that specifies a coordinate system including the origin and the coordinate axes. Yes. In the moving body position coordinate information, for example, the position of the origin or a predetermined position on the road is specified using longitude, latitude, and direction.

  The roadside apparatus 3 distributes the moving body position information from the roadside moving body detection apparatus 2 and the moving body position coordinate information from the central apparatus 4 to the in-vehicle safety control apparatus 1. Here, the roadside wireless device 3 has been described as receiving the mobile body position coordinate information from the central device 4, but the mobile body position coordinate information may be held in advance in the roadside wireless device 3.

  As shown in FIG. 2, a vehicle 11 (hereinafter referred to as “detection target vehicle 11”) on which the in-vehicle safety control device 1 is mounted is traveling on a road 6 represented by the coordinate system. On the road 6, another vehicle 12 (hereinafter referred to as “front vehicle 12”) is traveling ahead of the detection target vehicle 11. As will be described later, in the present embodiment, when the current position P1 in the coordinate system of the detection target vehicle 11 is detected and the detection target vehicle 11 is highly likely to collide with the vehicle 12 ahead, It is possible to warn.

  On the road 6 on which the detection target vehicle 11 is traveling, a communication range 3a in which the roadside apparatus 3 can always communicate with the detection target vehicle 11 is provided. A detection range 2a in which the road-side moving body detection device 2 can detect the current position of the vehicle in the coordinate system is provided downstream of the communication range 3a. In FIG. 2, the communication range 3 a of the roadside wireless device 3 and the detection range 2 a of the roadside mobile body detection device 2 are shown as being separated from each other. Some may overlap each other.

  The roadside moving body position detection 2 can always detect the current position in the coordinate system of the vehicle existing in the detection range 2a, and when the current position is detected, the movement indicating the current position is detected. The body position information is output to the roadside apparatus 3. In the state shown in FIG. 2, since the forward vehicle 12 exists in the detection range 2a, the road-side mobile body position detection 2 uses the road-side wireless position information indicating the current position P2 in the coordinate system of the forward vehicle 12 as roadside wireless. It is output to the device 3.

  FIG. 3 is a block diagram illustrating a configuration of the in-vehicle safety control device 1 including the moving body detection position device 105 according to the present embodiment. As shown in this figure, the in-vehicle safety control device 1 includes a timer device 101, an in-vehicle sensor device 102, a communication device 103, a mobile object position history information storage device 104, a mobile object position detection device 105, and a collision. A determination device 106 and a warning output device 107 are provided. For example, a storage device (not shown) such as a RAM is used as the moving body position history information storage device 104, and a speaker or a display device (none of them is shown) is used as the warning output device 107, for example. Used.

  The timer device 101 acquires time information indicating the current time and outputs the time information to the moving body position history information storage device 104.

  The in-vehicle sensor device 102 detects the GPS position information from the GPS satellite of the detection target vehicle 11, the in-vehicle sensor information including information such as the vehicle speed of the detection target vehicle 11, and the cumulative travel distance of the detection target vehicle 11. The information is output to the moving body location history information storage device 104. Further, the in-vehicle sensor device 102 outputs the current (latest) cumulative travel distance of the detection target vehicle 11 to the moving body position detection device 105. Although not shown in FIG. 3, the in-vehicle sensor device 102 according to the present embodiment also outputs the in-vehicle sensor information (vehicle speed) to the collision determination device 106.

  The communication device 103 wirelessly communicates with the roadside wireless device 3 using radio waves or near infrared rays, thereby outputting the moving body position information and the moving body position coordinate information from the roadside wireless device 3 to the moving body position detecting device 105. Then, the communication information indicating the communication state is output to the mobile unit position history information storage device 104.

  In the present embodiment, the timer device 101, the in-vehicle sensor device 102, and the communication device 103 transfer the above information to the moving body position history information at a time interval (for example, 100 milliseconds) that is allowed in the specification of the safe driving support system. Assume that the data is output to the storage device 104 or the like.

  The mobile body location history information storage device 104 generates and stores a plurality of mobile body location history information from the output information of the timer device 101, the in-vehicle sensor device 102, and the communication device 103.

  FIG. 4 is a diagram illustrating an example of a plurality of mobile body position history information generated and stored by the mobile body position history information storage device 104. The mobile body location history information storage device 104 generates time information output from the timer device 101, GPS location information output from the in-vehicle sensor device 102, in-vehicle sensor information, and cumulative travel when generating the mobile body location history information. The distance and the communication information output from the communication device 103 are acquired almost simultaneously, and the moving body position history information is generated from these information. By such an operation of the moving body position history information storage device 104, each of the plurality of moving body position history information corresponds to the GPS position information of the detection target vehicle 11 and the GPS position information as shown in FIG. It includes the cumulative travel distance of the attached detection target vehicle 11.

  Here, each item shown in FIG. 4 will be described. The time information indicates the time when the GPS position information and the like are acquired. The GPS position information indicates the position information of the detection target vehicle 11 at the latitude / longitude detected by the GPS satellite. The communication information indicates the start / end of communication, the type of communication media, and connection / disconnection. The in-vehicle sensor information indicates the speed, direction, vehicle speed pulse, presence / absence of magnetic marker detection, and presence / absence of stop line detection of the detection target vehicle 11. The cumulative travel distance indicates the distance traveled since the detection target vehicle 11 started travelling. This cumulative travel distance is calculated based on, for example, the cumulative rotational speed of the tire of the detection target vehicle 11. In the present embodiment, when the accumulated travel distance exceeds the maximum value that can be accumulated, the accumulated travel distance is accumulated again from the value at the start of accumulation (for example, 0 meter). The mobile body location history information storage device 104 stores the generated mobile body location history information in order of time.

  Returning to FIG. 3, the moving body position detecting device 105 as a point of the present invention includes moving body position detecting means 105 a. This moving body position detecting means 105 a is based on the moving body position coordinate information from the communication device 103 and the plurality of moving body position history information stored in the moving body position history information storage device 104. Current position P1 is detected. In addition, the moving body position coordinate information from the communication device 103 is the moving body position coordinate information from the roadside apparatus 3 in other words. The operation in which the moving body position detecting unit 105a detects the current position P1 will be described in detail later using a flowchart.

  The moving body position detecting device 105 includes the current position P1 of the detection target vehicle 11 detected by the moving body position detecting means 105a and the moving body position information indicating the current position P2 of the preceding vehicle 12 from the communication device 103. Based on this, the relative distance (distance between vehicles) of the forward vehicle 12 viewed from the detection target vehicle 11 is calculated, and the relative distance is output to the collision determination device 106. In addition, the moving body position information from the communication apparatus 103 is moving body position coordinate information from the roadside apparatus 3 in other words.

  The collision determination device 106 causes the detection target vehicle 11 to collide with the preceding vehicle 12 based on the relative distance from the moving body position detection device 105 and the speed of the detection target vehicle 11 from the in-vehicle sensor device 102 (in-vehicle sensor information). Determine whether there is a risk of The determination operation of the collision determination device 106 will also be described in detail later using a flowchart.

  When the collision determination device 106 determines that the detection target vehicle 11 is in danger of colliding with the vehicle 12 ahead, the content for warning the driver of the detection target vehicle 11 that there is a possibility and danger of the collision (For example, sound and image data) is output to the warning output device 107. When the warning output device 107 receives the content from the collision determination device 106, the warning output device 107 reproduces the content and outputs a warning by sound, image, or the like to the outside (driver).

  FIG. 5 is a flowchart showing the operations of the moving object position history information storage device 104, the moving object position detection device 105 (the moving object position detection means 105a), the collision determination device 106, and the warning output device 107. In this flowchart, mainly, the moving body position detection unit 105a detects the current position P1 of the detection target vehicle 11, and the collision determination device 106 determines the risk of collision between the detection target vehicle 11 and the preceding vehicle 12. This indicates that the warning output device 107 outputs a warning to the driver when it is determined that there is a collision risk. Hereinafter, this series of operations will be described in detail using this flowchart.

  In addition, as the previous stage of step S1, every time the detection target vehicle 11 travels a distance (for example, several tens of centimeters) allowed as a position detection error in the specification of the safe driving support system, the moving body position history information It is assumed that a plurality of mobile body position history information is stored by the storage device 104 generating the GPS position information and the accumulated travel distance as mobile body position history information. However, when a predetermined time has elapsed, when communication with the roadside apparatus 3 is connected / disconnected, such as when communication with the roadside apparatus 3 is started, and when the in-vehicle sensor device 102 is embedded in the road Alternatively, the moving body position history information storage device 104 may generate and store the moving body position history information when any of the cases where the stop line position is detected is established.

  In step S <b> 1, the mobile body position information and the mobile body position coordinate information received by the communication device 103 and the cumulative travel distance detected by the in-vehicle sensor device 102 are input to the mobile body position detection device 105 as needed.

  In step S2, the moving body position detecting means 105a is specified by the moving body position coordinate information received in step S1 among the plurality of moving body position history information stored in the moving body position history information storage device 104. The mobile body position history information including the past GPS position information closest to the origin position (position 0 shown in FIG. 2) is searched. Hereinafter, the moving body position history information searched by the moving body position detecting means 105a in this way may be referred to as “moving body position history information O”.

Then, the moving body position detecting means 105a determines the difference between the accumulated traveling distance (L _O ) of the moving body position history information O and the current (latest) accumulated traveling distance (L _X ) detected by the in-vehicle sensor device 102 ( P1) is calculated. In the present embodiment, the moving body position detecting means 105a obtains P1 by the following equation (1) when L _X ≧ L _O , and when L _X <L _O , the following equation (2 ) To obtain P1.

  Then, the moving body position detecting unit 105a detects the position advanced from the origin by the difference (P1) as the current position in the coordinate system of the detection target vehicle 11.

  In step S <b> 3, the moving body position detection device 105 detects the forward vehicle 12 indicated by the current position (P <b> 1) of the detection target vehicle 11 detected by the moving body position detection unit 105 a and the moving body position information from the communication device 103. Based on the current position (P2), the road relative distance (Lw) of the forward vehicle 12 viewed from the detection target vehicle 11 is calculated by the following equation (3).

  In step S <b> 4, the moving body position detection device 105 outputs the value of the relative distance Lw to the collision determination device 106.

  In step S5, the collision determination unit 106 determines whether the detection target vehicle 11 and the preceding vehicle 12 collide based on the relative distance Lw.

  For example, the collision determination unit 106 uses the following equation (4) based on the predetermined deceleration (d) of the detection target vehicle 11 and the speed (v) of the detection target vehicle 11 from the in-vehicle sensor device 102. Then, a braking distance (La) is calculated that proceeds to a time (Ta = (v / d)) from when the detection target vehicle 11 receives a brake or the like until it stops.

  Then, the collision determination unit 106 receives the speed (v) of the detection target vehicle 11 and the moving body position information regarding the preceding vehicle 12 from the communication unit 103 until the warning output device 107 outputs a warning. And the response time (Tc) of the person from when the warning is received from the warning output device 107 until the driver performs a collision avoidance action such as a brake, the following equation (5): The distance (Lb) traveled from when the moving body position information of the preceding vehicle 12 is received by the communication means 103 until the collision avoidance action such as braking is performed is calculated.

  In step S6, the collision determination unit 106 determines that there is a risk of collision between the detection target vehicle 11 and the preceding vehicle 12 when the following expression (6) is satisfied, and the process proceeds to step S7. On the other hand, when the following equation (6) is not satisfied, the collision determination unit 106 determines that there is no risk that the detection target vehicle 11 and the preceding vehicle 12 will collide, and without performing step S7, FIG. The operation shown in FIG.

  In step S <b> 7, the collision determination unit 106 outputs content for warning the driver of the detection target vehicle 11 to the warning output device 107. Then, the warning output device 107 reproduces the content from the collision determination unit 106 and outputs a warning to the driver (external).

  According to the mobile body position detection apparatus 105 according to the present embodiment as described above, the detection target vehicle 11 is detected based on the mobile body position coordinate information from the roadside apparatus 3 and a plurality of mobile body position history information. The current position P1 is detected. In this detection, since the size of the communication range 3a of the roadside apparatus 3 has little influence, when detecting the current position P1 of the detection target vehicle 11, communication having a relatively wide communication range 3a can be used. . In addition, since the current position P1 is a difference between the cumulative travel distance of the moving body position history information and the current cumulative travel distance, the calculation is simplified and an accurate travel distance can be detected. As a result, it is also possible to expect a secondary effect that energy required for calculation / detection can be reduced and a device required for the calculation / detection can be reduced in size.

  Note that, as described above, the GPS position information and the accumulated traveling distance are calculated as the mobile body position history information every time the vehicle travels a distance (for example, several tens of centimeters) allowed as a position detection error in the specification of the safe driving support system. As a result, the current position P1 can be acquired with high accuracy.

  Moreover, according to the vehicle-mounted safety control apparatus 1 which concerns on this Embodiment as mentioned above, it is determined whether the detection object vehicle 11 and the front vehicle 12 collide based on the relative distance on a coordinate. Thereby, the risk of collision is determined using the relative distance on the road in consideration of the road network. Therefore, it is possible to prevent a warning from being output even if the actual relative distance is shortened when traveling on a route that does not collide.

  In the moving body position coordinate information, for example, the position of the origin or a predetermined position on the road is specified by using longitude, latitude, and azimuth. It may be used as a position.

  In this case, a magnetic marker is installed at the position of the origin (position O shown in FIG. 2), and the in-vehicle sensor device 102 detects the magnetic marker. Then, in the same manner as in step S2 described above, among the plurality of moving body position history information stored in the moving body position history information storage device 104, a magnetic marker (for example, history NO1 in FIG. 4) detected as in-vehicle sensor information. GPS position information corresponding to) is used as the origin.

<Embodiment 2>
In the first embodiment described above, the current position of the detection target vehicle 11 is obtained using the moving body position coordinate information and the moving body position history information. In the present embodiment, the current position of the detection target vehicle 11 is obtained using other information.

  In the present embodiment, from the roadside wireless device 3, stop line position coordinate information for specifying a coordinate system composed of an origin and a coordinate axis for indicating the stop line position, and a relative distance of the stop line viewed from the origin (that is, the concerned Stop line position information indicating the stop line position on the coordinate system) is distributed. In the present embodiment, the stop line position coordinate information and stop line position information distributed from the roadside apparatus 3 are received by the communication apparatus 103 and then input to the moving body position detection apparatus 105.

  In parallel with this, the vehicle-mounted safety control device 1 detects the stop line position using the camera 102a (imaging sensor) included in the vehicle-mounted sensor device 102. The in-vehicle sensor device 102 acquires the difference between the cumulative travel distance at the time when the stop line position is detected and the current cumulative travel distance as the relative distance Lc of the stop line position as viewed from the detection target vehicle 11. The relative distance Lc acquired by the in-vehicle sensor device 102 is input to the moving body position detection device 105.

  And the moving body position detection apparatus 105 calculates | requires the present position Ps1 of the detection target vehicle 11 by following Formula (7) based on stop line position coordinate information, stop line position information, and relative distance Lc. That is, the moving body position detection device 105 detects the difference between the stop line position indicated by the stop line position information and the relative distance Lc as the current position Ps1 of the detection target vehicle 11 in the coordinate system specified by the stop line position coordinate information. To do.

  According to the moving body position detection apparatus 105 according to the present embodiment as described above, the stop line position coordinate information and stop line position information from the roadside apparatus 3 and the detection target vehicle 11 detected using the camera 102a. The current position PS1 of the detection target vehicle 11 can be detected using the relative distance Lc of the viewed stop line position. That is, according to the moving body position detection apparatus 105 according to the present embodiment, the current position Ps1 of the detection target vehicle 11 can be detected using information different from the information used in the first embodiment.

  Since the stop line position is detected using the camera 102a, the detection error of the relative distance Lc detected by the in-vehicle sensor device 102, that is, the detection error of the current position Ps1 is an imaging range of the camera (about 5 to 5). 6m) or less. As a result, the detection error of the current position Ps1 obtained in the present embodiment is within the detection error range of the relative distance Lc.

  In addition, in this embodiment, the GPS position information necessary for obtaining the current position P1 of the detection target vehicle 11 in the first embodiment is unnecessary, so that the urban area where GPS radio waves do not reach with many high-rise buildings. Alternatively, even if the GPS position detection error occurs in units of 10 meters, the current position Ps1 of the detection target vehicle 11 can be obtained.

  Note that the current position P1 and the current position Ps1 of the detection target vehicle 11 are respectively obtained according to the first embodiment and the second embodiment, and the value of the current position P1 is greater than or equal to a predetermined value (for example, ten meters or more) from the value of the current position Ps1. ) If they are different, it is determined that the accuracy of the value of the current position P1 is lowered, and the current position P1 is not used for a predetermined operation (for example, the determination of the collision risk described in the first embodiment). May be. In this case, the current position Ps1 may be used instead of the current position P1. In this way, whether the accuracy of the current position P1 obtained in the first embodiment is good or bad can be confirmed based on the current position P1 and the current position Ps1 obtained in the present embodiment. Therefore, it is possible to use only the current position with high accuracy.

  DESCRIPTION OF SYMBOLS 1 Vehicle-mounted safety control apparatus, 2 roadside mobile body detection apparatus, 3 roadside radio | wireless apparatus, 11 detection object vehicle, 12 vehicle ahead, 102a camera, 105 mobile body position detection apparatus, 105a mobile body position detection means, 106 collision determination means, 107 Warning output device.

Claims (5)

A moving body position detecting device mounted on a moving body,
A plurality of movements of moving object position coordinate information specifying a coordinate system composed of an origin and a coordinate axis for indicating the position of the moving object, and a detection target moving object on which the moving object detection device is mounted, distributed from the roadside wireless device Based on body position history information, comprising a moving body position detecting means for detecting a current position in the coordinate system of the detection target moving body,
The moving body position history information is:
Including past GPS position information of the detection target moving body, and an accumulated travel distance associated with the GPS position information,
The moving body position detecting means includes
Among the plurality of moving body position history information, the moving body position history information including the GPS position information closest to the position of the origin specified by the moving body position coordinate information is searched, and the searched moving body position A moving body position detecting device that detects a position advanced in the direction of the coordinate axis from the origin by the difference between the accumulated traveling distance of history information and the current accumulated traveling distance as a current position in the coordinate system of the detection target moving body. . An in-vehicle safety control device mounted on a moving body,
The mobile body position detection device according to claim 1,
The mobile body position detection device includes a current position in the coordinate system of the detection target mobile body detected by the mobile body position detection unit, and a current position in the coordinate system of another mobile body distributed from a roadside wireless device. Based on the moving body position information indicating the position, the relative distance of the other moving body viewed from the detection target moving body,
A collision determination means for determining whether the detection target moving body and the other moving body collide based on the relative distance;
A vehicle-mounted safety control device further comprising a warning output device that outputs a warning to the outside when the collision determination means determines that a collision has occurred. A moving body position detection method for detecting the position of a detection target moving body,
(A) Obtaining moving body position coordinate information specifying a coordinate system composed of an origin and a coordinate axis for indicating the position of the moving body, distributed from the roadside apparatus, and past GPS position information of the detection target moving body And acquiring a plurality of mobile body position history information including the cumulative travel distance associated with the GPS position information;
(B) Among the plurality of moving body position coordinate information, the mobile body position history information including the GPS position information closest to the position of the origin specified by the moving body position coordinate information is searched, and the searched Detecting a distance traveled in the direction of the coordinate axis from the origin by the difference between the cumulative travel distance of the mobile body position history information and the current cumulative travel distance as a current position in the coordinate system of the detection target mobile body. A moving body position detection method provided. A moving body position detection method for detecting the position of a detection target moving body,
(A) Stop line position coordinate information specifying a coordinate system composed of an origin and a coordinate axis for indicating the stop line position and the vehicle position distributed from the roadside apparatus, and a stop indicating the stop line position in the coordinate system Obtaining line position information and obtaining a relative distance of the stop line position viewed from the detection target moving body using an imaging sensor included in the detection target moving body;
(B) detecting a difference between the stop line position indicated by the stop line position information and the relative distance as a current position of the detection target moving body in the coordinate system specified by the stop line position coordinate information; A moving body position detection method comprising: (A) detecting a current position of the detection target moving body using the moving body position detecting method according to claim 3;
(B) detecting a current position of the detection target moving body using the moving body position detecting method according to claim 4;
(C) The accuracy of the current position detected in the step (A) when the value of the current position detected in the step (A) is different from the value of the current position detected in the step (B) by a predetermined value or more. A moving body position detection method comprising: a step of determining that the pressure has decreased.

Images