WO2010137309A1 - 車両位置測定装置および車両位置測定方法 - Google Patents
車両位置測定装置および車両位置測定方法 Download PDFInfo
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- WO2010137309A1 WO2010137309A1 PCT/JP2010/003525 JP2010003525W WO2010137309A1 WO 2010137309 A1 WO2010137309 A1 WO 2010137309A1 JP 2010003525 W JP2010003525 W JP 2010003525W WO 2010137309 A1 WO2010137309 A1 WO 2010137309A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/011—Identifying the radio environment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/014—Identifying transitions between environments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/018—Involving non-radio wave signals or measurements
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
Definitions
- the present invention relates to a vehicle position measuring device and a vehicle position measuring method.
- dead reckoning navigation using a vehicle speed signal and a gyro sensor and map matching utilizing map data are generally used as alternative means of GPS.
- this alternative means it is possible to measure the position of the vehicle even if the vehicle is located in a place where radio waves from GPS satellites cannot be received.
- an object of the present invention is to provide a vehicle position measuring apparatus and a vehicle position measuring method capable of improving the measurement accuracy of a vehicle position in a place where radio waves from a GPS satellite cannot be received.
- One aspect of the present invention is a vehicle position measurement device, in which a positioning processing unit that estimates a current vehicle position and a vehicle position estimated by the positioning processing unit are accumulated in association with the estimated time.
- a positioning information storage unit that stores information, a communication unit that receives a signal transmitted from a fixedly installed communication device, and detects a position of the vehicle when the signal is received based on the received signal;
- An update unit that updates the position of the vehicle stored in the positioning information storage unit in association with a time after the time when the signal is received by the communication unit based on the position of the vehicle detected by the communication unit; Have.
- the update unit stores in advance a time lag value generated when the signal is received by the communication unit, and corresponds to a time after a time obtained by subtracting the time lag value from a time at which the signal is received by the communication unit.
- the position of the vehicle stored in the positioning information storage unit may be updated based on the position of the vehicle detected by the communication unit.
- the update unit is a vehicle in which the communication unit detects a vehicle position stored in the positioning information storage unit in association with a time obtained by subtracting the value of the time lag from the time when the signal is received by the communication unit.
- the update may be performed by replacing the position.
- One aspect of the present invention is a vehicle position measurement method, in which a vehicle position measurement device having a positioning information storage unit estimates a current vehicle position, and the vehicle position measurement device includes the positioning process.
- a positioning information storage step of accumulating the vehicle position estimated in the step in association with the estimated time and writing it in the positioning information storage unit; and the vehicle position measurement device from a fixedly installed communication device
- a communication step of receiving a signal to be transmitted and detecting a position of the vehicle when the signal is received based on the received signal; and a time after the vehicle position measuring device receives the signal in the communication step
- An update step of updating the vehicle position stored in the positioning information storage unit in association with the time of the vehicle based on the vehicle position detected in the communication step; A.
- the present invention it is possible to improve the measurement accuracy of the vehicle position in a place where radio waves from GPS satellites cannot be received.
- FIG. 1 is a diagram illustrating an environment in which a vehicle C on which the vehicle position measurement system 100 is mounted travels.
- a plurality of communication devices A are arranged in a region where a vehicle C on which the vehicle position measurement system 100 is mounted runs.
- the vehicle position measurement system 100 measures the position of the vehicle C by communicating with a communicable communication device A (communication device A1 located in a location closest to the vehicle C in the case of FIG. 1).
- the communication device A stores identification information (antenna ID) uniquely assigned to each device, and transmits a signal including the antenna ID by wireless communication.
- the range in which each communication device A can communicate is from several tens of centimeters to several tens of meters. Any existing technology may be applied to the communication method used by the communication device A.
- the communication apparatus A is configured to perform communication using DSRC (Dedicated Short Range Communication). Note that a plurality of communication devices A are also arranged in places where radio waves from GPS satellites are difficult to reach or do not reach.
- FIG. 2 is a schematic block diagram showing the functional configuration of the vehicle position measurement system 100.
- the vehicle position measurement system 100 includes a vehicle position measurement device 1, a GPS processing unit 2, a vehicle speed measurement unit 3, and a gyrocompass 4.
- the GPS processing unit 2 includes a GPS antenna, a calculation device, and the like, receives radio waves from a GPS (Global Positioning System) satellite, and measures the current position of the vehicle C on which the GPS processing unit 2 is mounted.
- GPS Global Positioning System
- the vehicle speed measuring unit 3 calculates the traveling speed of the vehicle C based on values such as the rotational speed and rotational speed of the wheels of the vehicle C on which the vehicle speed measuring unit 3 is mounted, and outputs the traveling speed to the vehicle position measuring device 1.
- the rotational speed and rotational speed of the wheel may be calculated by the vehicle speed measuring unit 3 based on a signal output from a sensor attached to the wheel, the axle, or the like.
- the rotational speed measuring device may calculate.
- the vehicle speed measuring unit 3 may measure the traveling speed of the vehicle C based on another existing technology different from the above. Further, when the vehicle C moves backward, the vehicle speed measuring unit 3 outputs a traveling speed together with a reverse signal.
- the gyrocompass 4 detects the traveling direction of the vehicle C on which the gyrocompass 4 is mounted (the direction in which the front of the vehicle C faces).
- the vehicle position measuring device 1 includes a CPU (Central Processing Unit) connected via a bus, a memory, an auxiliary storage device, a communication device, and the like, and by executing a vehicle position measuring program, an input / output unit 101, a DSRC processing unit 102, antenna ID storage unit 1021, positioning processing unit 103, road position storage unit 1031, positioning information storage unit 1032, charging location storage unit 104, judgment processing unit 105, basic charging information storage unit 1051, charging table storage unit 106, charging It functions as a device having a control unit 107, an IC card processing unit 108, and a wide area communication processing unit 109.
- a CPU Central Processing Unit
- the input / output unit 101 receives an input from the user and displays an image on the image display device.
- the input / output unit 101 includes, for example, a screen (billing amount display screen) representing a billing amount stored in the billing table storage unit 106, a screen (billing place display screen) representing a billing location stored in the billing location storage unit 104, Generates a screen (vehicle position display screen) representing the vehicle position measured by the positioning processing unit 103 and a screen (congestion area display screen) representing the traffic jam area based on the traffic jam information received by the wide area communication processing unit 109. Displayed on the image display device.
- the image display device may be provided in the same housing as a part of the vehicle position measuring device 1, or may be connected to the input / output unit 101 as a device having a housing different from the vehicle position measuring device 1.
- the antenna ID storage unit 1021 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores the antenna ID of each communication device A and the coordinate value indicating the installation position of each communication device A in association with each other. To do.
- the antenna ID storage unit 1021 may be configured to store a coordinate value representing a position on the road closest to each communication device A instead of the installation position of each communication device A.
- the DSRC processing unit 102 receives a signal transmitted from the communication device A by DSRC communication, and acquires the antenna ID of the communication device A included in the received signal. Then, the DSRC processing unit 102 reads the coordinate value corresponding to the acquired antenna ID from the antenna ID storage unit 1021. Further, when a signal is received from the communication device A, the DSRC processing unit 102 detects the received time.
- the road position information storage unit 1031 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores a coordinate value indicating a position where a road is laid.
- the positioning processing unit 103 is based on the current position input from the GPS processing unit 2, the traveling speed input from the vehicle speed measuring unit 3, the traveling direction input from the gyrocompass 4, and the coordinate value input from the DSRC processing unit 102. Then, the current position of the vehicle C is measured. Specifically, the positioning processing unit 103 measures the current position of the vehicle C based on the current position input from the GPS processing unit 2 when receiving radio waves from the GPS satellite (hereinafter, this measurement is performed).
- GPS positioning process When the radio wave cannot be received from the GPS satellite, the current position of the vehicle C is measured by using the existing dead reckoning navigation based on the traveling speed and the traveling direction (hereinafter referred to as “GPS positioning process”). This measurement process is called “dead reckoning positioning process”.)
- GPS positioning process This measurement process is called “dead reckoning positioning process”.
- the positioning processing unit 103 performs recalculation processing based on the coordinate value read by the DSRC processing unit 102, thereby storing positioning information.
- the coordinate value written in the unit 1032 is updated (hereinafter, this process is referred to as “recalculation process”).
- the positioning information storage unit 1032 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores a log of measurement results obtained by the positioning processing unit 103. Specifically, the coordinate value representing the current position of the vehicle C calculated by the positioning processing unit 103 and the time when the vehicle C is positioned at the coordinate value (the time when the coordinate value was measured) are stored in association with each other. .
- the charging location storage unit 104 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores a coordinate value representing a road on which charging is performed (hereinafter referred to as a “chargeable road”).
- the chargeable road is a road on which the owner or driver of the vehicle C is charged when the vehicle C enters.
- the determination processing unit 105 generates charging basic information based on the position of the vehicle C measured by the positioning processing unit 103 and the coordinate value stored in the charging place storage unit 104.
- the billing basic information is information required when the billing control unit 107 performs billing processing, and differs depending on the billing method employed. For example, when charging is performed according to the travel distance, the determination processing unit 105 calculates an integrated value of the distance traveled by the vehicle C on the charging target road and writes it as charging basic information in the charging basic information storage unit 1051. When charging is performed according to the staying time, the determination processing unit 105 calculates an integrated value of the time during which the vehicle C stayed on the charging target road, and writes it as charging basic information in the charging basic information storage unit 1051. .
- the charging basic information storage unit 1051 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores charging basic information.
- the billing table storage unit 106 is configured using a storage device such as a semiconductor storage device or a magnetic hard disk device, and stores a billing table that is information for billing. For example, when charging is performed according to the travel distance, the charging table storage unit 106 stores a charging table in which a charging amount is associated with each integrated value of the travel distance. In addition, when charging is performed according to the stay time, the charge table storage unit 106 stores a charge table in which a charge amount is associated with each stay time integrated value.
- the charging control unit 107 calculates a charging amount for the vehicle C based on the charging basic information stored in the charging basic information storage unit 1051 and the charging table stored in the charging table storage unit 106.
- the IC card processing unit 108 writes the billing amount calculated by the billing control unit 107 into an IC card (integrated circuit card).
- the wide area communication processing unit 109 transmits the charge amount calculated by the charge control unit 107 to the charge amount management server via wireless communication via the wide area communication network. Further, the wide area communication processing unit 109 receives traffic information from the traffic information management server via the wide area network.
- FIG. 3 is a diagram illustrating an outline of processing when the positioning processing unit 103 measures the current position of the vehicle C based on the coordinate values read by the DSRC processing unit 102.
- Pp_n represents the position of the vehicle C calculated by the positioning processing unit 103 based on the GPS positioning process or dead reckoning positioning process at the time Tn.
- RVp is a vector representing the road direction detected by the positioning processing unit 103 based on the coordinate value of Pp_n and the traveling direction of the vehicle C.
- the positioning processing unit 103 detects the road closest to the coordinate value of Pp_n, and detects a unit vector extending in the traveling direction side of the vehicle C along the detected road as RVp.
- Pp_n + 1 represents the position of the vehicle C calculated by the positioning processing unit 103 based on the GPS positioning process or the dead reckoning positioning process at the time Tn + 1.
- Pd_n represents the coordinate value read by the DSRC processing unit 102 at time Tn.
- Pr_n represents the result (recalculated value) of the recalculation process of the position of the vehicle C at the time Tn.
- the coordinate value (Pd_n) read by the DSRC processing unit 102 matches the recalculated value (Pr_n).
- the positioning processing unit 103 uses the recalculated value at the time Tn when the DSRC processing unit 102 receives the signal as the coordinate value read based on the antenna ID received at the same time Tn.
- RVr is a vector obtained by replacing the starting point of the RVp vector with Pd_n. It is a vector representing the road direction detected by the positioning processing unit 103 based on the coordinate value of Pp_n and the traveling direction of the vehicle C.
- Pt_n + 1 represents the position of the vehicle C at time Tn + 1 by dead reckoning positioning processing performed based on the recalculated value at the previous time (Tn).
- the vector connecting Pp_n and Pp_n + 1 and the vector connecting Pd_n and Pt_n + 1 have the same size and direction.
- Pr_n + 1 is an intersection of a perpendicular drawn from Pt_n + 1 to RVr and RVr, and represents a recalculated value at time Tn + 1.
- the positioning processing unit 103 stores a preset time lag value.
- the time lag value is a value obtained in advance by experiment or simulation, and the DSRC processing unit 102 mounted on the vehicle C traveling at a general traveling speed (for example, 50 km / h) communicates with the communication device A. This is a value representing a time lag from when the vehicle C is closest to the communication device A to when the DSRC communication is completed.
- the positioning processing unit 103 sets the time stored in the positioning information storage unit 1032 to the time obtained by subtracting the time lag value from the time when the signal is received.
- processing target time The closest time (hereinafter referred to as “processing target time”) is detected, and the coordinate value corresponding to the processing target time is read as Pp_n.
- the positioning processing unit 103 replaces the coordinate value stored in the positioning information storage unit 1032 in association with the processing target time with the coordinate value read by the DSRC processing unit 102. Then, the positioning processing unit 103 calculates a recalculated value by recalculating each coordinate value stored in the positioning information storage unit 1032 in association with each time after the processing target time, and rewrites it.
- the positioning processing unit 103 calculates a vector connecting the two points based on the coordinate values Pp_n and Pp_n + 1 obtained by the GPS positioning process or dead reckoning positioning process at the processing target time and the next time (Tn + 1).
- the positioning processing unit 103 sets a vector having the same size and orientation as the calculated vector, starting from the coordinate value Pd_n (Pr_n) read by the DSRC processing unit 102 at the processing target time.
- the end point of the vector is calculated as Pt_n + 1.
- positioning processing section 103 calculates a recalculated value (Pr_n + 1) at time Tn + 1 based on RVr and Pt_n + 1.
- the positioning processing unit 103 calculates a recalculated value at each time after the processing target time by treating the value of Pt_n + 1 as the Pt_n and treating the value of Pt_n + 2 as the Pt_n + 1.
- FIG. 4 is a flowchart showing the operation of the vehicle position measuring apparatus 1.
- the positioning process part 103 performs a positioning process (GPS positioning process or dead reckoning positioning process) (step S101).
- the positioning processing unit 103 associates the time when the coordinate value is measured (positioning time) and the coordinate value, and writes them in the positioning information storage unit 1032 (step S102).
- the determination processing unit 105 integrates the travel distance and the stay time, and calculates basic billing information (step S 301).
- the DSRC processing unit 102 always performs idling and waits until a signal is received from the communication device A (step S201, step S202—NO).
- the DSRC processing unit 102 When the DSRC processing unit 102 receives the signal transmitted from the communication device A (step S202—YES), the DSRC processing unit 102 acquires the antenna ID from the received signal (step S203). The DSRC processing unit 102 reads the coordinate value based on the acquired antenna ID (step S204). Then, the DSRC processing unit 102 notifies the positioning processing unit 103 of the read coordinate value and the communication time (step S205).
- the positioning processing unit 103 repeatedly executes the processing of step S101 and step S102 until notified from the DSRC processing unit 102 (step S103-NO). On the other hand, when notified from the DSRC processing unit 102 (step S103-YES), the positioning processing unit 103 performs recalculation processing based on the notified communication time and coordinate value (step S104), and uses the recalculated value. Then, the stored content of the positioning information storage unit 1032 is updated (step S105). Then, the positioning processing unit 103 notifies the determination processing unit 105 that the recalculation processing has been performed (step S106).
- the determination processing unit 105 repeatedly executes the process of step S301 until notified from the positioning processing unit 103 that the recalculation process has been performed (step S302—NO). On the other hand, when there is a notification from the positioning processing unit 103 that the recalculation processing has been performed (step S302—YES), the determination processing unit 105 determines the travel distance based on the updated content stored in the positioning information storage unit 1032. And the accumulated stay time are updated, and the storage contents of the charging basic information storage unit 1051 are updated.
- the positioning processing unit 103 performs measurement on the current position of the vehicle C based on the signal received from the communication device A.
- the measurement process based on the position of the communication device A has higher accuracy than the conventional dead reckoning positioning process. Therefore, according to the vehicle position measurement device 1 and the vehicle position measurement system 100, the measurement accuracy of the current position of the vehicle C is improved even when the vehicle C is located in a place where it is difficult to receive radio waves from GPS satellites. It becomes possible to improve.
- the positioning processing unit 103 performs the positioning process based on the time lag in the communication process between the communication device A and the DSRC processing unit 102, it is possible to further improve the measurement accuracy of the current position of the vehicle C.
- the positioning processing unit 103 may calculate RVr based on the coordinate value of Pd_n and the traveling direction of the vehicle C, instead of calculating RVr based on RVp as described above. Specifically, the positioning processing unit 103 may detect a road closest to the coordinate value of Pd_n and detect a vector extending in the traveling direction of the vehicle C along the detected road as RVr.
- the positioning processing unit 103 may store the time lag value in association with each communication device A. In this case, the positioning processing unit 103 reads the time lag value stored in association with the antenna ID of the signal received by the DSRC processing unit 102, and performs recalculation processing. Further, the positioning processing unit 103 may store the time lag value in association with each traveling speed. In this case, the positioning processing unit 103 reads a time lag value corresponding to the current traveling speed of the vehicle C, and performs recalculation processing.
- the positioning processing unit 103 When the positioning processing unit 103 writes the calculated coordinate value in the positioning information storage unit 1032, whether the coordinate value is a value calculated by the GPS positioning process or a value calculated by the dead reckoning positioning process It may be configured to write in association with an identifier indicating whether the value is a recalculated value. Then, when performing the recalculation process, the positioning processing unit 103 does not recalculate the value calculated by the GPS positioning process, but performs the recalculation process and updates only the value calculated by the dead reckoning positioning process. May be configured.
- the present invention can be applied to, for example, measurement of a vehicle position in a place where radio waves from GPS satellites cannot be received.
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Abstract
Description
本願は、2009年5月29日に、日本に出願された特願2009-131376号に基づき優先権を主張し、その内容をここに援用する。
上記事情に鑑み、本発明は、GPS衛星からの電波を受信できない場所において、車両位置の測定精度を向上させることが可能な車両位置測定装置、車両位置測定方法を提供することを目的としている。
ジャイロコンパス4は、ジャイロコンパス4が搭載された車両Cの進行方向(車両Cの前方が向いている方位)を検出する。
測位処理部103は、GPS処理部2から入力される現在位置、車速測定部3から入力される走行速度、ジャイロコンパス4から入力される進行方向、DSRC処理部102から入力される座標値に基づき、車両Cの現在位置を測定する。具体的には、測位処理部103は、GPS衛星から電波を受信できている場合には、GPS処理部2から入力される現在位置に基づいて車両Cの現在位置を測定し(以下、この測定処理を「GPS測位処理」という。)、GPS衛星から電波を受信できていない場合には、走行速度及び進行方向に基づいて既存の推測航法を用いることによって車両Cの現在位置を測定する(以下、この測定処理を「推測航法測位処理」という。)。また、測位処理部103は、DSRC処理部102が通信装置Aから信号を受信した場合には、DSRC処理部102によって読み出された座標値に基づいて再計算処理を行うことによって、測位情報記憶部1032に書き込まれた座標値を更新する(以下、この処理を「再計算処理」という。)。
課金表記憶部106は、半導体記憶装置や磁気ハードディスク装置などの記憶装置を用いて構成され、課金を行うための情報である課金表を記憶する。例えば走行距離に応じて課金が行われる場合には、課金表記憶部106は走行距離の積算値毎に課金額が対応付けられた課金表を記憶する。また、滞在時間に応じて課金が行われる場合には、課金表記憶部106は滞在時間の積算値毎に課金額が対応付けられた課金表を記憶する。
ICカード処理部108は、課金制御部107によって算出された課金額をICカード(integrated circuit card)に書き込む。
測位処理部103は、RVrを算出する際に、上述のようにRVpに基づいてRVrを算出するのではなく、Pd_nの座標値と車両Cの進行方向とに基づいて算出しても良い。具体的には、測位処理部103は、Pd_nの座標値に最も近い道路を検出し、検出された道路に沿って車両Cの進行方向に伸びるベクトルをRVrとして検出しても良い。
また、測位処理部103は、タイムラグ値を走行速度毎に対応付けて記憶しても良い。この場合、測位処理部103は、現在の車両Cの走行速度に応じたタイムラグ値を読み出し、再計算処理を行う。
2 GPS処理部
3 車速測定部
101 入出力部
102 DSRC処理部
103 測位処理部(測位処理部、更新部)
104 課金場所記憶部
105 判断処理部
106 課金表記憶部
107 課金制御部
108 ICカード処理部
109 広域通信処理部
A…通信装置
C…車両
Claims (4)
- 現在の車両の位置を推測する測位処理部と、
前記測位処理部によって推測された車両の位置を、推測された時刻と対応付けて累積して記憶する測位情報記憶部と、
固定して設置された通信装置から送信される信号を受信し、信号が受信された際の車両の位置を受信された信号に基づいて検出する通信部と、
前記通信部によって信号が受信された時刻以降の時刻に対応付けて前記測位情報記憶部に記憶される車両の位置を、前記通信部によって検出された車両の位置に基づいて更新する更新部と、
を有する車両位置測定装置。 - 前記更新部は、前記通信部によって前記信号が受信される際に生じるタイムラグの値を予め記憶し、前記通信部によって信号が受信された時刻から前記タイムラグの値を減算した時刻以降の時刻に対応付けて前記測位情報記憶部に記憶される車両の位置を、前記通信部によって検出された車両の位置に基づいて更新する請求項1に記載の車両位置測定装置。
- 前記更新部は、前記通信部によって信号が受信された時刻から前記タイムラグの値を減算した時刻に対応付けて前記測位情報記憶部に記憶される車両の位置を、前記通信部によって検出された車両の位置に置き換えることによって更新を行う請求項2に記載の車両位置測定装置。
- 測位情報記憶部を有する車両位置測定装置が、現在の車両の位置を推測する測位処理ステップと、
前記車両位置測定装置が、前記測位処理ステップにおいて推測された車両の位置を、推測された時刻と対応付けて累積して前記測位情報記憶部に書き込む測位情報記憶ステップと、
前記車両位置測定装置が、固定して設置された通信装置から送信される信号を受信し、信号が受信された際の車両の位置を受信された信号に基づいて検出する通信ステップと、
前記車両位置測定装置が、前記通信ステップにおいて信号が受信された時刻以降の時刻に対応付けて前記測位情報記憶部に記憶される車両の位置を、前記通信ステップにおいて検出された車両の位置に基づいて更新する更新ステップと、
を有する車両位置測定方法。
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KR1020117014780A KR101484814B1 (ko) | 2009-05-29 | 2010-05-26 | 차량 위치 측정 장치 및 차량 위치 측정 방법 |
SG2011046760A SG174849A1 (en) | 2009-05-29 | 2010-05-26 | Vehicle position measurement device and vehicle position measurement method |
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US9140562B2 (en) * | 2011-03-24 | 2015-09-22 | Claude Mignen | System and method for transferring vehicle operating data to an external navigation system |
KR101881415B1 (ko) | 2011-12-22 | 2018-08-27 | 한국전자통신연구원 | 이동체의 위치 인식 장치 및 방법 |
JP5791736B2 (ja) * | 2011-12-28 | 2015-10-07 | 三菱重工業株式会社 | ロードプライシングシステム、課金要求装置、制御方法、及びプログラム |
JP5966720B2 (ja) * | 2012-07-23 | 2016-08-10 | 株式会社リコー | 位置情報提供装置、及び位置情報設定方法 |
JP2015014473A (ja) * | 2013-07-03 | 2015-01-22 | 三菱重工業株式会社 | 車載器、及びスプーフィング検知方法 |
JP2015121482A (ja) * | 2013-12-24 | 2015-07-02 | 株式会社リコー | 測位システム及びプログラム |
WO2015097905A1 (ja) | 2013-12-27 | 2015-07-02 | 株式会社小松製作所 | 鉱山機械の管理システム及び管理方法 |
SG11201705774XA (en) * | 2015-01-15 | 2017-08-30 | Mitsubishi Heavy Ind Mechatronics Systems Ltd | Information presentation system for evaluating billing location |
KR101689252B1 (ko) | 2015-05-21 | 2016-12-23 | 국민대학교산학협력단 | 광카메라통신(occ)을 이용한 차량 위치 측정방법 |
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SG174849A1 (en) | 2011-11-28 |
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