WO2013008888A1 - Position notification apparatus, vehicle position notification method, onboard unit, vehicle position calculation method and program, and vehicle position calculation system - Google Patents

Position notification apparatus, vehicle position notification method, onboard unit, vehicle position calculation method and program, and vehicle position calculation system Download PDF

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Publication number
WO2013008888A1
WO2013008888A1 PCT/JP2012/067845 JP2012067845W WO2013008888A1 WO 2013008888 A1 WO2013008888 A1 WO 2013008888A1 JP 2012067845 W JP2012067845 W JP 2012067845W WO 2013008888 A1 WO2013008888 A1 WO 2013008888A1
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WIPO (PCT)
Prior art keywords
vehicle
unit
detection
detection time
notification
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PCT/JP2012/067845
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French (fr)
Japanese (ja)
Inventor
拓馬 岡▲崎▼
中山　博之
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三菱重工業株式会社
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Publication of WO2013008888A1 publication Critical patent/WO2013008888A1/en

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element

Definitions

  • the present invention relates to a position notification device and a vehicle position notification method for notifying a vehicle-mounted device mounted on a vehicle of the presence position of the vehicle, and the vehicle mounted on the vehicle based on information notified from the position notification device.
  • the present invention relates to a vehicle-mounted device that calculates a position to be operated, a vehicle position calculation method and program, and a vehicle position calculation system that calculates a position where a vehicle exists.
  • vehicle-mounted devices mounted on vehicles perform vehicle positioning.
  • Vehicle positioning is used for road pricing and DSSS (Driving Safety Support Systems) in addition to displaying the vehicle position by the car navigation function.
  • DSSS Driving Safety Support Systems
  • the position of the vehicle is mainly measured by GPS (Global Positioning System), and DR (Dead Reckoning: autonomous) based on the output value of the speed sensor or gyro sensor mounted on the vehicle.
  • GPS / DR technique for correcting the vehicle position as needed by (navigation).
  • Patent Document 2 discloses a method for correcting the position using an optical beacon.
  • the communication range by the beacon is about 5 meters, and it is not known at which point within the communication range the communication is completed. Therefore, when the vehicle position calculation method using the method described in Patent Document 1 is used, there is a problem that the corrected vehicle position includes an error corresponding to the size of the communication range.
  • the present invention has been made in view of the above problems, and a position notification device, a vehicle position notification method, an in-vehicle device, a vehicle position calculation method, a program, and a program that can reduce an error that occurs when correcting the vehicle position, An object is to provide a vehicle position calculation system.
  • the position notification device of the present invention is a position notification device that notifies the vehicle-mounted device mounted on the vehicle of the position of the vehicle, a detection unit that detects the vehicle, and a detection time at which the detection unit detects the vehicle, And a notification unit that notifies the vehicle-mounted device of a correction reference position that is a position to be corrected as a position where the vehicle was present at the detection time.
  • the detection unit may detect a vehicle that exists behind the boundary of the communication range of wireless communication by the notification unit.
  • the detection unit may detect a vehicle that exists in the vicinity of a boundary of a wireless communication range by the notification unit.
  • the position notification device of the present invention includes a recording unit that sequentially records a detection time when the detection unit detects a vehicle in a storage unit, and a deletion unit that deletes the detection time notified by the notification unit from the storage unit.
  • the notification unit performs successive communication with the vehicle-mounted device in the order in which it entered the communication range of wireless communication, and indicates the earliest time among the detection times stored in the storage unit for the vehicle-mounted device to be communicated You may notify detection time.
  • the detection unit is mounted on a vehicle existing in the detection area based on the reflected light of the laser beam emitted from the laser sensor provided above the road surface to the predetermined detection area.
  • the notification unit may notify the vehicle-mounted device of the detection time when the detection unit detects the vehicle-mounted device mounted on the vehicle by wireless communication.
  • the vehicle-mounted device of the present invention is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device, and at each time based on a distance traveled by the vehicle.
  • a calculation unit that calculates a position where the vehicle exists and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a position where the vehicle exists at the detection time
  • a correction reference position that is a position to be corrected as a reception unit that receives from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, and the correction reference position
  • a correction unit for correcting the position where the vehicle is present is a correction unit for correcting the position where the vehicle is present.
  • the vehicle position calculation system is a vehicle position calculation system that calculates a position where a vehicle is present, the vehicle-mounted device that calculates the position where a vehicle on which the vehicle is mounted is present, and the vehicle-mounted device includes A position notification device for notifying the presence position of the mounted vehicle, the position notification device detecting a vehicle, a detection time when the detection unit detects the vehicle, and the vehicle at the detection time.
  • a notification reference unit that notifies the vehicle-mounted device of a correction reference position that is a position to be corrected as the existing position, and the vehicle-mounted device is based on the distance traveled by the vehicle on which the device is mounted.
  • a calculation unit that calculates a position where the vehicle is present at each time and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a time when the vehicle is detected
  • a correction reference position which is a position to be corrected as a position existing in the receiver, from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, And a correction unit that corrects a position where the vehicle exists based on the correction reference position.
  • the vehicle position notification method of the present invention is a vehicle position notification method using a position notification device that notifies the vehicle-mounted device mounted on the vehicle of the position of the vehicle, wherein the detection unit detects the vehicle, The detection unit notifies the vehicle-mounted device of a detection time when the vehicle is detected and a correction reference position, which is a position where the vehicle is corrected as a position existing at the detection time.
  • a vehicle position calculation method is a vehicle position calculation method using an on-vehicle device that is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device.
  • the position where the vehicle is present at each time is calculated based on the distance traveled by the vehicle and recorded in the storage unit as travel history information, and the receiving unit detects the time when the vehicle is detected by the position notification device.
  • a correction reference position which is a position to be corrected as the position at which the vehicle was present at the detection time, from the position notification device by wireless communication, and the correction unit stores the detection stored in the storage unit
  • the position where the vehicle exists is corrected based on the travel history from the time to the current time and the correction reference position.
  • the program of the present invention is installed in a vehicle, and the vehicle-mounted device that calculates the position where the vehicle is present based on information notified from the position notification device is transmitted at each time based on the distance traveled by the vehicle.
  • a calculation unit that calculates an existing position and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a position where the vehicle exists at the detection time should be corrected
  • the vehicle is based on a receiving unit that receives a correction reference position that is a position from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, and the correction reference position. Is a program for causing a position to be corrected to function as a correction unit.
  • the notification unit does not correct the position of the vehicle by notifying its own position, but includes a detection unit that detects the vehicle separately from the beacon, and the detection unit detects the vehicle.
  • the vehicle position is corrected by notifying the vehicle-mounted device of the detection time and the correction reference position. Thereby, the exact position of the vehicle at the detection time can be notified to the vehicle-mounted device.
  • FIG. 1 is a configuration diagram of a vehicle position calculation system according to a first embodiment of the present invention. It is a schematic block diagram which shows the structure of information processing apparatus. It is a sequence diagram which shows the operation
  • FIG. 1 is a configuration diagram of a vehicle position calculation system according to a first embodiment of the present invention.
  • the vehicle position calculation system includes a laser sensor (detection unit) 1, an information processing device 2, a beacon (notification unit) 3, and an in-vehicle device 4.
  • the laser sensor 1 is provided above the road surface, and detects the presence of a vehicle passing through the road surface by irradiating a predetermined detection range on the road surface with laser light.
  • the information processing device 2 specifies a detection time that is a time when the vehicle is detected.
  • the beacon 3 performs sequential communication with the entered vehicle-mounted device 4 in the order in which the vehicle-mounted device 4 enters the communication range B.
  • the beacon 3 determines the correction reference position used for correcting the position information in the vehicle-mounted device 4 and the detection time specified by the information processing device 2. 4 is notified.
  • examples of the correction reference position include information indicating the latitude and longitude of the laser sensor 1 and a combination of the ID of the beacon 3 and the distance between the beacon 3 and the laser sensor 1.
  • the vehicle-mounted device 4 is mounted on the vehicle and sequentially calculates the position where the vehicle is present. Further, the vehicle-mounted device 4 corrects the position calculated based on the information notified from the beacon 3.
  • the laser sensor 1 detects the presence of a vehicle that exists behind the boundary of the communication range B of the beacon 3 and in the vicinity of the boundary (for example, about 1 meter). Note that the communication range B of the beacon 3 does not necessarily match depending on the vehicle depending on the mounting position of the vehicle-mounted device 4, the material of the windshield, the vehicle speed, and the like. Near the range.
  • FIG. 2 is a schematic block diagram illustrating the configuration of the information processing apparatus 2.
  • the information processing apparatus 2 includes a detection information acquisition unit 21, a detection time specifying unit 22, a detection time recording unit (recording unit) 23, a detection time queue (storage unit) 24, and an output unit (deleting unit) 25.
  • the detection information acquisition unit 21 acquires detection information indicating whether or not a vehicle is detected from the laser sensor 1.
  • the detection time specifying unit 22 specifies the time at that time as the detection time.
  • the detection time recording unit 23 records the detection time specified by the detection time specifying unit 22 in the detection time queue 24.
  • the detection time queue 24 stores the detection time recorded by the detection time recording unit 23.
  • the output unit 25 extracts the detection time from the detection time queue 24 and outputs it to the beacon 3.
  • “take out from the queue” refers to a process of reading information first recorded in the queue and deleting the information. That is, the output unit 25 deletes the detection time notified by the beacon 3 from the detection time queue 24. Further, the beacon 3 notifies the detection time indicating the earliest time among the detection times stored in the detection time queue 24 to the vehicle-mounted device 4 to be communicated.
  • FIG. 3 is a sequence diagram illustrating an operation in which the vehicle position calculation system notifies the vehicle-mounted device 4 of information.
  • the laser sensor 1 detects whether or not a vehicle exists on the detection range L to which the laser beam is irradiated (step S1).
  • the laser sensor 1 calculates the distance from the emission position of the laser beam to the reflection point of the laser beam based on the time from when the laser beam is emitted until the reflected light is received, and the distance is a predetermined value. It is determined whether or not a vehicle is present depending on whether or not the threshold value has been reached.
  • the laser sensor 1 outputs detection information indicating the presence or absence of a vehicle to the information processing apparatus 2 (step S2).
  • the laser sensor 1 sequentially outputs detection information to the information processing apparatus 2 at predetermined sensing intervals.
  • the detection information acquisition unit 21 of the information processing device 2 acquires detection information from the laser sensor 1 (step S3).
  • the detection time specifying unit 22 determines whether or not the detection information acquired by the detection information acquisition unit 21 indicates that a vehicle is present (step S4).
  • the process returns to step S3 and waits for acquisition of the next detection information.
  • step S4 when the detection information indicates that a vehicle is present (step S4: YES), the detection time specifying unit 22 specifies the current time as the detection time (step S5). Next, the detection time recording unit 23 records the detection time specified by the detection time specifying unit 22 in the detection time queue 24 (step S6).
  • the vehicle When the vehicle passes the detection range L of the laser sensor 1, the vehicle then enters the communication range B of the beacon 3.
  • the beacon 3 sequentially transmits a signal for confirming the presence of the vehicle-mounted device 4 to be communicated, and determines whether there is a communicable vehicle-mounted device 4 based on the presence or absence of a response to the signal ( Step S7). If the beacon 3 determines that there is no communicable vehicle-mounted device 4 (step S7: NO), the beacon 3 returns to step S7 and repeats the determination of whether or not the communicable vehicle-mounted device 4 exists. On the other hand, if the beacon 3 determines that there is a vehicle-mounted device 4 that can communicate (step S7: YES), the beacon 3 outputs a request for the detection time to the information processing device 2 (step S8).
  • the output unit 25 of the information processing apparatus 2 acquires the detection time request from the beacon 3 (step S9). Next, the output unit 25 extracts the detection time from the detection time queue 24 (step S10). Next, the output unit 25 outputs the extracted detection time to the beacon 3 (step S11).
  • the beacon 3 acquires the detection time (step S12). Then, the beacon 3 notifies the vehicle-mounted device 4 of the acquired detection time and a predetermined correction reference position (step S13). By the process described above, the beacon 3 can notify the vehicle-mounted device 4 of the vehicle detection time and the correction reference position by the laser sensor 1. Further, the output unit 25 of the information processing device 2 outputs the detection times to the beacon 3 in the order recorded in the detection time queue 24. Further, the beacon 3 communicates with the vehicle-mounted device 4 in the order of entering the communication range B. Thereby, even when a plurality of vehicles enter the communication range B of the beacon 3 due to the time difference, the correct detection time can be notified to the vehicle-mounted device 4.
  • the laser sensor 1 detects a vehicle that exists in the vicinity of the boundary of the communication range B of the beacon 3. Thereby, there is little possibility that the vehicle is overtaken between detection and notification, and there is a high possibility that the detection order and the notification order match. Further, in the present embodiment, the laser sensor 1 detects a vehicle that exists behind the boundary of the communication range B of the beacon 3 in the vehicle traveling direction. As a result, the vehicle enters the communication range B of the beacon 3 after being detected by the laser sensor 1. Therefore, the beacon 3 can immediately notify the detection time to the vehicle-mounted device 4 that has entered the communication range B without waiting for the end of detection by the laser sensor 1.
  • FIG. 4 is a schematic block diagram showing the configuration of the vehicle-mounted device 4 according to the first embodiment.
  • the vehicle-mounted device 4 includes a position acquisition unit 41, a sensor information acquisition unit 42, a map information storage unit 43, a position calculation unit (calculation unit) 44, a position storage unit 45, a display unit 46, a reception unit 47, a position correction unit (correction unit). 48).
  • the position acquisition unit 41 acquires the current position of the vehicle by the GPS function.
  • the sensor information acquisition unit 42 acquires output values of speed sensors and gyro sensors mounted on the vehicle.
  • the map information storage unit 43 stores map information including road patterns. Based on the position information acquired by the position acquisition unit 41 or the output value of the sensor acquired by the sensor information acquisition unit 42, the position calculation unit 44 calculates the current position by the GPS / DR method at regular intervals. The position information is recorded in the position storage unit 45. At this time, the position calculation unit 44 performs map matching processing based on the map information stored in the map information storage unit 43.
  • the position storage unit 45 stores the position information calculated by the position calculation unit 44 in time series in association with the time.
  • the display unit 46 synthesizes the latest position information stored in the position storage unit 45 with the map information stored in the map information storage unit 43 and displays the combined information on the display of the vehicle-mounted device 4.
  • the receiving unit 47 receives the detection time and the correction reference position notified from the beacon 3.
  • the position correction unit 48 corrects the position information stored in the position storage unit 45 based on the detection time and the correction reference position received by the reception unit 47. At this time, the position correction unit 48 performs map matching processing based on the map information stored in the map information storage unit 43.
  • FIG. 5 is a flowchart showing the operation of the vehicle-mounted device 4 according to the first embodiment.
  • the position acquisition unit 41 first acquires the current position of the vehicle by the GPS function (step S21).
  • the position calculation unit 44 estimates the current vehicle position by performing a map matching process based on the position information acquired by the position acquisition unit 41 and the map information stored in the map information storage unit 43.
  • the position calculation unit 44 records position information indicating the estimated position in the position storage unit 45 in association with the current time (step S22), and waits until the next position calculation timing.
  • the position calculation unit 44 determines whether or not the current time is a position calculation timing (for example, 10 seconds after the previous position calculation) (step S23). If it is determined that the current time is the position calculation timing (step S23: YES), the position acquisition unit 41 acquires the current position of the vehicle by the GPS function (step S24). The sensor information acquisition unit 42 acquires output values of the speed sensor and the gyro sensor from the time when the position calculation unit 44 calculates the previous position information to the current time. Next, the position calculation unit 44 reads the position information calculated last time from the position storage unit 45, and estimates the current position by autonomous navigation based on the output value acquired by the sensor information acquisition unit 42 (step S25).
  • a position calculation timing for example, 10 seconds after the previous position calculation
  • the position calculation unit 44 performs map matching processing based on the position acquired by the position acquisition unit 41, the position estimated by autonomous navigation, and the map information stored in the map information storage unit 43, so that the current vehicle Estimate the position. Then, the position calculation unit 44 records the position information indicating the estimated position in the position storage unit 45 in association with the current time (step S26).
  • step S30 When the position calculation unit 44 records position information in the position storage unit 45 in step S26, or when it is determined in step S23 that the current time is not the position calculation timing (step S23: NO), the reception unit 47 detects from the beacon 3. It is determined whether the time and the correction reference position have been received (step S27). When the reception unit 47 receives the detection time and the correction reference position from the beacon 3 (step S27: YES), the position correction unit 48 displays the position information associated with the detection time received by the reception unit 47 as the position storage unit 45. (Step S28). Next, the position correction unit 48 calculates the distance direction between the position indicated by the read position information and the correction reference position received by the reception unit 47 (step S29). Next, the position correction unit 48 performs map matching processing based on the latest position information stored in the position storage unit 45, the distance and direction calculated in step S29, and the map information stored in the map information storage unit 43. Thus, the latest position information is corrected (step S30).
  • step S30 When the position information is corrected in step S30, or when the receiving unit 47 does not receive the detection time and the correction reference position from the beacon 3 in step S27 (step S27: NO), the vehicle-mounted device 4 is operated by the user or the like. It is determined whether or not a processing end request is input from the outside by an interrupt processing or the like (step S31). If the vehicle-mounted device 4 determines that an end request has not been input from the outside (step S31: NO), the vehicle-mounted device 4 returns to step S3 and continues calculating position information. On the other hand, the onboard equipment 4 complete
  • the beacon 3 includes the detection time at which the laser sensor 1 detects the vehicle and the correction reference position that is a position to be corrected as the position at which the vehicle was present at the detection time.
  • the in-vehicle device 4 is notified by wireless communication. Therefore, since the beacon 3 can notify the vehicle-mounted device 4 of an accurate vehicle position at a certain detection time, an error that occurs when the vehicle-mounted device 4 corrects the vehicle position can be reduced.
  • the laser sensor 1 detects a vehicle existing behind the boundary of the communication range B of the beacon 3 in the vehicle traveling direction. As a result, the vehicle enters the communication range B of the beacon 3 after being detected by the laser sensor 1. Therefore, the beacon 3 can immediately notify the detection time to the vehicle-mounted device 4 that has entered the communication range B without waiting for the end of detection by the laser sensor 1.
  • the laser sensor 1 detects a vehicle that exists in the vicinity of the boundary of the communication range B of the beacon 3. Thereby, the possibility that the vehicle is overtaken between detection and notification is reduced. Therefore, there is a high possibility that the detection order by the laser sensor 1 and the notification order by the beacon 3 match.
  • the output unit 25 of the information processing device 2 outputs the detection times to the beacon 3 in the order recorded in the detection time queue 24. Further, the beacon 3 communicates with the vehicle-mounted device 4 in the order of entering the communication range B. Thereby, even when a plurality of vehicles enter the communication range B of the beacon 3 due to the time difference, the correct detection time can be notified to the vehicle-mounted device 4.
  • the position calculation unit 44 of the vehicle-mounted device 4 records the position where the vehicle exists as the travel history information in the position storage unit 45, and the position correction unit 48 stores the position correction unit 48.
  • the position where the vehicle is present is corrected based on the travel history, the detection time received from the beacon 3 and the correction reference position. Thereby, the onboard equipment 4 can make small the error which arises at the time of correction
  • FIG. 6 is a schematic block diagram showing the configuration of the information processing apparatus 2 according to the second embodiment.
  • the information processing apparatus 2 of the second embodiment further includes an onboard unit position estimation unit 26.
  • the detection information acquisition unit 21 acquires the arrival time of the reflected light of the laser and the intensity of the reflected light as detection information indicating the presence or absence of the vehicle from the laser sensor 1.
  • the on-vehicle device position estimation unit 26 estimates the position of the on-vehicle device 4 based on the detection information acquired by the detection information acquisition unit 21. For example, the in-vehicle device position estimation unit 26 can determine that the on-vehicle device 4 exists at the position by determining that the laser is irradiated on the windshield when the intensity of the reflected light is less than a predetermined threshold. This is because the vehicle-mounted device 4 is mainly installed near the windshield of the vehicle.
  • the on-vehicle device position estimation unit 26 irradiates the windshield with the laser when the distance calculated based on the arrival time of the reflected light is equal to or greater than a predetermined threshold corresponding to the height of the windshield of the vehicle. It can be determined that the vehicle-mounted device 4 is present at the position. And the detection time specific
  • the information processing apparatus 2 is mounted on a vehicle existing in the detection area based on the reflected light of the laser beam emitted from the laser sensor 1 provided above the road surface to the predetermined detection area.
  • the beacon 3 detects the detected vehicle-mounted device 4 and notifies the vehicle-mounted device 4 of the detection time when the vehicle-mounted device 4 is detected by wireless communication.
  • the information processing apparatus 2 can further reduce the detection error caused by the length of the hood. Specifically, when the vehicle is detected by the laser sensor 1, there is a possibility that an error corresponding to the length of the bonnet occurs between the detection position of the vehicle and the mounting position of the vehicle-mounted device 4.
  • the error can be eliminated, and the position of the vehicle can be calculated more accurately.
  • the embodiment of the present invention has been described in detail with reference to the drawings.
  • the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention.
  • the present invention is not limited thereto.
  • other sensors such as a line sensor can be used.
  • a sensing method such as a scanning method or a multi-optical axis method is not limited.
  • the information processing apparatus 2 and the vehicle-mounted device 4 described above have a computer system inside.
  • the operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program.
  • the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.
  • the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
  • the program may be for realizing a part of the functions described above. Furthermore, what can implement
  • the present invention relates to a position notification device and a vehicle position notification method for notifying a vehicle-mounted device mounted on a vehicle of the position of the vehicle.
  • ADVANTAGE OF THE INVENTION According to this invention, the exact position of the vehicle in the time which detected the vehicle can be notified to onboard equipment.

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  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

According to the present invention, a laser sensor detects a vehicle and a beacon notifies an onboard unit via wireless communication about the time of detection at which the laser sensor detected the vehicle and a correction reference position for correction as a position at which the vehicle existed at the detection time. The onboard unit calculates a position at which the vehicle exists at each point in time on the basis of the distance travelled by the vehicle, and corrects the calculated position on the basis of the detection time received from the beacon and the correction reference position.

Description

位置通知装置及び車両位置通知方法、並びに車載器、車両位置算出方法及びプログラム、並びに車両位置算出システムPosition notification device, vehicle position notification method, vehicle-mounted device, vehicle position calculation method and program, and vehicle position calculation system
　本発明は、車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置及び車両位置通知方法、並びに車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器、車両位置算出方法及びプログラム、並びに車両が存在する位置を算出する車両位置算出システムに関する。
　本願は、２０１１年７月１４日に日本に出願された特願２０１１－１５５５７４号に対して優先権を主張し、その内容をここに援用する。 The present invention relates to a position notification device and a vehicle position notification method for notifying a vehicle-mounted device mounted on a vehicle of the presence position of the vehicle, and the vehicle mounted on the vehicle based on information notified from the position notification device. The present invention relates to a vehicle-mounted device that calculates a position to be operated, a vehicle position calculation method and program, and a vehicle position calculation system that calculates a position where a vehicle exists.
This application claims priority to Japanese Patent Application No. 2011-155574 filed in Japan on July 14, 2011, the contents of which are incorporated herein by reference.
　従来、車両に搭載される車載器は、車両の測位を行う。車両の測位は、カーナビゲーション機能による車両位置の表示のほか、ロードプライシングやＤＳＳＳ（Driving Safety Support Systems：安全運転支援システム）に用いられる。車両の測位方法の例としては、主にＧＰＳ（Global Positioning System：全地球測位システム）によって車両位置を測位し、車両に搭載された速度センサやジャイロセンサの出力値に基づくＤＲ（Dead Reckoning：自律航法）によって車両位置を随時補正するＧＰＳ／ＤＲ手法が挙げられる。 Conventionally, vehicle-mounted devices mounted on vehicles perform vehicle positioning. Vehicle positioning is used for road pricing and DSSS (Driving Safety Support Systems) in addition to displaying the vehicle position by the car navigation function. As an example of the vehicle positioning method, the position of the vehicle is mainly measured by GPS (Global Positioning System), and DR (Dead Reckoning: autonomous) based on the output value of the speed sensor or gyro sensor mounted on the vehicle. GPS / DR technique for correcting the vehicle position as needed by (navigation).
　しかしながら、ＧＰＳ／ＤＲ手法のみによって車両の測位を行う場合、時間の経過と共に速度センサやジャイロセンサの検知誤差が蓄積されるため、継続的な使用条件下では当該誤差の累積により精度が劣化するという問題がある。これを解決する方法として、ビーコンにより当該ビーコンの設置位置を示す情報を車載器に通知し、車載器が当該通知に基づいて車両の位置を、通知に含まれるビーコンの設置位置に補正する方法がある（例えば、特許文献１を参照）。 However, when positioning the vehicle using only the GPS / DR method, the detection error of the speed sensor and the gyro sensor is accumulated with the passage of time, so that the accuracy deteriorates due to the accumulation of the error under continuous use conditions. There's a problem. As a method for solving this, there is a method in which information indicating the installation position of the beacon is notified to the vehicle-mounted device by a beacon, and the vehicle-mounted device corrects the position of the vehicle to the installation position of the beacon included in the notification based on the notification. Yes (see, for example, Patent Document 1).
　また、特許文献２には光ビーコンを用いて位置補正を行う方法が開示されている。 Further, Patent Document 2 discloses a method for correcting the position using an optical beacon.
特開平１０－２８１７８１号公報Japanese Patent Laid-Open No. 10-281781 特開２００９－０２６０５６号公報JP 2009-026056 A
　しかしながら、ビーコンによる通信範囲は約５メートル程度あり、当該通信範囲内のどの点において通信が完了するかは分からない。そのため、特許文献１に記載の方法を用いた車両位置算出方法を用いた場合、補正後の車両位置に通信範囲の大きさだけ誤差が含まれるという問題がある。
　本発明は、上記の問題に鑑みてなされたものであり、車両位置の補正時に生じる誤差を小さくすることができる位置通知装置及び車両位置通知方法、並びに車載器、車両位置算出方法及びプログラム、並びに車両位置算出システムを提供することを目的とする。 However, the communication range by the beacon is about 5 meters, and it is not known at which point within the communication range the communication is completed. Therefore, when the vehicle position calculation method using the method described in Patent Document 1 is used, there is a problem that the corrected vehicle position includes an error corresponding to the size of the communication range.
The present invention has been made in view of the above problems, and a position notification device, a vehicle position notification method, an in-vehicle device, a vehicle position calculation method, a program, and a program that can reduce an error that occurs when correcting the vehicle position, An object is to provide a vehicle position calculation system.
　本発明の位置通知装置は、車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置であって、車両を検知する検知部と、前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する通知部とを備える。 The position notification device of the present invention is a position notification device that notifies the vehicle-mounted device mounted on the vehicle of the position of the vehicle, a detection unit that detects the vehicle, and a detection time at which the detection unit detects the vehicle, And a notification unit that notifies the vehicle-mounted device of a correction reference position that is a position to be corrected as a position where the vehicle was present at the detection time.
　本発明の位置通知装置において、前記検知部は、前記通知部による無線通信の通信範囲の境界より車両進行方向後方に存在する車両を検知してもよい。 In the position notification device of the present invention, the detection unit may detect a vehicle that exists behind the boundary of the communication range of wireless communication by the notification unit.
　本発明の位置通知装置において、前記検知部は、前記通知部による無線通信の通信範囲の境界の近傍に存在する車両を検知してもよい。 In the position notification device of the present invention, the detection unit may detect a vehicle that exists in the vicinity of a boundary of a wireless communication range by the notification unit.
　本発明の位置通知装置は、前記検知部が車両を検知した検知時刻を記憶部に遂次記録する記録部と、前記通知部が通知した検知時刻を、前記記憶部から削除する削除部とを備え、前記通知部は、無線通信の通信範囲内に進入した順に前記車載器と遂次通信を行い、通信対象の車載器に対して前記記憶部が記憶する検知時刻のうち最も早い時刻を示す検知時刻を通知してもよい。 The position notification device of the present invention includes a recording unit that sequentially records a detection time when the detection unit detects a vehicle in a storage unit, and a deletion unit that deletes the detection time notified by the notification unit from the storage unit. The notification unit performs successive communication with the vehicle-mounted device in the order in which it entered the communication range of wireless communication, and indicates the earliest time among the detection times stored in the storage unit for the vehicle-mounted device to be communicated You may notify detection time.
　本発明の位置通知装置において、前記検知部は、路面上方に設けられたレーザセンサが所定の検知領域に射出するレーザ光の反射光に基づいて前記検知領域に存在する車両に搭載された車載器を検知し、前記通知部は、前記検知部が前記車両に搭載された車載器を検知した検知時刻を、無線通信により前記車載器に通知してもよい。 In the position notification device according to the aspect of the invention, the detection unit is mounted on a vehicle existing in the detection area based on the reflected light of the laser beam emitted from the laser sensor provided above the road surface to the predetermined detection area. The notification unit may notify the vehicle-mounted device of the detection time when the detection unit detects the vehicle-mounted device mounted on the vehicle by wireless communication.
　本発明の車載器は、車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器であって、前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部と、前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部と、前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部とを備える。 The vehicle-mounted device of the present invention is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device, and at each time based on a distance traveled by the vehicle. A calculation unit that calculates a position where the vehicle exists and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a position where the vehicle exists at the detection time A correction reference position that is a position to be corrected as a reception unit that receives from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, and the correction reference position And a correction unit for correcting the position where the vehicle is present.
　本発明の車両位置算出システムは、車両が存在する位置を算出する車両位置算出システムであって、自装置を搭載する車両が存在する位置を算出する車載器と、前記車載器に当該車載器が搭載された車両の存在位置を通知する位置通知装置とを備え、前記位置通知装置は、車両を検知する検知部と、前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する通知部とを備え、前記車載器は、自装置を搭載する車両が走行した距離に基づいて各時刻において前記車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部と、前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部と、前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部とを備える。 The vehicle position calculation system according to the present invention is a vehicle position calculation system that calculates a position where a vehicle is present, the vehicle-mounted device that calculates the position where a vehicle on which the vehicle is mounted is present, and the vehicle-mounted device includes A position notification device for notifying the presence position of the mounted vehicle, the position notification device detecting a vehicle, a detection time when the detection unit detects the vehicle, and the vehicle at the detection time. A notification reference unit that notifies the vehicle-mounted device of a correction reference position that is a position to be corrected as the existing position, and the vehicle-mounted device is based on the distance traveled by the vehicle on which the device is mounted. A calculation unit that calculates a position where the vehicle is present at each time and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a time when the vehicle is detected A correction reference position, which is a position to be corrected as a position existing in the receiver, from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, And a correction unit that corrects a position where the vehicle exists based on the correction reference position.
　本発明の車両位置通知方法は、車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置を用いた車両位置通知方法であって、検知部が車両を検知し、通知部は、前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する。 The vehicle position notification method of the present invention is a vehicle position notification method using a position notification device that notifies the vehicle-mounted device mounted on the vehicle of the position of the vehicle, wherein the detection unit detects the vehicle, The detection unit notifies the vehicle-mounted device of a detection time when the vehicle is detected and a correction reference position, which is a position where the vehicle is corrected as a position existing at the detection time.
　本発明の車両位置算出方法は、車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器を用いた車両位置算出方法であって、算出部は、前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録し、受信部は、前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信し、補正部は、前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する。 A vehicle position calculation method according to the present invention is a vehicle position calculation method using an on-vehicle device that is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device. The position where the vehicle is present at each time is calculated based on the distance traveled by the vehicle and recorded in the storage unit as travel history information, and the receiving unit detects the time when the vehicle is detected by the position notification device. And a correction reference position, which is a position to be corrected as the position at which the vehicle was present at the detection time, from the position notification device by wireless communication, and the correction unit stores the detection stored in the storage unit The position where the vehicle exists is corrected based on the travel history from the time to the current time and the correction reference position.
　本発明のプログラムは、車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器を、前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部、前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部、前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部として機能させるためのプログラムである。 The program of the present invention is installed in a vehicle, and the vehicle-mounted device that calculates the position where the vehicle is present based on information notified from the position notification device is transmitted at each time based on the distance traveled by the vehicle. A calculation unit that calculates an existing position and records it in a storage unit as travel history information, a detection time when the vehicle is detected by the position notification device, and a position where the vehicle exists at the detection time should be corrected The vehicle is based on a receiving unit that receives a correction reference position that is a position from the position notification device by wireless communication, a travel history from the detection time to the current time stored in the storage unit, and the correction reference position. Is a program for causing a position to be corrected to function as a correction unit.
　本発明によれば、通知部が自身の位置を通知することで車両の位置の補正をさせるのではなく、ビーコンとは別個に車両の検知を行う検知部を備え、検知部が車両を検知した検知時刻と補正基準位置とを車載器に通知することで、車両の位置の補正をさせる。これにより、検知時刻における正確な車両の位置を車載器に通知することができる。 According to the present invention, the notification unit does not correct the position of the vehicle by notifying its own position, but includes a detection unit that detects the vehicle separately from the beacon, and the detection unit detects the vehicle. The vehicle position is corrected by notifying the vehicle-mounted device of the detection time and the correction reference position. Thereby, the exact position of the vehicle at the detection time can be notified to the vehicle-mounted device.
本発明の第一の実施形態による車両位置算出システムの構成図である。1 is a configuration diagram of a vehicle position calculation system according to a first embodiment of the present invention. 情報処理装置の構成を示す概略ブロック図である。It is a schematic block diagram which shows the structure of information processing apparatus. 車両位置算出システムが車載器に情報を通知する動作を示すシーケンス図である。It is a sequence diagram which shows the operation | movement which a vehicle position calculation system notifies information to onboard equipment. 第一の実施形態による車載器の構成を示す概略ブロック図である。It is a schematic block diagram which shows the structure of the onboard equipment by 1st embodiment. 第一の実施形態による車載器の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the onboard equipment by 1st embodiment. 第二の実施形態による情報処理装置の構成を示す概略ブロック図である。It is a schematic block diagram which shows the structure of the information processing apparatus by 2nd embodiment.
　（第一の実施形態）
　以下、図面を参照しながら本発明の第一の実施形態について詳しく説明する。
　図１は、本発明の第一の実施形態による車両位置算出システムの構成図である。
　車両位置算出システムは、レーザセンサ（検知部）１、情報処理装置２、ビーコン（通知部）３、車載器４を備える。 (First embodiment)
Hereinafter, a first embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a configuration diagram of a vehicle position calculation system according to a first embodiment of the present invention.
The vehicle position calculation system includes a laser sensor (detection unit) 1, an information processing device 2, a beacon (notification unit) 3, and an in-vehicle device 4.
　レーザセンサ１は、路面上方に設けられ、路面上の所定の検知範囲にレーザ光を照射することで、当該路面を通過する車両の存在を検知する。
　情報処理装置２は、レーザセンサ１が車両を検知した場合に、当該車両を検知した時刻である検知時刻を特定する。
　ビーコン３は、通信範囲Ｂ内に車載器４が進入した順に、当該進入した車載器４と遂次通信を行う。ビーコン３は、車載器４がビーコン３の通信範囲Ｂ内に進入したときに、車載器４において位置情報の補正に用いる補正基準位置と、情報処理装置２が特定した検知時刻とを、車載器４に通知する。ここで、補正基準位置としては、レーザセンサ１の緯度及び経度を示す情報や、ビーコン３のＩＤと当該ビーコン３とレーザセンサ１との間の距離の組み合わせなどが挙げられる。
　車載器４は、車両に搭載され、当該車両が存在する位置を遂次算出する。また、車載器４は、ビーコン３から通知された情報に基づいて算出した位置を補正する。
　なお、本実施形態では、レーザセンサ１は、ビーコン３の通信範囲Ｂの境界より車両進行方向後方かつ境界の近傍（例えば、１メートル程度）に存在する車両の存在を検知する。
なお、ビーコン３の通信範囲Ｂは、車載器４の取り付け位置、フロントガラスの材質、車速などにより、車両によって必ずしも一致しないが、本実施形態では、平均的に通信範囲の境界となる位置を通信範囲の近傍とする。 The laser sensor 1 is provided above the road surface, and detects the presence of a vehicle passing through the road surface by irradiating a predetermined detection range on the road surface with laser light.
When the laser sensor 1 detects a vehicle, the information processing device 2 specifies a detection time that is a time when the vehicle is detected.
The beacon 3 performs sequential communication with the entered vehicle-mounted device 4 in the order in which the vehicle-mounted device 4 enters the communication range B. When the vehicle-mounted device 4 enters the communication range B of the beacon 3, the beacon 3 determines the correction reference position used for correcting the position information in the vehicle-mounted device 4 and the detection time specified by the information processing device 2. 4 is notified. Here, examples of the correction reference position include information indicating the latitude and longitude of the laser sensor 1 and a combination of the ID of the beacon 3 and the distance between the beacon 3 and the laser sensor 1.
The vehicle-mounted device 4 is mounted on the vehicle and sequentially calculates the position where the vehicle is present. Further, the vehicle-mounted device 4 corrects the position calculated based on the information notified from the beacon 3.
In the present embodiment, the laser sensor 1 detects the presence of a vehicle that exists behind the boundary of the communication range B of the beacon 3 and in the vicinity of the boundary (for example, about 1 meter).
Note that the communication range B of the beacon 3 does not necessarily match depending on the vehicle depending on the mounting position of the vehicle-mounted device 4, the material of the windshield, the vehicle speed, and the like. Near the range.
　図２は、情報処理装置２の構成を示す概略ブロック図である。
　情報処理装置２は、検知情報取得部２１、検知時刻特定部２２、検知時刻記録部（記録部）２３、検知時刻キュー（記憶部）２４、出力部（削除部）２５を備える。
　検知情報取得部２１は、レーザセンサ１から車両を検知したか否かを示す検知情報を取得する。
　検知時刻特定部２２は、検知情報取得部２１が取得した検知情報が、車両が存在することを示すときに、そのときの時刻を検知時刻として特定する。
　検知時刻記録部２３は、検知時刻特定部２２が特定した検知時刻を検知時刻キュー２４に記録する。
　検知時刻キュー２４は、検知時刻記録部２３によって記録された検知時刻を記憶する。
　出力部２５は、ビーコン３の通信範囲Ｂ内に車載器４が進入したときに、検知時刻キュー２４から検知時刻を取り出し、ビーコン３に出力する。なお、本実施形態において「キューから取り出す」とは、キューに最初に記録された情報を読み出し、当該情報を削除する処理を示す。つまり、出力部２５は、ビーコン３によって通知される検知時刻を検知時刻キュー２４から削除する。また、ビーコン３は、通信対象の車載器４に対して検知時刻キュー２４が記憶する検知時刻のうち最も早い時刻を示す検知時刻を通知する。 FIG. 2 is a schematic block diagram illustrating the configuration of the information processing apparatus 2.
The information processing apparatus 2 includes a detection information acquisition unit 21, a detection time specifying unit 22, a detection time recording unit (recording unit) 23, a detection time queue (storage unit) 24, and an output unit (deleting unit) 25.
The detection information acquisition unit 21 acquires detection information indicating whether or not a vehicle is detected from the laser sensor 1.
When the detection information acquired by the detection information acquisition unit 21 indicates that a vehicle is present, the detection time specifying unit 22 specifies the time at that time as the detection time.
The detection time recording unit 23 records the detection time specified by the detection time specifying unit 22 in the detection time queue 24.
The detection time queue 24 stores the detection time recorded by the detection time recording unit 23.
When the vehicle-mounted device 4 enters the communication range B of the beacon 3, the output unit 25 extracts the detection time from the detection time queue 24 and outputs it to the beacon 3. In the present embodiment, “take out from the queue” refers to a process of reading information first recorded in the queue and deleting the information. That is, the output unit 25 deletes the detection time notified by the beacon 3 from the detection time queue 24. Further, the beacon 3 notifies the detection time indicating the earliest time among the detection times stored in the detection time queue 24 to the vehicle-mounted device 4 to be communicated.
　次に、第一の実施形態による車両位置算出システムが車載器４に情報を通知する動作について説明する。
　図３は、車両位置算出システムが車載器４に情報を通知する動作を示すシーケンス図である。
　まず、レーザセンサ１は、レーザ光が照射される検知範囲Ｌ上に車両が存在するか否かを検知する（ステップＳ１）。ここで、レーザセンサ１は、レーザ光を射出してから反射光を受光するまでの時間に基づいて、レーザ光の射出位置からレーザ光の反射点までの距離を算出し、当該距離が所定の閾値以下になったか否かによって車両が存在するか否かを判定する。レーザセンサ１は、車両の有無を示す検知情報を情報処理装置２に出力する（ステップＳ２）。なお、レーザセンサ１は、検知情報を情報処理装置２に所定のセンシング間隔毎に遂次出力する。 Next, an operation in which the vehicle position calculation system according to the first embodiment notifies the vehicle-mounted device 4 of information will be described.
FIG. 3 is a sequence diagram illustrating an operation in which the vehicle position calculation system notifies the vehicle-mounted device 4 of information.
First, the laser sensor 1 detects whether or not a vehicle exists on the detection range L to which the laser beam is irradiated (step S1). Here, the laser sensor 1 calculates the distance from the emission position of the laser beam to the reflection point of the laser beam based on the time from when the laser beam is emitted until the reflected light is received, and the distance is a predetermined value. It is determined whether or not a vehicle is present depending on whether or not the threshold value has been reached. The laser sensor 1 outputs detection information indicating the presence or absence of a vehicle to the information processing apparatus 2 (step S2). The laser sensor 1 sequentially outputs detection information to the information processing apparatus 2 at predetermined sensing intervals.
　レーザセンサ１が検知情報を出力すると、情報処理装置２の検知情報取得部２１は、レーザセンサ１から検知情報を取得する（ステップＳ３）。次に、検知時刻特定部２２は、検知情報取得部２１が取得した検知情報が、車両が存在することを示すか否かを判定する（ステップＳ４）。検知情報が、車両が存在しないことを示す場合（ステップＳ４：ＮＯ）、ステップＳ３に戻り、次の検知情報の取得を待機する。 When the laser sensor 1 outputs detection information, the detection information acquisition unit 21 of the information processing device 2 acquires detection information from the laser sensor 1 (step S3). Next, the detection time specifying unit 22 determines whether or not the detection information acquired by the detection information acquisition unit 21 indicates that a vehicle is present (step S4). When the detection information indicates that no vehicle is present (step S4: NO), the process returns to step S3 and waits for acquisition of the next detection information.
　他方、検知情報が、車両が存在することを示す場合（ステップＳ４：ＹＥＳ）、検知時刻特定部２２は、現在の時刻を検知時刻と特定する（ステップＳ５）。次に、検知時刻記録部２３は、検知時刻特定部２２が特定した検知時刻を検知時刻キュー２４に記録する（ステップＳ６）。 On the other hand, when the detection information indicates that a vehicle is present (step S4: YES), the detection time specifying unit 22 specifies the current time as the detection time (step S5). Next, the detection time recording unit 23 records the detection time specified by the detection time specifying unit 22 in the detection time queue 24 (step S6).
　車両は、レーザセンサ１の検知範囲Ｌを通過すると、次にビーコン３の通信範囲Ｂに進入する。
　ビーコン３は、通信対象となる車載器４の存在確認のための信号を遂次発信し、当該信号に対する応答の有無に基づいて、通信可能な車載器４が存在するか否かを判定する（ステップＳ７）。ビーコン３は、通信可能な車載器４が存在しないと判定した場合（ステップＳ７：ＮＯ）、ステップＳ７に戻り、通信可能な車載器４が存在するか否かの判定を繰り返す。
　他方、ビーコン３は、通信可能な車載器４が存在すると判定した場合（ステップＳ７：ＹＥＳ）、情報処理装置２に検知時刻の要求を出力する（ステップＳ８）。 When the vehicle passes the detection range L of the laser sensor 1, the vehicle then enters the communication range B of the beacon 3.
The beacon 3 sequentially transmits a signal for confirming the presence of the vehicle-mounted device 4 to be communicated, and determines whether there is a communicable vehicle-mounted device 4 based on the presence or absence of a response to the signal ( Step S7). If the beacon 3 determines that there is no communicable vehicle-mounted device 4 (step S7: NO), the beacon 3 returns to step S7 and repeats the determination of whether or not the communicable vehicle-mounted device 4 exists.
On the other hand, if the beacon 3 determines that there is a vehicle-mounted device 4 that can communicate (step S7: YES), the beacon 3 outputs a request for the detection time to the information processing device 2 (step S8).
　ビーコン３が検知時刻の要求を出力すると、情報処理装置２の出力部２５は、ビーコン３から検知時刻の要求を取得する（ステップＳ９）。次に、出力部２５は、検知時刻キュー２４から検知時刻を取り出す（ステップＳ１０）。次に、出力部２５は、取り出した検知時刻をビーコン３に出力する（ステップＳ１１）。 When the beacon 3 outputs the detection time request, the output unit 25 of the information processing apparatus 2 acquires the detection time request from the beacon 3 (step S9). Next, the output unit 25 extracts the detection time from the detection time queue 24 (step S10). Next, the output unit 25 outputs the extracted detection time to the beacon 3 (step S11).
　情報処理装置２が検知時刻を出力すると、ビーコン３は当該検知時刻を取得する（ステップＳ１２）。そして、ビーコン３は、取得した検知時刻と、予め定められた補正基準位置とを車載器４に通知する（ステップＳ１３）。
　上述した処理により、ビーコン３は、車載器４に対してレーザセンサ１による車両の検知時刻と補正基準位置とを通知することができる。
　また、情報処理装置２の出力部２５は、検知時刻キュー２４に記録された順に検知時刻をビーコン３に出力する。また、ビーコン３は、通信範囲Ｂ内に進入した順に車載器４との通信を行う。これにより、時間差で複数の車両がビーコン３の通信範囲Ｂ内に進入した場合にも、正しい検知時刻を車載器４に通知することができる。特に、本実施形態においてレーザセンサ１は、ビーコン３の通信範囲Ｂの境界の近傍に存在する車両を検知する。これにより、検知から通知までの間に車両の追い越しがなされる可能性が少なく、検知順と通知順が一致する可能性が高い。さらに、本実施形態においてレーザセンサ１はビーコン３の通信範囲Ｂの境界より車両進行方向後方に存在する車両を検知する。これにより、車両は、レーザセンサ１によって検知された後に、ビーコン３の通信範囲Ｂ内に進入する。そのため、ビーコン３は、レーザセンサ１による検知の終了を待機せず、通信範囲Ｂ内に進入した車載器４に対してすぐに検知時刻を通知することができる。 When the information processing device 2 outputs the detection time, the beacon 3 acquires the detection time (step S12). Then, the beacon 3 notifies the vehicle-mounted device 4 of the acquired detection time and a predetermined correction reference position (step S13).
By the process described above, the beacon 3 can notify the vehicle-mounted device 4 of the vehicle detection time and the correction reference position by the laser sensor 1.
Further, the output unit 25 of the information processing device 2 outputs the detection times to the beacon 3 in the order recorded in the detection time queue 24. Further, the beacon 3 communicates with the vehicle-mounted device 4 in the order of entering the communication range B. Thereby, even when a plurality of vehicles enter the communication range B of the beacon 3 due to the time difference, the correct detection time can be notified to the vehicle-mounted device 4. In particular, in this embodiment, the laser sensor 1 detects a vehicle that exists in the vicinity of the boundary of the communication range B of the beacon 3. Thereby, there is little possibility that the vehicle is overtaken between detection and notification, and there is a high possibility that the detection order and the notification order match. Further, in the present embodiment, the laser sensor 1 detects a vehicle that exists behind the boundary of the communication range B of the beacon 3 in the vehicle traveling direction. As a result, the vehicle enters the communication range B of the beacon 3 after being detected by the laser sensor 1. Therefore, the beacon 3 can immediately notify the detection time to the vehicle-mounted device 4 that has entered the communication range B without waiting for the end of detection by the laser sensor 1.
　次に、第一の実施形態による車載器４について説明する。
　図４は、第一の実施形態による車載器４の構成を示す概略ブロック図である。
　車載器４は、位置取得部４１、センサ情報取得部４２、地図情報記憶部４３、位置算出部（算出部）４４、位置記憶部４５、表示部４６、受信部４７、位置補正部（補正部）４８を備える。 Next, the vehicle-mounted device 4 according to the first embodiment will be described.
FIG. 4 is a schematic block diagram showing the configuration of the vehicle-mounted device 4 according to the first embodiment.
The vehicle-mounted device 4 includes a position acquisition unit 41, a sensor information acquisition unit 42, a map information storage unit 43, a position calculation unit (calculation unit) 44, a position storage unit 45, a display unit 46, a reception unit 47, a position correction unit (correction unit). 48).
　位置取得部４１は、ＧＰＳ機能により車両の現在の位置を取得する。
　センサ情報取得部４２は、車両に搭載された速度センサやジャイロセンサの出力値を取得する。
　地図情報記憶部４３は、道路パターンを含む地図情報を記憶する。
　位置算出部４４は、位置取得部４１が取得した位置情報またはセンサ情報取得部４２が取得したセンサの出力値に基づいて、一定時間毎にＧＰＳ／ＤＲ手法により現在位置の算出を行い、算出した位置情報を位置記憶部４５に記録する。このとき、位置算出部４４は、地図情報記憶部４３が記憶する地図情報に基づいてマップマッチング処理を行う。
　位置記憶部４５は、位置算出部４４が算出した位置情報を時刻に関連付けて時系列に記憶する。
　表示部４６は、位置記憶部４５が記憶する最新の位置情報を地図情報記憶部４３が記憶する地図情報に合成して車載器４のディスプレイに表示させる。 The position acquisition unit 41 acquires the current position of the vehicle by the GPS function.
The sensor information acquisition unit 42 acquires output values of speed sensors and gyro sensors mounted on the vehicle.
The map information storage unit 43 stores map information including road patterns.
Based on the position information acquired by the position acquisition unit 41 or the output value of the sensor acquired by the sensor information acquisition unit 42, the position calculation unit 44 calculates the current position by the GPS / DR method at regular intervals. The position information is recorded in the position storage unit 45. At this time, the position calculation unit 44 performs map matching processing based on the map information stored in the map information storage unit 43.
The position storage unit 45 stores the position information calculated by the position calculation unit 44 in time series in association with the time.
The display unit 46 synthesizes the latest position information stored in the position storage unit 45 with the map information stored in the map information storage unit 43 and displays the combined information on the display of the vehicle-mounted device 4.
　受信部４７は、ビーコン３から通知された検知時刻及び補正基準位置を受信する。
　位置補正部４８は、受信部４７が受信した検知時刻及び補正基準位置に基づいて、位置記憶部４５が記憶する位置情報の補正を行う。このとき、位置補正部４８は、地図情報記憶部４３が記憶する地図情報に基づいてマップマッチング処理を行う。 The receiving unit 47 receives the detection time and the correction reference position notified from the beacon 3.
The position correction unit 48 corrects the position information stored in the position storage unit 45 based on the detection time and the correction reference position received by the reception unit 47. At this time, the position correction unit 48 performs map matching processing based on the map information stored in the map information storage unit 43.
　次に、第一の実施形態による車載器４が位置情報を算出する動作について説明する。
　図５は、第一の実施形態による車載器４の動作を示すフローチャートである。
　車載器４が位置情報の算出動作を開始すると、まず位置取得部４１は、ＧＰＳ機能により車両の現在の位置を取得する（ステップＳ２１）。次に、位置算出部４４は、位置取得部４１が取得した位置情報と地図情報記憶部４３が記憶する地図情報とに基づいてマップマッチング処理を行うことで現在の車両の位置を推定する。そして、位置算出部４４は、推定した位置を示す位置情報を現在時刻に関連付けて位置記憶部４５に記録し（ステップＳ２２）、次の位置算出タイミングまで待機する。 Next, an operation in which the vehicle-mounted device 4 according to the first embodiment calculates position information will be described.
FIG. 5 is a flowchart showing the operation of the vehicle-mounted device 4 according to the first embodiment.
When the vehicle-mounted device 4 starts the position information calculation operation, the position acquisition unit 41 first acquires the current position of the vehicle by the GPS function (step S21). Next, the position calculation unit 44 estimates the current vehicle position by performing a map matching process based on the position information acquired by the position acquisition unit 41 and the map information stored in the map information storage unit 43. Then, the position calculation unit 44 records position information indicating the estimated position in the position storage unit 45 in association with the current time (step S22), and waits until the next position calculation timing.
　次に、位置算出部４４は、現在時刻が位置算出タイミング（例えば前回の位置算出時から１０秒後）であるか否かを判定する（ステップＳ２３）。現在時刻が位置算出タイミングであると判定した場合（ステップＳ２３：ＹＥＳ）、位置取得部４１は、ＧＰＳ機能により車両の現在の位置を取得する（ステップＳ２４）。また、センサ情報取得部４２は、位置算出部４４が前回位置情報を算出した時刻から現在時刻までにおける速度センサやジャイロセンサの出力値を取得する。次に、位置算出部４４は、位置記憶部４５から前回算出した位置情報を読み出し、センサ情報取得部４２が取得した出力値に基づいて自律航法によって現在の位置を推定する（ステップＳ２５）。次に、位置算出部４４は、位置取得部４１が取得した位置、自律航法によって推定した位置、及び地図情報記憶部４３が記憶する地図情報に基づいてマップマッチング処理を行うことで現在の車両の位置を推定する。そして、位置算出部４４は、推定した位置を示す位置情報を現在時刻に関連付けて位置記憶部４５に記録する（ステップＳ２６）。 Next, the position calculation unit 44 determines whether or not the current time is a position calculation timing (for example, 10 seconds after the previous position calculation) (step S23). If it is determined that the current time is the position calculation timing (step S23: YES), the position acquisition unit 41 acquires the current position of the vehicle by the GPS function (step S24). The sensor information acquisition unit 42 acquires output values of the speed sensor and the gyro sensor from the time when the position calculation unit 44 calculates the previous position information to the current time. Next, the position calculation unit 44 reads the position information calculated last time from the position storage unit 45, and estimates the current position by autonomous navigation based on the output value acquired by the sensor information acquisition unit 42 (step S25). Next, the position calculation unit 44 performs map matching processing based on the position acquired by the position acquisition unit 41, the position estimated by autonomous navigation, and the map information stored in the map information storage unit 43, so that the current vehicle Estimate the position. Then, the position calculation unit 44 records the position information indicating the estimated position in the position storage unit 45 in association with the current time (step S26).
　ステップＳ２６で位置算出部４４が位置記憶部４５に位置情報を記録した場合、またはステップＳ２３で現在時刻が位置算出タイミングでないと判定した場合（ステップＳ２３：ＮＯ）、受信部４７がビーコン３から検知時刻及び補正基準位置を受信したか否かを判定する（ステップＳ２７）。受信部４７がビーコン３から検知時刻及び補正基準位置を受信した場合（ステップＳ２７：ＹＥＳ）、位置補正部４８は、受信部４７が受信した検知時刻に関連付けられた位置情報を、位置記憶部４５から読み出す（ステップＳ２８）。次に、位置補正部４８は、読み出した位置情報が示す位置と、受信部４７が受信した補正基準位置との距離方角を算出する（ステップＳ２９）。次に、位置補正部４８は、位置記憶部４５が記憶する最新の位置情報、ステップＳ２９で算出した距離及び方角、並びに地図情報記憶部４３が記憶する地図情報に基づいてマップマッチング処理を行うことで、最新の位置情報を補正する（ステップＳ３０）。 When the position calculation unit 44 records position information in the position storage unit 45 in step S26, or when it is determined in step S23 that the current time is not the position calculation timing (step S23: NO), the reception unit 47 detects from the beacon 3. It is determined whether the time and the correction reference position have been received (step S27). When the reception unit 47 receives the detection time and the correction reference position from the beacon 3 (step S27: YES), the position correction unit 48 displays the position information associated with the detection time received by the reception unit 47 as the position storage unit 45. (Step S28). Next, the position correction unit 48 calculates the distance direction between the position indicated by the read position information and the correction reference position received by the reception unit 47 (step S29). Next, the position correction unit 48 performs map matching processing based on the latest position information stored in the position storage unit 45, the distance and direction calculated in step S29, and the map information stored in the map information storage unit 43. Thus, the latest position information is corrected (step S30).
　ステップＳ３０で位置情報を補正した場合、またはステップＳ２７で受信部４７がビーコン３から検知時刻及び補正基準位置を受信しなかった場合（ステップＳ２７：ＮＯ）、車載器４は、使用者などによる操作や割り込み処理などにより、外部から処理の終了要求を入力したか否かを判定する（ステップＳ３１）。車載器４は、外部から終了要求を入力していないと判定した場合（ステップＳ３１：ＮＯ）、ステップＳ３に戻り、位置情報の算出を継続する。他方、車載器４は、外部から終了要求を入力したと判定した場合（ステップＳ３１：ＹＥＳ）、処理を終了する。 When the position information is corrected in step S30, or when the receiving unit 47 does not receive the detection time and the correction reference position from the beacon 3 in step S27 (step S27: NO), the vehicle-mounted device 4 is operated by the user or the like. It is determined whether or not a processing end request is input from the outside by an interrupt processing or the like (step S31). If the vehicle-mounted device 4 determines that an end request has not been input from the outside (step S31: NO), the vehicle-mounted device 4 returns to step S3 and continues calculating position information. On the other hand, the onboard equipment 4 complete | finishes a process, when it determines with having input the completion | finish request | requirement from the outside (step S31: YES).
　このように、本実施形態によれば、ビーコン３は、レーザセンサ１が車両を検知した検知時刻と、当該車両が検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器４に通知する。これによりビーコン３は、車載器４に対してある検知時刻における正確な車両の位置を通知することができるため、車載器４による車両位置の補正時に生じる誤差を小さくすることができる。 Thus, according to the present embodiment, the beacon 3 includes the detection time at which the laser sensor 1 detects the vehicle and the correction reference position that is a position to be corrected as the position at which the vehicle was present at the detection time. The in-vehicle device 4 is notified by wireless communication. Thereby, since the beacon 3 can notify the vehicle-mounted device 4 of an accurate vehicle position at a certain detection time, an error that occurs when the vehicle-mounted device 4 corrects the vehicle position can be reduced.
　また、本実施形態によれば、レーザセンサ１はビーコン３の通信範囲Ｂの境界より車両進行方向後方に存在する車両を検知する。これにより、車両は、レーザセンサ１によって検知された後に、ビーコン３の通信範囲Ｂ内に進入する。そのため、ビーコン３は、レーザセンサ１による検知の終了を待機せず、通信範囲Ｂ内に進入した車載器４に対してすぐに検知時刻を通知することができる。 Further, according to the present embodiment, the laser sensor 1 detects a vehicle existing behind the boundary of the communication range B of the beacon 3 in the vehicle traveling direction. As a result, the vehicle enters the communication range B of the beacon 3 after being detected by the laser sensor 1. Therefore, the beacon 3 can immediately notify the detection time to the vehicle-mounted device 4 that has entered the communication range B without waiting for the end of detection by the laser sensor 1.
　また、本実施形態によれば、レーザセンサ１は、ビーコン３の通信範囲Ｂの境界の近傍に存在する車両を検知する。これにより、検知から通知までの間に車両の追い越しがなされる可能性が少なくなる。そのため、レーザセンサ１による検知順とビーコン３による通知順が一致する可能性が高い。 Further, according to the present embodiment, the laser sensor 1 detects a vehicle that exists in the vicinity of the boundary of the communication range B of the beacon 3. Thereby, the possibility that the vehicle is overtaken between detection and notification is reduced. Therefore, there is a high possibility that the detection order by the laser sensor 1 and the notification order by the beacon 3 match.
　また、本実施形態によれば、情報処理装置２の出力部２５は、検知時刻キュー２４に記録された順に検知時刻をビーコン３に出力する。また、ビーコン３は、通信範囲Ｂ内に進入した順に車載器４との通信を行う。これにより、時間差で複数の車両がビーコン３の通信範囲Ｂ内に進入した場合にも、正しい検知時刻を車載器４に通知することができる。 Further, according to the present embodiment, the output unit 25 of the information processing device 2 outputs the detection times to the beacon 3 in the order recorded in the detection time queue 24. Further, the beacon 3 communicates with the vehicle-mounted device 4 in the order of entering the communication range B. Thereby, even when a plurality of vehicles enter the communication range B of the beacon 3 due to the time difference, the correct detection time can be notified to the vehicle-mounted device 4.
　また、本実施形態によれば、車載器４の位置算出部４４は、車両が存在する位置を走行履歴情報として位置記憶部４５に記録し、位置補正部４８は、位置記憶部４５が記憶する走行履歴と、ビーコン３から受信した検知時刻と補正基準位置とに基づいて車両が存在する位置を補正する。これにより、車載器４は、車両位置の補正時に生じる誤差を小さくすることができる。 Further, according to the present embodiment, the position calculation unit 44 of the vehicle-mounted device 4 records the position where the vehicle exists as the travel history information in the position storage unit 45, and the position correction unit 48 stores the position correction unit 48. The position where the vehicle is present is corrected based on the travel history, the detection time received from the beacon 3 and the correction reference position. Thereby, the onboard equipment 4 can make small the error which arises at the time of correction | amendment of a vehicle position.
（第二の実施形態）
　以下、図面を参照しながら本発明の第二の実施形態について詳しく説明する。
　第二の実施形態は、第一の実施形態と情報処理装置２の構成が異なる。
　図６は、第二の実施形態による情報処理装置２の構成を示す概略ブロック図である。
　第二の実施形態の情報処理装置２は、第一の実施形態の情報処理装置２に加えて車載器位置推定部２６をさらに備える。 (Second embodiment)
Hereinafter, the second embodiment of the present invention will be described in detail with reference to the drawings.
The second embodiment is different from the first embodiment in the configuration of the information processing apparatus 2.
FIG. 6 is a schematic block diagram showing the configuration of the information processing apparatus 2 according to the second embodiment.
In addition to the information processing apparatus 2 of the first embodiment, the information processing apparatus 2 of the second embodiment further includes an onboard unit position estimation unit 26.
　検知情報取得部２１は、レーザセンサ１から車両の有無を示す検知情報として、レーザの反射光の到達時間及び反射光の強度を取得する。
　車載器位置推定部２６は、検知情報取得部２１が取得した検知情報に基づいて車載器４の位置を推定する。例えば車載器位置推定部２６は、反射光の強度が所定の閾値未満となった場合に、レーザがフロントガラスに照射されたと判定し、当該位置に車載器４が存在すると推定することができる。これは、車載器４が主に車両のフロントガラス近傍に設置されるためである。また、車載器位置推定部２６は、反射光の到達時間に基づいて算出された距離が、車両のフロントガラスの高さに相当する所定の閾値以上になった場合に、レーザがフロントガラスに照射されたと判定し、当該位置に車載器４が存在すると推定することができる。
　そして、検知時刻特定部２２は、車載器位置推定部２６が車載器４が存在すると推定したときに、そのときの時刻を検知時刻として特定する。 The detection information acquisition unit 21 acquires the arrival time of the reflected light of the laser and the intensity of the reflected light as detection information indicating the presence or absence of the vehicle from the laser sensor 1.
The on-vehicle device position estimation unit 26 estimates the position of the on-vehicle device 4 based on the detection information acquired by the detection information acquisition unit 21. For example, the in-vehicle device position estimation unit 26 can determine that the on-vehicle device 4 exists at the position by determining that the laser is irradiated on the windshield when the intensity of the reflected light is less than a predetermined threshold. This is because the vehicle-mounted device 4 is mainly installed near the windshield of the vehicle. The on-vehicle device position estimation unit 26 irradiates the windshield with the laser when the distance calculated based on the arrival time of the reflected light is equal to or greater than a predetermined threshold corresponding to the height of the windshield of the vehicle. It can be determined that the vehicle-mounted device 4 is present at the position.
And the detection time specific | specification part 22 specifies the time at that time as detection time, when the onboard equipment position estimation part 26 estimates that the onboard equipment 4 exists.
　このように、本実施形態によれば、情報処理装置２は、路面上方に設けられたレーザセンサ１が所定の検知領域に射出するレーザ光の反射光に基づいて検知領域に存在する車両に搭載された車載器４を検知し、ビーコン３は、車載器４を検知した検知時刻を無線通信により前記車載器４に通知する。これにより、情報処理装置２は、ボンネットの長さによって生じる検知誤差をさらに小さくすることができる。具体的には、レーザセンサ１によって車両の検知を行った場合、車両の検知位置と車載器４の搭載位置との間には、ボンネットの長さ分だけ誤差が生じる可能性がある。しかしながら、本実施形態によれば、当該誤差を無くすことができ、より正確に車両の位置を算出することができる。 As described above, according to the present embodiment, the information processing apparatus 2 is mounted on a vehicle existing in the detection area based on the reflected light of the laser beam emitted from the laser sensor 1 provided above the road surface to the predetermined detection area. The beacon 3 detects the detected vehicle-mounted device 4 and notifies the vehicle-mounted device 4 of the detection time when the vehicle-mounted device 4 is detected by wireless communication. Thereby, the information processing apparatus 2 can further reduce the detection error caused by the length of the hood. Specifically, when the vehicle is detected by the laser sensor 1, there is a possibility that an error corresponding to the length of the bonnet occurs between the detection position of the vehicle and the mounting position of the vehicle-mounted device 4. However, according to the present embodiment, the error can be eliminated, and the position of the vehicle can be calculated more accurately.
　以上、図面を参照してこの発明の一実施形態について詳しく説明してきたが、具体的な構成は上述のものに限られることはなく、この発明の要旨を逸脱しない範囲内において様々な設計変更等をすることが可能である。
　例えば、第一の実施形態において、車両の検知を行う検知部としてレーザセンサ１を用いる場合を説明したが、これに限られない。例えば、ラインセンサ等の他のセンサを用いることができる。また、レーザセンサ１を用いる場合にも、スキャン式・多光軸式などセンシングの方式は問わない。 As described above, the embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like can be made without departing from the scope of the present invention. It is possible to
For example, in the first embodiment, the case where the laser sensor 1 is used as a detection unit that detects a vehicle has been described, but the present invention is not limited thereto. For example, other sensors such as a line sensor can be used. Even when the laser sensor 1 is used, a sensing method such as a scanning method or a multi-optical axis method is not limited.
　上述の情報処理装置２並びに車載器４は、内部にコンピュータシステムを有している。
そして、上述した各処理部の動作は、プログラムの形式でコンピュータ読み取り可能な記録媒体に記憶されており、このプログラムをコンピュータが読み出して実行することによって、上記処理が行われる。ここでコンピュータ読み取り可能な記録媒体とは、磁気ディスク、光磁気ディスク、ＣＤ－ＲＯＭ、ＤＶＤ－ＲＯＭ、半導体メモリ等をいう。また、このコンピュータプログラムを通信回線によってコンピュータに配信し、この配信を受けたコンピュータが当該プログラムを実行するようにしても良い。 The information processing apparatus 2 and the vehicle-mounted device 4 described above have a computer system inside.
The operation of each processing unit described above is stored in a computer-readable recording medium in the form of a program, and the above processing is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
　また、上記プログラムは、前述した機能の一部を実現するためのものであっても良い。
さらに、前述した機能をコンピュータシステムにすでに記録されているプログラムとの組み合わせで実現できるもの、いわゆる差分ファイル（差分プログラム）であっても良い。 The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.
　本発明は、車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置及び車両位置通知方法に関する。本発明によれば、車両を検知した時刻における正確な車両の位置を、車載器に通知することができる。 The present invention relates to a position notification device and a vehicle position notification method for notifying a vehicle-mounted device mounted on a vehicle of the position of the vehicle. ADVANTAGE OF THE INVENTION According to this invention, the exact position of the vehicle in the time which detected the vehicle can be notified to onboard equipment.
　１…レーザセンサ、
　２…情報処理装置、
　３…ビーコン、
　４…車載器、
　２１…検知情報取得部、
　２２…検知時刻特定部、
　２３…検知時刻記録部、
　２４…検知時刻キュー、
　２５…出力部、
　２６…車載器位置推定部、
　４１…位置取得部、
　４２…センサ情報取得部、
　４３…地図情報記憶部、
　４４…位置算出部、
　４５…位置記憶部、
　４６…表示部、
　４７…受信部、
　４８…位置補正部 1 ... Laser sensor,
2 Information processing device
3 ... Beacon
4 ... Onboard equipment,
21 ... Detection information acquisition unit,
22 ... Detection time specifying part,
23: Detection time recording unit,
24 ... Detection time queue,
25 ... output section,
26: OBE position estimation unit,
41 ... position acquisition unit,
42 ... sensor information acquisition unit,
43 ... Map information storage unit,
44 ... position calculation part,
45 ... position storage unit,
46 ... display section,
47. Receiving part,
48: Position correction unit

Claims (10)

  1. 　車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置であって、
    　車両を検知する検知部と、
    　前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する通知部とを備える位置通知装置。     A position notification device that notifies a vehicle-mounted device mounted on a vehicle of the location of the vehicle,
    A detection unit for detecting the vehicle;
    A notification unit configured to notify the vehicle-mounted device by wireless communication of a detection time when the detection unit detects the vehicle and a correction reference position that is a position where the vehicle is corrected as a position existing at the detection time; Position notification device.
  2. 　前記検知部は、前記通知部による無線通信の通信範囲の境界より車両進行方向後方に存在する車両を検知する請求項１に記載の位置通知装置。 The position notification device according to claim 1, wherein the detection unit detects a vehicle existing behind the vehicle traveling direction from a boundary of a wireless communication range by the notification unit.
  3. 　前記検知部は、前記通知部による無線通信の通信範囲の境界の近傍に存在する車両を検知する請求項１または請求項２に記載の位置通知装置。 3. The position notification device according to claim 1 or 2, wherein the detection unit detects a vehicle existing in the vicinity of a boundary of a wireless communication range by the notification unit.
  4. 　前記検知部が車両を検知した検知時刻を記憶部に遂次記録する記録部と、
    　前記通知部によって通知される検知時刻を前記記憶部から削除する削除部と
    　を備え、
    　前記通知部は、無線通信の通信範囲内に進入した順に前記車載器と遂次通信を行い、通信対象の車載器に対して前記記憶部が記憶する検知時刻のうち最も早い時刻を示す検知時刻を通知する請求項１から請求項３のいずれか一項に記載の位置通知装置。     A recording unit that sequentially records in the storage unit the detection time when the detection unit detects the vehicle;
    A deletion unit that deletes the detection time notified by the notification unit from the storage unit, and
    The notification unit performs a sequential communication with the on-vehicle device in the order of entering the communication range of wireless communication, and a detection time indicating the earliest time among the detection times stored in the storage unit for the on-vehicle device to be communicated The position notification device according to any one of claims 1 to 3, wherein
  5. 　前記検知部は、路面上方に設けられたレーザセンサが所定の検知領域に射出するレーザ光の反射光に基づいて前記検知領域に存在する車両に搭載された車載器を検知し、
    　前記通知部は、前記検知部が前記車両に搭載された車載器を検知した検知時刻を、無線通信により前記車載器に通知する請求項１から請求項４のいずれか一項に記載の位置通知装置。     The detection unit detects an in-vehicle device mounted on a vehicle existing in the detection area based on reflected light of a laser beam emitted from a laser sensor provided above a road surface to a predetermined detection area,
    The position notification according to any one of claims 1 to 4, wherein the notification unit notifies the vehicle-mounted device of a detection time when the detection unit detects the vehicle-mounted device mounted on the vehicle by wireless communication. apparatus.
  6. 　車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器であって、
    　前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部と、
    　前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部と、
    　前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部とを備える車載器。     A vehicle-mounted device that is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device,
    A calculation unit that calculates a position where the vehicle exists at each time based on a distance traveled by the vehicle and records it in a storage unit as travel history information;
    A detection time at which the vehicle is detected by the position notification device and a correction reference position that is a position to be corrected as a position where the vehicle was present at the detection time are received from the position notification device by wireless communication. A receiver,
    An on-vehicle device comprising: a correction unit that corrects a position where the vehicle exists based on a travel history from the detection time to the current time stored in the storage unit and the correction reference position.
  7. 　車両が存在する位置を算出する車両位置算出システムであって、
    　自装置を搭載する車両が存在する位置を算出する車載器と、
    　前記車載器に当該車載器が搭載された車両の存在位置を通知する位置通知装置とを備え、
    　前記位置通知装置は、
    　車両を検知する検知部と、
    　前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する通知部とを備え、
    　前記車載器は、
    　自装置を搭載する車両が走行した距離に基づいて各時刻において前記車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部と、
    　前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部と、
    　前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部とを備える車両位置算出システム。     A vehicle position calculation system for calculating a position where a vehicle exists,
    An in-vehicle device that calculates a position where a vehicle on which the device is mounted exists,
    A position notification device for notifying the presence position of a vehicle in which the vehicle-mounted device is mounted on the vehicle-mounted device;
    The position notification device includes:
    A detection unit for detecting the vehicle;
    A notification unit for notifying the vehicle-mounted device by wireless communication of a detection time when the detection unit detects the vehicle and a correction reference position that is a position where the vehicle is corrected as a position existing at the detection time; ,
    The in-vehicle device is
    A calculation unit that calculates a position where the vehicle is present at each time based on a distance traveled by the vehicle on which the device is mounted, and records it in a storage unit as travel history information;
    A detection time at which the vehicle is detected by the position notification device and a correction reference position that is a position to be corrected as a position where the vehicle was present at the detection time are received from the position notification device by wireless communication. A receiver,
    A vehicle position calculation system comprising: a correction unit that corrects a position where the vehicle exists based on a travel history from the detection time to the current time stored in the storage unit and the correction reference position.
  8. 　車両に搭載された車載器に当該車両の存在位置を通知する位置通知装置を用いた車両位置通知方法であって、
    　検知部が車両を検知し、
    　通知部は、前記検知部が車両を検知した検知時刻と、当該車両が前記検知時刻に存在していた位置として補正させる位置である補正基準位置とを、無線通信により前記車載器に通知する車両位置通知方法。     A vehicle position notification method using a position notification device that notifies a vehicle-mounted device mounted on a vehicle of the location of the vehicle,
    The detection unit detects the vehicle,
    The notification unit notifies the vehicle-mounted device of the detection time at which the detection unit detects the vehicle and the correction reference position, which is a position to be corrected as the position at which the vehicle was present at the detection time, by wireless communication. Location notification method.
  9. 　車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器を用いた車両位置算出方法であって、
    　算出部は、前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録し、
    　受信部は、前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信し、
    　補正部は、前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する車両位置算出方法。     A vehicle position calculation method using an in-vehicle device that is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device,
    The calculation unit calculates a position where the vehicle is present at each time based on the distance traveled by the vehicle, and records it in the storage unit as travel history information.
    The receiving unit notifies the position by wireless communication of a detection time when the vehicle is detected by the position notification device and a correction reference position which is a position where the vehicle should be corrected as a position existing at the detection time. Received from the device,
    The correction unit corrects a position where the vehicle exists based on a travel history from the detection time to the current time stored in the storage unit and the correction reference position.
  10. 　車両に搭載され、位置通知装置から通知された情報に基づいて前記車両が存在する位置を算出する車載器を、
    　前記車両が走行した距離に基づいて各時刻において当該車両が存在する位置を算出して走行履歴情報として記憶部に記録する算出部、
    　前記位置通知装置によって前記車両が検知された検知時刻と、当該車両が前記検知時刻に存在していた位置として補正すべき位置である補正基準位置とを、無線通信により前記位置通知装置から受信する受信部、
    　前記記憶部が記憶する前記検知時刻から現在時刻までの走行履歴と、前記補正基準位置とに基づいて前記車両が存在する位置を補正する補正部として機能させるためのプログラム。     A vehicle-mounted device that is mounted on a vehicle and calculates a position where the vehicle exists based on information notified from a position notification device,
    A calculation unit that calculates a position where the vehicle is present at each time based on a distance traveled by the vehicle and records it in a storage unit as travel history information;
    A detection time at which the vehicle is detected by the position notification device and a correction reference position that is a position to be corrected as a position where the vehicle was present at the detection time are received from the position notification device by wireless communication. Receiver,
    The program for functioning as a correction | amendment part which correct | amends the position where the said vehicle exists based on the driving | running history from the said detection time memorize | stored in the said memory | storage part to the present time, and the said correction | amendment reference position.
PCT/JP2012/067845 2011-07-14 2012-07-12 Position notification apparatus, vehicle position notification method, onboard unit, vehicle position calculation method and program, and vehicle position calculation system WO2013008888A1 (en)

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