JP7420033B2 - Probe information transmitting device, radio map updating device, radio map providing device, and radio map acquisition and utilization device - Google Patents

Description

The present invention relates to devices related to radio maps, including a probe information transmitting device and a radio map acquisition and utilization device that are mainly installed in a moving body, and a radio map updating device and a radio map providing device that are mainly implemented in a server. , and relates to methods implemented by these devices and programs to be executed by these devices.

As wireless communication becomes more widespread, opportunities to communicate using wireless communication are increasing in various places. In particular, in mobile bodies such as automobiles, technologies that perform driving support and automatic driving control using large-capacity cellular communication, V2X such as vehicle-to-vehicle communication and road-to-vehicle communication are attracting attention. Along with this, vehicles have come to be equipped with communication functions, and so-called connected vehicles are progressing.
It is known that in wireless communications, interference between radio waves causes variations in the strength of the transmission and reception levels of the radio waves depending on the location, and this phenomenon is generally called fading. Since mobile objects such as automobiles are assumed to be mobile, communication quality will fluctuate as they move. Therefore, if the communication quality at a specific location can be known in advance, countermeasures can be taken in advance.

For example, Patent Document 1 describes a communication resource map that shows the correspondence between a point and the amount of communication resources that are estimated to be available for communication at that point. Further, Patent Document 1 describes a positioning accuracy map that shows the correspondence between a point and the positioning accuracy estimated when positioning is performed to specify the position of the own vehicle using an autonomous sensor while moving from that point. There is.

JP2019-203823A

Here, the present inventors discovered the following problem.
When generating or updating a radio wave map that shows the state or estimation results of the radio wave propagation path at a certain point, if position information obtained by GNSS (Global Navigation Satellite System) with different accuracy is mixed, high-precision position information Reliability will be diminished. As a result, the use of such radio wave maps is limited to services based on low-precision location information.

An object of the present invention is to generate a radio wave map according to the positioning accuracy of location information.
Another object of the present invention is to provide and use a radio wave map with appropriate positioning accuracy depending on the usage method.

A probe information transmitting device (100) of the present disclosure is a probe information transmitting device mounted on a mobile object,
a position information acquisition unit (101) that acquires position information indicating the current position of the mobile object;
a positioning accuracy information generation unit (109) that generates positioning accuracy information indicating the positioning accuracy of the location information;
a wireless communication unit (102) that performs wireless communication with an external communication device;
a propagation environment information acquisition unit (103) that acquires propagation environment information of a radio wave propagation path used in the wireless communication at the current location;
It has a transmitter (105) that transmits the position information, the positioning accuracy information, and the propagation environment information as probe information to the radio map update device (200).

A radio map update device (200) of the present disclosure is a radio map update device that generates or updates a radio map by receiving probe information from a probe information transmitting device (100) mounted on a mobile object, and includes:
first reference position information indicating the first reference position when the positioning accuracy of the first reference position is relatively high; and first reference propagation environment information of the radio wave propagation path at the first reference position; a first storage unit (201) that stores a first radio wave map having a first radio wave map;
Second reference position information indicating the second reference position when the positioning accuracy of the second reference position is relatively low, and second reference propagation environment information of the radio wave propagation path at the second reference position. a second storage unit (202) that stores a second radio wave map having a second radio wave map;
Receiving the probe information including position information indicating the position of the mobile body, positioning accuracy information indicating the positioning accuracy of the position information, and propagation environment information of a radio wave propagation path used by the mobile body in wireless communication at the position. a receiving section (204);
a positioning accuracy determination unit (206) that determines the positioning accuracy of the position information based on the positioning accuracy information;
If the positioning accuracy of the location information is higher than a predetermined accuracy, the propagation environment information is used to determine the first reference propagation environment information of the first radio map and the second reference propagation environment information of the second radio map. Statistics for updating reference propagation environment information, and updating the second reference propagation environment information of the second radio wave map using the propagation environment information if the positioning accuracy of the position information is lower than the predetermined accuracy. It has a processing section (207).

A radio map providing device (250) of the present disclosure is a radio map providing device that receives a radio map request from a radio map acquisition and utilization device (150) mounted on a mobile object and transmits necessary information,
first reference position information indicating the first reference position when the positioning accuracy of the first reference position is relatively high; and first reference propagation environment information of the radio wave propagation path at the first reference position; a first storage unit (201) that stores a first radio wave map having a first radio wave map;
Second reference position information indicating the second reference position when the positioning accuracy of the second reference position is relatively low, and second reference propagation environment information of the radio wave propagation path at the second reference position. a second storage unit (202) that stores a second radio wave map having a second radio wave map;
a receiving unit (204) that receives the radio wave map request including requested position information indicating the requested position and requested positioning accuracy information indicating the requested positioning accuracy;
If the requested positioning accuracy information included in the radio map request is higher than a predetermined accuracy, the first reference position information and the first reference propagation environment information corresponding to the requested position information are stored from the first storage unit. is obtained, and if the requested positioning accuracy information included in the radio map request is lower than the predetermined accuracy, the second reference position information corresponding to the requested position information and the second a radio wave map extraction unit (208) that acquires reference propagation environment information;
transmitting a radio wave map reply including the first reference position information and first reference propagation environment information, or the second reference position information and the second reference propagation environment information acquired by the radio map extraction unit; It has a transmitter (205).

The radio wave map acquisition and utilization device (150) of the present disclosure is a radio wave map acquisition and utilization device mounted on a mobile object, and includes:
a requested location information generation unit (110) that determines a requested location and generates requested location information;
a requested positioning accuracy information generation unit (111) that determines the requested positioning accuracy and generates the requested positioning accuracy information;
a transmitting unit (105) that transmits a radio map request including the requested location information and the requested positioning accuracy information to the radio map providing device (250);
Receive, from the radio map providing device, a radio map reply that includes reference position information and reference propagation environment information that correspond to the requested position information, obtained from the radio map that corresponds to the requested positioning accuracy information included in the radio map request. a receiving section (106);
It has a wireless communication unit (102) that performs wireless communication with an external communication device based on the radio wave map reply.

Note that the numbers in parentheses attached to the claims and the constituent features of the invention described in this section indicate the correspondence between the present invention and the embodiments described below, and are not intended to limit the present invention. do not have.

With the above-described configuration, it is possible to generate a radio wave map according to the positioning accuracy of position information.
Further, with the above-described configuration, it is possible to provide and use a radio wave map having appropriate positioning accuracy depending on the usage method.

Diagram showing the overall configuration of an embodiment of the present disclosure A block diagram showing a configuration example of a probe information transmitting device and a radio wave map acquisition and utilization device that are in-vehicle devices according to an embodiment of the present disclosure. A block diagram showing a configuration example of a radio map update device and a radio map providing device that are server devices according to an embodiment of the present disclosure. An explanatory diagram illustrating a radio wave map generated and used in the embodiment of the present disclosure Flowchart showing the operation of the probe information transmitting device and the radio map updating device according to the embodiment of the present disclosure Flowchart showing a specific method of statistical processing according to the embodiment of the present disclosure Flowchart showing the operation of the radio wave map acquisition and utilization device and the radio map providing device according to the embodiment of the present disclosure

Embodiments of the present invention will be described below with reference to the drawings.

Note that the present invention refers to the invention described in the claims or the means for solving the problems, and is not limited to the following embodiments. In addition, at least the words and phrases in angle brackets mean the words and phrases described in the claims or the means for solving the problem, and are not limited to the following embodiments.

The structures and methods described in the dependent claims are arbitrary structures and methods in the invention described in the independent claims. The configurations and methods of the embodiments corresponding to the configurations and methods described in the dependent claims, and the configurations and methods described only in the embodiments without being described in the claims are arbitrary configurations and methods in the present invention. In the case where the description of the claims is broader than the description of the embodiments, the configurations and methods described in the embodiments are also arbitrary configurations and methods in the present invention in the sense that they are examples of the configurations and methods of the present invention. . In either case, what is described in the independent claims of the claims constitutes an essential structure and method of the present invention.

The effects described in the embodiments are effects obtained when the present invention has the configuration of the exemplary embodiment, and are not necessarily effects that the present invention has.

When there are multiple embodiments, the configuration disclosed in each embodiment is not limited to each embodiment alone, but can be combined across the embodiments. For example, the configuration disclosed in one embodiment may be combined with other embodiments. Further, configurations disclosed in each of a plurality of embodiments may be collected and combined.

The problems described in "Problems to be Solved by the Invention" are not known problems, but were independently discovered by the present inventor, and are facts that affirm the inventive step of the invention together with the structure and method of the present invention.

1. Embodiment (1) Overall configuration including related devices First, the overall configuration showing related devices and their mutual relationships in this embodiment will be described using FIG. 1.

In-vehicle device A and in-vehicle device C that are “mounted” on a vehicle that is a “mobile object” are connected to server device B via a communication network.
Here, the term "moving object" refers to a movable object, and the moving speed is arbitrary. Naturally, this also includes cases where the moving object is stopped. Examples include, but are not limited to, automobiles, motorcycles, bicycles, pedestrians, ships, aircraft, and objects mounted on these.
Furthermore, "mounted" includes not only the case where the device is directly fixed to the moving object, but also the case where it is not fixed to the moving object but moves together with the moving object. For example, when the vehicle is carried by a person riding on a moving body, or when it is carried on cargo placed on the moving body.

The vehicle-mounted device A corresponds to the probe information transmitting device 100 of this embodiment, and transmits probe information, which is information necessary for generating a radio wave map, to the server device B via a communication network.

Server device B corresponds to the radio map update device 200 of this embodiment, receives probe information from vehicle-mounted device A via the communication network, and generates or updates a “radio map” based on the probe information.
Here, the "radio wave map" refers to a set of states or estimation results of radio wave propagation paths at a specific location, and refers to, for example, a mapping of RSSI for each grid point on a map.

Further, the server device B corresponds to the radio map providing device 250 of the present embodiment, and receives a radio map request from the in-vehicle device C via the communication network, and sends a radio map reply that is information according to the content of the radio map request. is transmitted to the vehicle-mounted device C via the communication network.

The in-vehicle device C corresponds to the radio map acquisition and utilization device 150 of this embodiment, and transmits a radio map request to the server device B via the communication network, and sends a radio map reply that is information according to the content of the radio map request. Received from server device B via the communication network.

The vehicle-mounted device A and the vehicle-mounted device C receive positioning signals from GNSS satellites and acquire their respective position information.

The vehicle-mounted device A and the vehicle-mounted device C perform wireless communication with a base station.

Here, in FIG. 1, wireless communication with a base station and communication via a communication network are described as separate communications, but these may be the same. That is, the vehicle-mounted device A and the vehicle-mounted device C may be connected to the server device B by wireless communication via a base station.

Wireless communication methods with base stations include, for example, IEEE802.11 (WiFi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), W-CDMA (Wideband Code Division Multiple Access), and HSPA (High Speed Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution Advanced), 4G, 5G, etc. can be used. Alternatively, DSRC (Dedicated Short Range Communication) can be used.

The communication network can also use a wired communication method in addition to the above-mentioned wireless communication method. For example, a LAN (Local Area Network), the Internet, or a fixed telephone line can be used. When using a wired communication method, it is assumed that the vehicle is parked in a parking lot at home or another location, or is housed in a repair shop.

The communication network may combine a wireless communication method and a wired communication method. For example, the in-vehicle device A and a base station in a cellular system may be connected using a wireless communication method, and the connection from the base station may be made using a wired communication method such as a backbone line of a communication carrier or the Internet.

Although an example has been described in which the vehicle-mounted device A and the vehicle-mounted device C are mounted on different vehicles, they may be mounted on one vehicle. Furthermore, in this case, the on-vehicle device A and the on-vehicle device C may not only be implemented as separate devices, but also the functions of the probe information transmitting device 100, which is the on-vehicle device A, and the functions of the radio wave map acquisition and utilization device 150, which is the on-vehicle device C. It may be implemented as one in-vehicle device.
Further, although an example has been described in which the server device B has the functions of both the radio wave map updating device 200 and the radio wave map providing device 250 of this embodiment, it may be provided separately in separate server devices.

(2) Configuration of in-vehicle device (probe information transmitting device 100, radio map acquisition and utilization device 150) The configuration of the in-vehicle device of this embodiment will be described using FIG. 2. In this embodiment, an example will be described in which the on-vehicle device is configured to implement the functions of both the probe information transmitting device 100 and the radio wave map acquisition and utilization device 150.

The in-vehicle device includes a position information acquisition section 101, a wireless communication section 102, a propagation environment information acquisition section 103, a control section 104, a transmission section 105, a reception section 106, an application 107, and a storage section 108. Further, the control unit 104 realizes a positioning accuracy information generation unit 109, a requested positioning information generation unit 110, and a requested positioning accuracy information generation unit 111.

The in-vehicle device can be configured with a general-purpose CPU (Central Processing Unit), volatile memory such as RAM, nonvolatile memory such as ROM, flash memory, or hard disk, various interfaces, and an internal bus that connects these. By executing software on these hardware, it is possible to configure the system so that the functions of each functional block shown in FIG. 2 are exhibited. The same applies to the server device shown in FIG. 3, which will be described later.
Of course, the in-vehicle device may be realized using dedicated hardware such as an LSI.

In this embodiment, the in-vehicle device is assumed to be in the form of an electronic control unit (ECU, hereinafter abbreviated as ECU) as a semi-finished product, but is not limited to this. For example, the forms of parts include semiconductor circuits and semiconductor modules, and the forms of finished products include personal computers (PCs), smartphones, mobile phones, and navigation systems.
Note that the in-vehicle device may include a single ECU or a plurality of ECUs. For example, a communication ECU may be in charge of communication with the outside. Further, the probe information transmitting device 100 and the radio wave map acquisition and utilization device 150 may be configured as separate ECUs.

Each block of the in-vehicle device in FIG. 2 is a block used exclusively by the probe information transmitting device 100, a block exclusively used by the radio map acquisition and utilization device 150, and a block used by both the probe information transmission device 100 and the radio map acquisition and utilization device 150. There is a block. Hereinafter, blocks used in the probe information transmitting device 100 will be explained first, and then blocks used in the radio wave map acquisition and utilization device 150 will be explained.

First, blocks used in the probe information transmitting device 100 will be explained.
The position information acquisition unit 101 acquires position information indicating the current position of the vehicle. The position information acquisition unit 101 is mainly composed of a positioning receiver of a satellite positioning (GNSS) device. The positioning receiver may be provided with a positioning receiver corresponding to the satellite system to be used.
The position information acquisition unit 101 includes a positioning receiver as well as a device that supplies correction information used to correct position information. For example, inertial sensors such as gyro sensors and acceleration sensors, laser sensors, and map information databases can also be grasped as the position information acquisition unit 101.

The wireless communication unit 102 performs "wireless communication" with an external communication device, in this embodiment, a base station, and transmits and receives necessary information. In this embodiment, a base station such as a cellular communication eNB is assumed as the external communication device, but it may be an AP when using WiFi, or another vehicle or roadside device when using V2X. . Of course, a plurality of communication methods may be supported.
Here, "wireless communication" refers to transmitting and/or receiving signals wirelessly.

The propagation environment information acquisition unit 103 “acquires” the “propagation environment information” of the radio wave propagation path used in wireless communication by the wireless communication unit 102 at the current position of the vehicle acquired by the position information acquisition unit 101. For example, the propagation environment information acquisition unit 103 can use a device that measures the radio field strength of the reference signal.
Here, "propagation environment information" indicates the state or estimation result of the radio wave propagation path, and the indicators representing this include, for example, RSSI, RSRP, RSRQ, SNR, SIR, BER, propagation function, and propagation path matrix. , average bit rate per unit time (bits/s), etc.
Furthermore, "obtaining" includes both cases where the propagation environment information is obtained from an external communication device, etc., and cases where the propagation environment information is obtained by the probe information transmitting device generating it by itself.

In order to acquire information for evaluating downlink reception quality, propagation environment information acquisition section 103 only needs to acquire information regarding the reception status in the frequency band allocated to the downlink. For example, reference signals RSSI, RSRP, and RSRQ correspond to this. By using this information, the radio wave map update device 200 of the server device can generate or update a received radio wave map at a specific position on the map.
In addition, in order to acquire information for evaluating uplink reception quality, propagation environment information acquisition section 103 needs to acquire information regarding the transmission status in the frequency band allocated to the uplink. good. For example, this is the average transmission bit rate per unit time (bits/s). Alternatively, the RSSI, RISP, and RSRQ of the reference signal measured at the base station may be received from the base station. By using this information, the radio wave map update device 200 of the server device can generate or update a transmission radio wave map at a specific position on the map.

The propagation environment information acquisition unit 103 may also function as the wireless communication unit 102.
Further, the propagation environment information acquired and output by the propagation environment information acquisition unit 103 may be obtained using normalized relative values instead of the absolute values of the measurement results of each value. For example, the maximum speed that can be obtained in an ideal communication situation without radio wave interference may be set to 100, and the minimum speed may be set to 0.

The control unit 104 controls the operations of the position information acquisition unit 101 , the wireless communication unit 102 , the propagation environment information acquisition unit 103 , the transmission unit 105 , the reception unit 106 , the application 107 , and the storage unit 108 . Further, the control unit 104 itself realizes a positioning accuracy information generating unit 109, a requested positioning information generating unit 110, and a required positioning accuracy information generating unit 111.

The positioning accuracy information generation unit 109 generates positioning accuracy information indicating the positioning accuracy of the positional information acquired by the positional information acquisition unit 101.
Positioning accuracy varies depending on the positioning method of the satellite system used, the type of data used for correction, and the results of positioning calculations. For example, in the case of an independent positioning method such as GPS, an error of 1 m to 10 m is always included.
On the other hand, there are positioning methods with an error of less than 1 meter or less than 10 cm, such as relative positioning, DGPS (Differential GPS), RTK (Real Time Kinematic)-GPS positioning, and network RTK-GPS positioning. As for the less than 10 cm class, there are RTK-GNSS/PPP-AR (quasi-zenith satellite MADOCA method) and PPP-RTK (quasi-zenith satellite CLAS) method). It is also possible to raise the positioning accuracy to less than 1 meter or less than 10 cm by using gyro navigation or a laser sensor in combination with the independent positioning method. For the less than 1 meter range, there is a SLAS (Submeter Positioning Augmentation Service) method that uses correction data.
Furthermore, in positioning calculations, when a FIX solution is found, positioning accuracy of less than 1 m or less than 10 cm may be obtained even if the accuracy of the positioning method used is low. Even when a FLOAT solution is found, if the accuracy of the positioning method used is high, positioning accuracy of less than 1 m may be obtained. Note that the existence of FIX solutions and FLOAT solutions as positioning solutions is a method of performing AR (Ambiguity Resolution).
That is, the positioning accuracy information generation unit 109 generates positioning accuracy information based on the positioning method of the satellite system to be used, the type of data used for correction, and the result of the positioning calculation. In the case of this embodiment, an example is described in which positioning accuracy information is generated in three grades: less than 10 m, less than 1 m, and less than 10 cm, but it may be two grades, four or more grades. Alternatively, it may be a continuous value. In the following description, the less than 10 m class is described as 1 m or more, the less than 1 m class as 10 cm to 1 m, and the less than 10 cm class as less than 10 cm, with an error range.

The transmitting unit 105 uses the position information acquired by the position information acquisition unit 101, the positioning accuracy information generated by the positioning accuracy information generation unit 109, and the propagation environment information acquired by the propagation environment information acquisition unit 103 as probe information to update the radio wave map update device. Send to 200.
For example, in the case of this embodiment, the following information is transmitted as probe information.

(probe information)
Timestamp: Time when probe information was generated (UTC)
Location information: Coordinates determined by GNSS, latitude/longitude/altitude (WGS-84), or ID representing a grid point on the map Positioning accuracy information: Grade of positioning accuracy [1m or more/10cm to less than 1m/10cm]
Communication system ID: At least one of communication network communication method ID, base station ID, and frequency band Radio field strength (propagation environment information): Relative value of received radio field strength (RSSI)

Note that other information may be sent as the probe information.
Further, the information to be transmitted as probe information may be generated by a specific block other than the control unit 104.

As described above, according to the probe information transmitting device 100 of this embodiment, positioning accuracy information is generated and transmitted, so the radio map updating device 200 that receives this creates and divides radio maps according to the positioning accuracy. be able to.
In addition, by determining the propagation environment information as a normalized relative value, the ratio of the capabilities of each device can be used as an index, so the propagation environment information can be used as is for each device without correcting variations between devices. I can do it.
In addition, the positioning accuracy information generation unit 109 calculates the positioning accuracy based on the type of data used for correction and the result of the positioning calculation in addition to the positioning method of the satellite system to be used, so it is possible to calculate the positioning accuracy more accurately. can.

Next, blocks used in the radio wave map acquisition/utilization device 150 will be explained.
The requested position information generation unit 110 determines the position to be used for wireless communication with the radio wave map acquisition and utilization device 150, which is an in-vehicle device, as the requested position, and generates the requested position information. The requested location may be, for example, the current location or a location where the vehicle is scheduled to travel in the future based on the travel plan. When using a travel plan, the location may be a single or multiple location that is required to be reached within a certain amount of time based on the current vehicle speed.

The required positioning accuracy information generation unit 111 determines the required positioning accuracy and generates the required positioning accuracy information. The required positioning accuracy may be, for example, a positioning accuracy grade [1 m or more/10 cm to less than 1 m/10 cm] or a value indicating a specific accuracy. Which positioning accuracy is required may be determined based on the hardware performance of the radio wave map acquisition and utilization device 150 and the accuracy required by the application 107 to be used. For example, the following examples are given.
(a) Positioning accuracy indicated by the grade of the positioning receiver that constitutes the position information acquisition unit 101 (b) Depending on the vehicle speed of the radio map acquisition and utilization device 150, when the speed is high, the positioning accuracy is relatively low, and when the vehicle speed is slow, the positioning accuracy is relatively low. (c) Relatively high positioning accuracy when using a radio map to determine the location of the vehicle (d) Relatively high positioning accuracy for applications that are sensitive to delays and interruptions such as streaming video Positioning accuracy (e) If the required position range is above a certain level, the positioning accuracy is relatively low.

The transmitter 105 transmits a radio map request including the requested location information generated by the requested location information generator 110 and the requested positioning accuracy information generated by the requested positioning accuracy information generator 111 to the radio map provider 250.
For example, in the case of this embodiment, the following information is transmitted as a radio wave map request.

(Radio map request)
Requested location information: Latitude, longitude, altitude (WGS-84) or ID representing a grid point on the map
Required positioning accuracy information: Positioning accuracy grade [1m or more/10cm to less than 1m/10cm]

The radio map providing device 250 that has received the radio map request selects a radio map corresponding to the requested positioning accuracy information included in the radio map request, and selects a radio map corresponding to the requested positioning accuracy information included in the radio map request from the selected radio map. Acquire reference position information and reference propagation environment information. Details of the operation of the radio wave map providing device 250 will be described later.
Here, "corresponding to the requested location information" means that the location is the same as or near the location indicated by the requested location information.

The receiving unit 106 receives a radio map reply including reference position information and reference propagation environment information from the radio map providing device 250. Since the received reference position information and reference propagation environment information are part of the radio wave map selected by the radio wave map providing device 250, the received reference position information and reference propagation environment information may also be referred to as a radio wave map.
For example, in the case of this embodiment, the following information is received as a radio map reply.

(Radio map reply)
Timestamp: Time when the radio map was generated (UTC)
Reference location information: Latitude, longitude, altitude (WGS-84) or ID representing grid point on the map
Positioning accuracy information: Positioning accuracy grade [1m or more/10cm to less than 1m/10cm]
Communication system ID: At least one of communication network communication method ID, base station ID, and frequency band Radio field strength (reference propagation environment information): Relative value of received radio field strength (RSSI)

The storage unit 108 stores the received radio map reply. Since the collection of reference position information and reference propagation environment information stored in the storage unit 108 is part of the radio map stored in the radio map providing device 250, a replica of the radio map is stored in the storage unit 108. It can be said that there are. By storing a replica of the radio map in the storage unit 108 for a certain period of time, it is possible to reduce the chances of accessing the radio map providing device 250 by a radio map request. Alternatively, an expiration date may be set, and information whose validity period has expired may be discarded. This makes it possible to maintain the freshness of the radio map replica above a certain level.

The application 107 is an application that uses the wireless communication unit 102. For example, an application that sends a video shot with an on-vehicle camera to a server device is given as an example.

The wireless communication unit 102 performs wireless communication with an external communication device based on the radio map reply received by the reception unit 106. For example, when the vehicle reaches a position indicated by the reference position information, a captured video is transmitted by selecting a bit rate that corresponds to the communication environment indicated by the reference propagation environment information.

In addition, in addition to the required positioning accuracy of the radio map to be acquired, in the radio map request, specify either the transmitting radio map, which is the radio map for uplink, or the receiving radio map, which is the radio map for downlink. Good too. In this embodiment, an example is shown in which a received radio wave map is acquired.
In principle, a transmitted radio wave map is used to evaluate the uplink radio wave propagation path, and a received radio wave map is used to evaluate the downlink radio wave propagation path. However, if it can be evaluated that the propagation environments of uplink and downlink are the same, the received radio wave map may be used to evaluate the uplink, and the transmitted radio wave map may be used to evaluate the downlink. For example, there is a case of TDD mode in which uplink and downlink use the same frequency band. Another example is a case where the same change in the propagation environment is expected in uplink and downlink due to a shield such as a building.

As described above, according to the radio map acquisition and utilization device 150 of the present embodiment, since the requested positioning accuracy information is included and transmitted in the radio map request, it is possible to obtain the information acquired from the radio map corresponding to the requested positioning accuracy information. It is possible to obtain a radio wave map according to the performance of the hardware and the application used.
Furthermore, by generating the required positioning accuracy information according to the vehicle speed of the mobile object, it is possible to obtain information based on the positioning accuracy according to the vehicle speed. In other words, when the speed of the vehicle is fast, a radio wave map with relatively low positioning accuracy is sufficient, but when the speed of the vehicle is slow, by using a radio wave map with relatively high positioning accuracy, it follows the communication environment and becomes stable. communication can be maintained.

(3) Configuration of server device (radio map update device 200, radio map providing device 250) The configuration of the server device of this embodiment will be described using FIG. 3. In this embodiment, an example will be described in which the server device is configured to implement the functions of both the radio map update device 200 and the radio map providing device 250.

The server device includes a first storage section 201, a second storage section 202, a control section 203, a reception section 204, a transmission section 205, and a probe information storage section 209. Further, the control unit 203 realizes a positioning accuracy determination unit 206, a statistical processing unit 207, and a radio wave map extraction unit 208.

In this embodiment, the server device is assumed to be in the form of a server device as a finished product, but the present invention is not limited to this. For example, the form of parts includes semiconductor circuits and semiconductor modules, the form of semi-finished products includes ECUs, and the form of finished products include personal computers (PCs), workstations, smartphones, and mobile phones.

Each block of the server device in FIG. 3 includes a block used exclusively by the radio map updating device 200, a block used exclusively by the radio map providing device 250, and a block used by both the radio map updating device 200 and the radio map providing device 250. be. Hereinafter, blocks used in the radio wave map updating device 200 will be explained first, and then blocks used in the radio wave map providing device 250 will be explained.

First, blocks used in the radio wave map updating device 200 will be explained.
The first storage unit 201 stores a first radio map that is a high-resolution radio map when the positioning accuracy of the reference position is "relatively" high. The first radio wave map includes first reference position information indicating a first reference position with “relatively high” positioning accuracy, and first reference propagation environment information of a radio wave propagation path at the first reference position. are doing.
Here, "relatively" refers to a direction of deviation from an explicit or implicit reference point. For example, "relatively high" refers to being higher than an explicit or implied reference point.

The second storage unit 202 stores a second radio map that is a low-resolution radio map when the positioning accuracy of the reference position is "relatively" low. The second radio wave map includes second reference position information indicating a second reference position with “relatively low” positioning accuracy, and second reference propagation environment information of a radio wave propagation path at the second reference position. are doing.
Here, "relatively" refers to a direction of deviation from an explicit or implied reference point. For example, "relatively low" refers to being lower than an explicit or implied reference point.

In the case of this embodiment, the first radio map is at a lane level where the positioning accuracy of the reference position is at a level that allows identification of lanes on the road, and the second radio map is at the lane level where the positioning accuracy of the reference position is at a level that allows identification of road lanes. The road level is assumed to be an identifiable level.

FIG. 4 shows the grid points on the road and the effective range of the radio wave map. FIG. 4(a) shows the first reference position and its effective range in the first radio map at the lane level. In FIG. 4(a), the first reference position, which is a grid point, is indicated by an x, and the first reference position is located approximately on the center line of one lane. The effective range is shown as a rectangle, and since the lane width is approximately 3 m, the effective range is 1.5 m, which is half of that width. First reference propagation environment information, which is propagation environment information at each first reference position, is stored in association with the first radio wave map.

FIG. 4(b) shows the second reference position and its effective range in the second radio wave map at the road level. In FIG. 4(b), the second reference position, which is a grid point, is indicated by an x, and the second reference position is located approximately on the center line of all lanes, that is, on the center line. The effective range is shown by a rectangle, and since the distance between adjacent second reference positions is approximately 20 m, which corresponds to the GPS error width, the effective range is 10 m, which is half of that distance. Similarly to the first radio wave map, second reference propagation environment information, which is propagation environment information at each second reference position, is associated with and stored in the second radio wave map.

In the case of FIG. 4, the standard for determining the positioning accuracy between FIG. 4(a) and FIG. 4(b) can be approximately 2 m. In other words, when the positioning accuracy is higher than 2m (that is, when it is smaller than 2m), the first radio wave map is used, and when the positioning accuracy is lower than 2m (that is, when it is larger than 2m), the second radio wave map is used. Just use it.
However, if the positioning accuracy is divided into three parts, such as 1 m or more, 10 cm to 1 m, and less than 10 cm, as in this embodiment, the first radio wave map will be used for 1 m or more, and the second radio wave map will be used for 10 cm to 1 m and less than 10 cm. You can also use it as In other words, the standard for determining the positioning accuracy can be set to 1 m.

In the case of this embodiment, the radio wave map has two types of high and low levels, but there may be three or more types. Even in that case, the relationship between any two can be expressed in terms of relative height.

The receiving unit 204 receives probe information from the probe information transmitting device 100. The probe information includes position information indicating the position of the mobile body, positioning accuracy information indicating the positioning accuracy of the position information, and propagation environment information of a radio wave propagation path used by the mobile body for wireless communication at the position of the mobile body. The probe information used in this embodiment is the same as the example described in (2).

The probe information storage unit 209 stores the probe information received by the reception unit 204. The probe information storage unit 209 holds all probe information received in the past unless the information is deleted.

The control unit 203 controls the operations of the first storage unit 201 , the second storage unit 202 , the reception unit 204 , the transmission unit 205 , and the probe information storage unit 209 . Further, the control unit 203 itself realizes a positioning accuracy determination unit 206, a statistical processing unit 207, and a radio wave map extraction unit 208.

The positioning accuracy determination unit 206 reads the probe information from the probe information storage unit 209, and determines the positioning accuracy of the position information in the probe information based on the positioning accuracy information in the probe information. In this embodiment, the positioning accuracy information indicates the positioning accuracy in three categories: 1 m or more, 10 cm to 1 m, and less than 10 cm, so the positioning accuracy can be determined directly from the positioning accuracy information.

If the positioning accuracy determined by the positioning accuracy determination unit 206 is higher than a predetermined accuracy, the statistical processing unit 207 uses the propagation environment information in the probe information to determine the first reference propagation environment information of the first radio map, and updating the second reference propagation environment information of the second radio wave map. Furthermore, when the positioning accuracy determined by the positioning accuracy determining unit 206 is lower than a predetermined accuracy, the second reference propagation environment information of the second radio wave map is updated using the propagation environment information in the probe information. That is, if the probe information includes location information with high positioning accuracy, this information is used to update both the first radio map and the second radio map. Furthermore, if the probe information includes location information with low positioning accuracy, only the second radio map is updated using this information.
Here, "more than" includes both cases where the reference "predetermined accuracy" is included and cases where it is not included.

Any method can be used for updating. In this embodiment, the number of probe information and the variance and average of propagation environment information are used for updating, but other information may also be used in combination. A specific example of the updating method will be described later.

In this embodiment, the existing first radio map and second radio map are updated as needed using newly received probe information, but the update frequency can be determined as appropriate. . For example, when updating every day, the probe information received on that day is read from the probe information storage unit 209 at a fixed time of the day, the positioning accuracy determination unit 206 determines and distributes the positioning accuracy, and the statistical processing unit 207 performs calculations. By doing so, the first radio wave map and the second radio wave map may be updated. By updating over a fairly long span, such as every day, it is possible to prevent old and new radio maps from coexisting across update timings on the radio map acquisition and utilization device 150 side, which is the user of the radio map. .

Note that although the term "update" is used in this embodiment, this can also be understood as the generation of a new radio wave map. That is, the radio wave map update device means a device that generates or updates a radio wave map.

As described above, according to the radio map update device 200 of the present embodiment, since a plurality of radio maps are generated according to the positioning accuracy, the reliability of the position information with high positioning accuracy is reduced by the position information with low positioning accuracy. It is possible to generate a radio wave map based on position information with high positioning accuracy.
In addition, since both the first radio map and the second radio map are updated using location information with high positioning accuracy, it is possible to prevent the number of samples of probe information for updating the second radio map from becoming insufficient. It is possible.
In addition, the first radio map has a positioning accuracy of the first reference position that can distinguish between lanes of the road, and the second radio map has a positioning accuracy of the second reference position that can distinguish between roads. By setting the distance, the first radio wave map can be used to distinguish between lanes of a road, and the second radio map can be used to distinguish between roads.
Furthermore, by setting the predetermined accuracy to an error range of 1 m, it is possible to create and use different radio wave maps for lane level and road level, and it is possible to generate radio wave maps suitable for in-vehicle use.

Next, blocks used in the radio wave map providing device 250 will be explained.
As explained in the radio map update device 200, the first storage unit 201 and the second storage unit 202 store the first radio map that is a high-resolution radio map and the second radio map that is a low-resolution radio map. Saved.

The receiving unit 204 receives from the radio map acquisition and utilization device 150 a radio map request including requested position information indicating the requested position and requested positioning accuracy information indicating the requested positioning accuracy. The radio wave map request used in this embodiment is the same as the example explained in (2).

When the requested positioning accuracy information included in the radio map request is higher than a predetermined accuracy, the radio map extraction unit 208 extracts the first reference position information “corresponding to the requested position information” and the first Obtain reference propagation environment information. Furthermore, if the requested positioning accuracy information included in the radio map request is lower than a predetermined accuracy, the radio map extraction unit 208 extracts second reference position information and information “corresponding to the requested position information” from the second storage unit. Obtain second reference propagation environment information. Specifically, when the predetermined accuracy is 1 m, if the requested accuracy information is less than 10 cm or between 10 cm and 1 m, the requested position information is matched from the high-resolution radio wave map stored in the first storage unit. Obtain the location and propagation environment information at that location. Furthermore, when the requested accuracy information is 1 m or more, the position corresponding to the requested position information and the propagation environment information at that position are acquired from the low-resolution radio wave map stored in the second storage unit.
Here, "more than" includes both cases where the reference "predetermined accuracy" is included and cases where it is not included.
Furthermore, "corresponding to the requested location information" means that the location is the same as or near the location indicated by the requested location information.

The transmitter 205 transmits a radio map reply that includes the first reference position information and first reference propagation environment information, or the second reference position information and second reference propagation environment information acquired by the radio map extractor 208. do. The radio map reply used in this embodiment is the same as the example described in (2).

As described above, according to the radio map providing device 250 of the present embodiment, necessary information can be provided from either the high resolution radio map or the low resolution radio map according to the required positioning accuracy information included in the radio map request. can.
In addition, the first radio map has a positioning accuracy of the first reference position that can distinguish between lanes of the road, and the second radio map has a positioning accuracy of the second reference position that can distinguish between roads. By setting the distance, the first radio wave map can be used to distinguish between lanes of a road, and the second radio map can be used to distinguish between roads.
Further, by setting the predetermined accuracy to an error range of 1 m, it is possible to use the lane level and road level radio wave maps separately, and it is possible to provide a radio wave map suitable for in-vehicle use.

(4) Operations of the probe information transmitting device 100 and the radio map updating device 200 in the radio map generation process The probe information transmitting device 100 and the radio map updating device 200 are both involved in generating the radio map. The operations of the probe information transmitting device 100 and the radio map updating device 200 in the radio map generation process of this embodiment will be described below using the flowcharts of FIGS. 5 and 6.
Note that the following operations not only indicate the probe information transmitting method executed by the probe information transmitting device 100, but also indicate the processing procedure of the probe information transmitting program that can be executed by the probe information transmitting device 100. Furthermore, the following operations not only show the radio map generation/update method executed by the radio map update device 200, but also show the processing procedure of the radio map generation/update program that can be executed by the radio map update device 200.
These processes are not limited to the order shown in FIGS. 5 and 6. That is, the order may be changed unless there is a restriction such that a certain step uses the result of the previous step.

The position information acquisition unit 101 of the probe information transmitting device 100 acquires position information indicating the current position of the vehicle (S101).
The positioning accuracy information generation unit 109 generates positioning accuracy information indicating the positioning accuracy of the position information acquired in S101 (S102).
The propagation environment information acquisition unit 103 acquires propagation environment information of a radio wave propagation path used in wireless communication with an external communication device at the current location (S103).
Then, the transmitter 105 transmits the position information acquired in S101, the positioning accuracy information generated in S102, and the propagation environment information acquired in S103 as probe information to the radio map update device 200 (S104).

The receiving unit 204 of the radio map update device 200 receives probe information including location information indicating the location of the vehicle, positioning accuracy information indicating the positioning accuracy of the location information, and propagation environment information of the radio wave propagation path used by the vehicle in wireless communication. It is received and stored in the probe information storage unit 209 (S201).
The positioning accuracy determination unit 206 reads the probe information from the probe information storage unit 209, and determines the positioning accuracy of the position information based on the positioning accuracy information included in the probe information (S202).
The statistical processing unit 207 compares the positioning accuracy of the position information with a predetermined accuracy (S203). When the positioning accuracy of the location information is higher than a predetermined accuracy, the first reference propagation environment information of the first radio wave map and the second reference propagation environment information of the second radio wave map are updated using the propagation environment information. (S204). If the positioning accuracy of the location information is lower than a predetermined accuracy, the second reference propagation environment information of the second radio wave map is updated using the propagation environment information (S205).

FIG. 6 is a subroutine showing a detailed example of the operation of the statistical processing unit 207 in FIG. 5, that is, S204 and S205. In this example, for example, every day, the positioning information determination unit 206 configuring the control unit 203 reads unprocessed probe information stored in the probe information storage unit 209, and determines the positioning accuracy of the position information included in the probe information. is determined (S202). Then, the statistical processing unit 207 sorts the probe information according to positioning accuracy (S203). Then, it is assumed that the statistical processing unit 207 performs statistical processing for each positioning accuracy (S204, S205). In other words, if the positioning accuracy is higher than the predetermined accuracy, the processing shown in Figure 6 is performed for both the low-resolution radio map and the high-resolution radio map, and if the positioning accuracy is lower than the predetermined precision, the low-resolution radio map The process shown in FIG. 6 is performed on the map.

The grid point ID on the map closest to the position information included in the probe information is searched for each piece of probe information for all the probe information having positioning accuracy distributed by the statistical processing unit 207 (S221). As explained in FIG. 4, the positions and intervals of the lattice point IDs are different between the high-resolution radio wave map and the low-resolution radio wave map. However, the grid points of the high-resolution radio map and the grid points of the low-resolution radio map may partially overlap.
Then, in order to obtain a set of probe information having a common grid point ID and communication system ID, each piece of probe information is pushed into a data string with the grid point ID and communication system ID as keys (S222).

Next, the following processing is performed on probe information of groups having a common grid point ID and communication system ID.
First, it is determined whether the number of samples of probe information belonging to a group is sufficient (S223). For example, if the number of samples is 10 or more, the process moves to S224, and if it is less than 10, it is assumed that the number of samples is insufficient, and the radio wave intensity, which is the propagation environment information of the grid point, is undefined (S227).
If the number of samples is sufficient, the average value and variance of propagation intensity, which is propagation environment information of probe information belonging to the group, are determined (S224).
Then, it is determined whether the variance is within a predetermined value (S225). For example, if the variance exceeds ±σ, the reliability of the data is evaluated to be low because the dispersion is large, and the radio field intensity at that grid point is undefined (S227). If the variance is ±σ or less, the data is evaluated to be highly reliable because the variation is small, and the average value of the radio field strength obtained in S224 is used as the radio field strength at that grid point ID and communication system ID, that is, the first criterion. The information is set as propagation environment information or second reference propagation environment information (S226).

Note that in S226, the value of the radio field intensity before the update is not used and is overwritten with the average value of the radio field strength for each day, but the value of the radio field intensity before the update may also be used. For example, the weighting of the radio field strength (x0) before update is a, the weighting of the average value of the latest radio field strength (x1) for each day is b, and (ax0+bx1)/(a+b) is the radio field strength after update. Good too.

By performing such statistical processing and updating the first radio wave map and the second radio wave map, it is possible to generate and update a radio wave map that reflects the latest state of the radio wave propagation path.

(5) Operations of the radio map providing device 250 and the radio map acquisition and usage device 150 in the radio map usage process The radio map provision device 250 and the radio map acquisition and usage device 150 are both involved in the usage of the radio map. The operations of the radio map providing device 250 and the radio map acquisition and usage device 150 in the radio map usage process of this embodiment will be described below using the flowchart of FIG.
Note that the following operation not only shows the radio map providing method executed by the radio map providing device 250, but also shows the processing procedure of the radio map providing program that can be executed by the radio map providing device 250. In addition, the following operations not only indicate the radio map acquisition and usage method executed by the radio map acquisition and usage device 150, but also show the processing procedure of the radio map acquisition and usage program that can be executed by the radio map acquisition and usage device 150. be.
These processes are not limited to the order shown in FIG. That is, the order may be changed unless there is a restriction such that a certain step uses the result of the previous step.

The requested location information generation unit 110 of the radio wave map acquisition and utilization device 150 determines a requested location and generates requested location information (S151).
The required positioning accuracy information generation unit 110 determines the required positioning accuracy and generates the required positioning accuracy information (S152).
Then, the transmitter 105 transmits a radio map request including the requested location information generated in S151 and the requested positioning accuracy information generated in S152 to the radio map providing device 250 (S153).

The receiving unit 204 of the radio map providing device 250 receives a radio map request including requested position information indicating the requested position and requested positioning accuracy information indicating the requested positioning accuracy (S251).
The radio map extraction unit 208 compares the required positioning accuracy information included in the radio map request received in S251 with a predetermined accuracy (S252). If the requested positioning accuracy information is higher than the predetermined accuracy, first reference position information and first reference propagation environment information corresponding to the requested position information are acquired from the first storage unit 201 (S253). If the requested positioning accuracy information is lower than the predetermined accuracy, second reference position information and second reference propagation environment information corresponding to the requested position information are acquired from the second storage unit 202 (S254).
The transmitting unit 205 then sends a radio wave map reply that includes the first reference position information and first reference propagation environment information acquired in S253, or the second reference position information and second reference propagation environment information acquired in S254. (S255).

The receiving unit 106 of the radio map acquisition and utilization device 150 receives the radio map reply from the radio map providing device 250 (S154).
Then, based on the radio wave map reply received in S154, wireless communication is performed with an external communication device (S155). For example, the application 107 is executed to transmit vehicle information collected by the vehicle to an external communication device.

2. Summary The features of the probe information transmitting device, the radio map updating device, the radio map providing device, and the radio map acquisition and utilization device in each embodiment of the present invention have been described above.

Since the terms used in each embodiment are merely examples, they may be replaced with synonymous terms or terms that include synonymous functions.

The block diagram used to explain the embodiment is a diagram in which the configuration of the device is classified and organized by function. Blocks representing respective functions are realized by any combination of hardware or software. Further, since the block diagram shows the functions, it can also be understood as a disclosure of the invention of the method and the invention of the program that implements the method.

Regarding the functional blocks that can be understood as processes, flows, and methods described in each embodiment, the order may be changed unless there is a restriction such that one step uses the result of another step before it. Good too.

The terms first, second, to Nth (N is an integer) used in each embodiment and the claims are used to distinguish two or more configurations or methods of the same type. , it does not limit the order or superiority.

Each embodiment is based on a probe information transmitting device or a radio wave map acquisition/utilization device mounted on a vehicle, but the present invention does not apply to a dedicated or general-purpose device other than a vehicle, unless otherwise specified in the claims. It also includes equipment.

Each embodiment has been described on the premise that the probe information transmitting device and the radio wave map acquisition/utilization device disclosed in each embodiment are mounted on a vehicle, but it may also be assumed that a pedestrian carries them.

Further, examples of the configuration of the device of the present invention include the following.
Examples of the form of parts include semiconductor elements, electronic circuits, modules, and microcomputers.
Examples of semi-finished products include electronic control units (ECUs) and system boards.
Examples of finished products include mobile phones, smartphones, tablets, personal computers (PCs), workstations, and servers.
Other devices include devices with communication functions, such as video cameras, still cameras, and car navigation systems.

Further, necessary functions such as an antenna and a communication interface may be added to each device.

It is assumed that the radio wave map updating device and the radio wave map providing device of the present invention are used for the purpose of providing various services. In providing such services, the apparatus of the present invention is used, the method of the present invention is used, and/or the program of the present invention is executed.

In addition, the present invention can be realized not only by dedicated hardware having the configuration and functions described in each embodiment, but also by a program for realizing the present invention recorded on a recording medium such as a memory or a hard disk, and a program for realizing the present invention recorded on a recording medium such as a memory or a hard disk. It can also be realized in combination with general-purpose hardware having an executable dedicated or general-purpose CPU, memory, and the like.

A program stored in a non-transitional physical recording medium of dedicated or general-purpose hardware (for example, an external storage device (hard disk, USB memory, CD/BD, etc.) or an internal storage device (RAM, ROM, etc.)) is It can also be provided to dedicated or general-purpose hardware via a recording medium or from a server via a communication line without using a recording medium. This allows us to always provide the latest functionality through program upgrades.

The probe information transmitting device and the radio wave map acquisition and utilization device of the present invention have been described as an electronic control device for vehicles mainly installed in automobiles, but they can be used not only for motorcycles, motorized bicycles, railways, but also for pedestrians, ships, aircraft, etc. , it can be applied to all moving bodies.
Furthermore, it is applicable to devices used for various purposes, such as mobile phones, tablets, and game consoles.

Reference Signs List 100 probe information transmitting device, 101 location information acquisition unit, 102 wireless communication unit, 103 propagation environment information acquisition unit, 105 transmission unit, 106 reception unit, 109 positioning accuracy information generation unit, 110 requested position information generation unit, 111 required positioning accuracy Information generation unit, 150 radio map acquisition and utilization device, 200 radio map update device, 201 first storage unit, 202 second storage unit, 204 reception unit, 205 transmission unit, 206 positioning accuracy determination unit, 207 statistical processing unit, 208 Radio wave map extraction unit, 250 Radio wave map providing device

Claims (6)

A radio map generation system comprising: a probe information transmission device (100) mounted on a mobile body; and a radio map update device (200) that receives probe information from the probe information transmission device and generates or updates a radio map. There it is,
The probe information transmitting device includes:
a position information acquisition unit (101) that acquires position information indicating the current position of the mobile object;
a positioning accuracy information generation unit (109) that generates positioning accuracy information indicating the positioning accuracy of the location information;
a wireless communication unit (102) that performs wireless communication with an external communication device;
a propagation environment information acquisition unit (103) that acquires propagation environment information of a radio wave propagation path used in the wireless communication at the current location;
a transmitter (105) that transmits the position information, the positioning accuracy information, and the propagation environment information as the probe information to the radio map update device ;
The radio map update device includes:
first reference position information indicating the first reference position when the positioning accuracy of the first reference position is relatively high; and first reference propagation environment information of the radio wave propagation path at the first reference position; a first storage unit (201) that stores a first radio wave map having a first radio wave map;
Second reference position information indicating the second reference position when the positioning accuracy of the second reference position is relatively low, and second reference propagation environment information of the radio wave propagation path at the second reference position. a second storage unit (202) that stores a second radio wave map having a second radio wave map;
a receiving unit (204) that receives the probe information;
a positioning accuracy determination unit (206) that determines the positioning accuracy of the position information based on the positioning accuracy information;
If the positioning accuracy of the location information is higher than a predetermined accuracy, the propagation environment information is used to determine the first reference propagation environment information of the first radio map and the second reference propagation environment information of the second radio map. Statistics for updating reference propagation environment information, and updating the second reference propagation environment information of the second radio wave map using the propagation environment information if the positioning accuracy of the position information is lower than the predetermined accuracy. It has a processing section (207).
Radio map generation system. The propagation environment information is a normalized relative value,
The radio map generation system according to claim 1. The positioning accuracy information generation unit generates the positioning accuracy information based on the positioning method of the satellite system to be used, the type of data used for correction, and the result of positioning calculation.
The radio map generation system according to claim 1. The first radio map has a positioning accuracy of the first reference position that can distinguish between lanes of a road, and the second radio map has a positioning accuracy of the second reference position that can distinguish between roads. It is about
The radio map generation system according to claim 1 . The predetermined accuracy is an error range of 1 m.
The radio map generation system according to claim 1 . A radio wave map generation method executed by a probe information transmitting device (100) mounted on a mobile body and a radio wave map updating device (200) that receives probe information from the probe information transmitting device and generates or updates a radio wave map. There it is,
In the probe information transmitting device,
Obtaining position information indicating the current position of the mobile object (S101),
Generate positioning accuracy information indicating the positioning accuracy of the location information (S102),
At the current location, obtain propagation environment information of a radio wave propagation path used in wireless communication with an external communication device (S103);
transmitting the position information, the positioning accuracy information, and the propagation environment information as the probe information to the radio map updating device (S104);
The radio map update device includes:
first reference position information indicating the first reference position when the positioning accuracy of the first reference position is relatively high; and first reference propagation environment information of the radio wave propagation path at the first reference position; a first storage unit (201) that stores a first radio wave map having a first radio wave map;
Second reference position information indicating the second reference position when the positioning accuracy of the second reference position is relatively low, and second reference propagation environment information of the radio wave propagation path at the second reference position. a second storage unit (202) that stores a second radio wave map,
In the radio map update device,
receiving the probe information (S201);
Based on the positioning accuracy information, determine the positioning accuracy of the position information (S202),
Compare the positioning accuracy of the location information with a predetermined accuracy (S203),
If the positioning accuracy of the location information is higher than the predetermined accuracy, the propagation environment information is used to determine the first reference propagation environment information of the first radio map and the second reference propagation environment information of the second radio map. update the reference propagation environment information of (S204),
If the positioning accuracy of the location information is lower than the predetermined accuracy, updating the second reference propagation environment information of the second radio wave map using the propagation environment information (S205);
Radio map generation method.