JP5067089B2 - Information transfer device, position location device, information transfer program, recording medium, and information transfer method - Google Patents

Description

  The present invention relates to an apparatus, a program, a recording medium, and a method that are used when the position of a moving object is evaluated using an optical signal transmitted from a communication device installed on a roadside.

  In recent years, advanced safety services that reduce traffic accidents have been attracting attention by measuring vehicle positions and providing information, warnings, and intervention control based on the measured vehicle positions. For vehicle position measurement, there is a technique using, for example, GPS (Global Positioning System). Vehicle position measurement using GPS is currently the most popular and inexpensive, but it can satisfy the standards required for advanced safety services in terms of vehicle position measurement accuracy and measured vehicle position reliability. Not.

  Further, for vehicle position measurement, for example, the timing of the start or end of reception of an optical signal repeatedly transmitted from a communication device such as an optical beacon installed on the road side is detected, and the mobile body detects the boundary of the communication area of the optical beacon. Alternatively, there has been a technique for detecting the passage of the vicinity of the boundary and correcting the estimated position of the moving body at the time of detection based on the detection result (see, for example, Patent Document 1 below).

JP 2003-107143 A

  However, in the conventional technique described in Patent Document 1 described above, since it is necessary to consider the reception timing of the optical signal in the in-vehicle device, the in-vehicle device in which a dedicated function corresponding to the vehicle location using the optical signal is added. A machine is needed. For this reason, there is a problem that it is difficult to divert existing vehicle-mounted devices because of low affinity with existing vehicle-mounted devices, and it is difficult to disseminate vehicle positioning systems using optical signals to the general public. there were.

  This apparatus, program, recording medium, and method are used to expand the spread of a system that can accurately calculate the current position of a mobile object using information related to the installation position of a communication device in order to eliminate the above-described problems caused by the prior art. The purpose is to plan.

  In order to solve the above-described problems and achieve the object, the apparatus, the program, the recording medium, and the method receive information related to the installation position of the communication device transmitted from the communication device installed on the roadside, and Detects that the mobile device is located at a predetermined distance from the communication device, and does not transmit information on the received installation position until the mobile body is detected to be located at a predetermined distance from the communication device It is a requirement to transmit information about the installation position when it is done.

  According to this apparatus, program, recording medium, and method, for example, when a mobile object is located at a predetermined distance from a communication device, a communication is performed with respect to a position target apparatus that performs position determination of a mobile object such as a car navigation device. The installation position of the device can be transmitted. Accordingly, the installation position of the communication device can be accurately transmitted to the position location destination without adding a function that allows the position location destination apparatus to consider the reception timing of the optical signal.

  According to this device, program, recording medium, and method, the relative positional relationship with a communication device installed on the roadside that is the light source of the optical signal, using the car navigation device that is an existing vehicle-mounted device as a position location target device Since it is possible to transmit the contents of the optical signal to the position location target device when it is determined, it is possible to eliminate the need to consider the reception timing of the optical signal in the position location target device. In addition, there is an effect that the spread of the system that can calculate the current position of the moving body with high accuracy by using the installation position information of the communication device received from the roadside communication device can be achieved.

  Exemplary embodiments of the apparatus, the program, the recording medium, and the method will be described below in detail with reference to the accompanying drawings.

(Embodiment 1)
First, the position location system according to the first embodiment will be described. The position locating system according to the first embodiment is a system for locating (positioning) a moving body such as a vehicle, and can be applied to advanced safety services. The advanced safety service includes, for example, a service that supports the safe driving of a driver of a vehicle (hereinafter referred to as “target vehicle”) for which the advanced safety service is provided. Specific examples of the advanced safety service include a vehicle position display service, a signal information providing service, a regulation information utilization service, and the like.

  Here, the vehicle position display service is a service for displaying the position of another vehicle near the intersection on the display device of the target vehicle, for example. In addition, the signal information providing service is a service that provides signal color information during lighting, guides the stop position, and performs intervention control on the vehicle operation according to the position of the target vehicle with respect to the installation position of the traffic light. In addition, the regulation information utilization service is a service that guides the presence of a stopped vehicle or a low-speed traveling vehicle ahead in the traveling direction, for example, on a road such as a curve where there is no prospect. Such an advanced safety service can support safe driving by the driver of the target vehicle.

  FIG. 1 is an explanatory diagram showing the configuration of the position location system according to the first embodiment. In FIG. 1, the position locating system according to the first embodiment of the present invention is an optical signal transmitted from an optical beacon (communication device) 102 to indicate the position of a vehicle (moving body) 101 traveling in the advanced safety service area 110. This is a system that can be used for orientation. The advanced safety service area 110 is an area where the above-described advanced safety service can be provided, and can be provided at any position on a general road.

  The optical beacon 102 is installed on the road side. Here, the road side represents a road or a construction with a fixed position relative to the road. Specifically, the optical beacon 102 is installed on, for example, a road, a structure around the road, a pedestrian bridge that crosses the road, another road that intersects above the road, such as an overpass.

  The optical beacon 102 transmits an optical signal including road traffic information such as traffic jam information, link travel time information, regulation information, parking lot information, and section travel time information edited by the center device 150. The optical beacon 102 transmits an optical signal including road traffic information about a road nearest to the installation position of the optical beacon 102 (for example, a running road and a road connected to the road). Road traffic information is represented in the form of simple graphics or text information.

  The optical beacon 102 transmits an optical signal including information related to the installation position of the optical beacon 102 in addition to road traffic information. The information regarding the installation position represents the installation position of the optical beacon 102, and specifically includes information for specifying a regional mesh (mesh code) defined as a longitude and latitude grid on the map, for example.

  Specifically, the information regarding the installation position may be, for example, position coordinates representing the installation position of the optical beacon 102. Further, the information related to the installation position may specifically be coordinate information relative to the position coordinates of a reference position such as an intersection closest to the optical beacon 102, for example.

  The optical beacon 102 may transmit an optical signal including information regarding the communication area of the optical beacon 102. The information related to the communication area is information representing the range in which each optical beacon 102 transmits an optical signal, and includes information representing the boundary position of the communication area, for example. Specifically, the boundary position of the communication area can be represented by, for example, a regional mesh (mesh code), position coordinates, coordinates relative to the position coordinates of the reference position, and the like.

  A vehicle system is mounted on the vehicle 101. The vehicle system includes a light receiving device that receives an optical signal transmitted from the optical beacon 102, and performs positioning of the vehicle 101 based on information included in the optical signal received by the light receiving device. Details of the vehicle system will be described later (see FIG. 5-3).

  Examples of the optical signal used for communication between the vehicle system and the optical beacon 102 include an uplink (hereinafter referred to as “UL”) signal and a downlink (hereinafter referred to as “DL”) signal. The UL signal is a signal transmitted from the vehicle system to the optical beacon 102 and includes, for example, a vehicle ID that is identification information of the vehicle 101.

  The DL signal is a signal that is transmitted from the optical beacon 102 toward the communication area of the optical beacon 102 and can be received by the vehicle 101 that travels within the communication area. For example, as described above, the DL signal indicates the installation position of the optical beacon 102. It contains information that represents it. The DL signal includes, for example, the standard of information provided by the DL signal, the type (current position information, etc.), the provided time (the time when the provided information was edited at the center, etc.), and the like.

  The DL signal can be composed of a plurality of frames. Each frame includes, for example, a predetermined code string that specifies information to be provided. The vehicle system stores, for example, a code table in which each code string is associated with the processing content when the code string is received, and the information included in the optical signal can be analyzed using the code table. .

  A signal received by the vehicle system when entering the communication area of the optical beacon 102 includes various frames. Specifically, the frame is, for example, a designated frame including a code string representing a message (light beacon area notification message) notifying that the vehicle has entered the light beacon area, or a DL signal received by the vehicle 101, It includes a position information frame including a code string representing current position information indicating the installation position.

  The designated frame and the position information frame are received by the vehicle system as a series of signals. That is, when a signal including a designated frame is received, the signal includes a position information frame. When receiving a signal including the designated frame, the position information frame is received after the designated frame is received.

  Next, the communication area of the optical beacon 102 will be described. FIG. 2 is an explanatory diagram showing the contents of the communication area of the optical beacon 102. In FIG. 2, a communication area (DL area) 201 using a DL signal partially overlaps a communication area (UL area) 202 using a UL signal. The UL area 202 entirely overlaps with the DL area 201.

  The UL area 202 is provided at a position within a predetermined range from the time of entering the communication area of the optical beacon 102 in the moving direction of the vehicle 101 moving in the direction approaching the optical beacon 102. The DL area 201 is longer than the UL area 202 in the longitudinal movement direction of the vehicle 101. That is, the vehicle 101 can receive the DL signal from the optical beacon 102 for a longer time than the distance at which the UL signal is transmitted to the optical beacon 102.

  Next, the configuration of the light receiving device will be described. FIG. 3A is an explanatory diagram illustrating an outline of the light receiving device. In FIG. 3A, the light receiving device 300 includes a light receiving element 301 and a shielding device 302. The light receiving element 301 receives an optical signal incident on the light receiving surface 301a among the optical signals transmitted from the optical beacon 102, and outputs an electrical signal based on the received optical signal. The light receiving element 301 can be realized by, for example, a photoelectric conversion element that photoelectrically converts a received optical signal to generate an electrical signal. The light receiving element 301 can be configured using various known photoelectric conversion elements, and description thereof is omitted here.

  The shielding device 302 limits the incident angle of the optical signal incident on the light receiving surface 301a with respect to the light receiving surface 301a. The shielding device 302 shields an optical signal that is incident on the light receiving surface 301a at an angle greater than or equal to a predetermined angle. The shielding device 302 according to the first embodiment is provided so that the shielding device 302 shields all optical signals when the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, in the vicinity immediately below.

  The shielding device 302 can be realized by, for example, a plate-like member disposed opposite to the light receiving surface 301a, a hood-like member, or the like. The shielding device 302 may be any device as long as it shields an optical signal incident on the light receiving element 301 at an angle greater than or equal to a predetermined angle, and is not particularly limited in shape or material.

  Specifically, the shielding device 302 in this embodiment has a flat plate-like member that is disposed so as to face the light receiving surface 301a in an inclined state so as to open the front in the traveling direction of the vehicle 101. When the angle formed by the light receiving surface 301a and the shielding device 302 is an angle α1, the shielding device 302 shields an optical signal incident on the light receiving surface 301a at an angle larger than the angle α1.

  In the example shown in the cross-sectional view of FIG. 3A with respect to the incident from the front, the shielding device 302 has the front of the vehicle 101 when the incident angle of the optical signal incident from the front of the vehicle 101 is α1 or more and less than α2. A part of the optical signal incident from is shielded. Further, the shielding device 302 shields all of the optical signals incident from the front of the vehicle 101 when the incident angle of the optical signals incident from the front of the vehicle 101 is α2 or more. The shield device 302 shields all the optical signals incident from the rear of the vehicle 101 against the incident from the rear.

  In the example shown in the front view of FIG. 3A with respect to the incident from the side, the shielding device 302 has the vehicle 101 when the incident angle of the optical signal incident from the side of the vehicle 101 is β1 or more and less than β2. A part of the optical signal incident from the side of is blocked. The shielding device 302 shields all of the optical signals incident from the side of the vehicle 101 when the incident angle of the optical signal incident from the side of the vehicle 101 is β2 or more.

  The position at which the optical signal 310 is completely blocked is determined not only by the height H but also by the length of the shielding device 302. That is, even if the height H is the same, if the shielding device 302 is long (if it protrudes forward (leftward in the cross-sectional view of FIG. 3-1)), the shielding of the optical signal is completed quickly. It will be.

  Next, the relationship between the incident angle of the optical signal with respect to the light receiving surface 301a and the shielding device 302 will be described. FIG. 3B is an explanatory diagram illustrating the relationship between the incident angle of the optical signal with respect to the light receiving surface 301 a and the shielding device 302. In FIG. 3B, the incident angle of the optical signal incident on the light receiving surface 301 a increases as the vehicle 101 approaches the optical beacon 102.

  When the incident angle of the optical signal incident on the light receiving surface 301a is smaller than the angle α1, all the optical signals are incident on the light receiving surface 301a. This state continues until the incident angle of the optical signal incident on the light receiving surface 301a becomes equal to the angle α1, and all the optical signals enter the light receiving surface 301a until the incident angle becomes equal to the angle α1.

  The shielding device 302 shields a part of the optical signal when the incident angle of the optical signal incident on the light receiving surface 301a is larger than the angle α1. As a result, a shadow portion having a size corresponding to the incident angle is generated on the light receiving surface 301a. This shadow portion is generated when the vehicle 101 exists at a position where the incident angle of the optical signal incident on the light receiving surface 301a is larger than the angle α1. By detecting the occurrence of the shadow, the relative position (distance) of the vehicle 101 with respect to the optical beacon 102 can be detected. The position where the shadow starts to be generated becomes closer to the installation position of the optical beacon 102 as the value of the angle α1 is larger.

  The incident angle of the optical signal incident on the light receiving surface 301 a increases as the vehicle 101 approaches the optical beacon 102. A line segment passing through the tip of the portion facing the light receiving surface 301a in the shielding device 302 on the vehicle 101 traveling direction side (tip of the shielding portion) 303 and the tip of the light receiving surface 301a on the traveling direction side of the vehicle 101 (tip of the light receiving portion) 304. Is equal to the incident angle, all optical signals for the light receiving surface 301a are blocked, and the entire light receiving surface 301a becomes a shadow portion.

  The incident angle of the optical signal at the point where the vehicle is located when the entire surface of the light receiving surface 301a becomes a shadow portion, that is, the light blocking point, is the line segment passing through the tip 303 of the shielding part and the tip 304 of the light receiving part and the light receiving surface. It depends on the angle α2. The light blocking point can be adjusted by adjusting the positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part.

  The positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part is, for example, by adjusting the angle α1 if the size of the part facing the light receiving surface 301a and the size of the light receiving surface 301a in the shielding device 302 are the same. Can be adjusted. In this case, the light blocking point is closer to the installation position of the optical beacon 102 as the value of the angle α1 is larger.

  Further, the positional relationship between the tip 303 of the shielding part and the tip 304 of the light receiving part differs according to the distance D. The distance D may be the shortest distance from the light receiving surface 301a of the tip 303 of the shielding part, or may be the distance between the tip 304 of the light receiving part and the tip 303 of the shielding part. If the angle α1 is the same, the light blocking point is farther from the installation position of the optical beacon 102, for example, as the value of the distance D is larger. For example, the value of the distance D increases as the size of the portion of the shielding device 302 facing the light receiving surface 301a increases.

  The light blocking point varies according to the height of the light receiving surface 301a with respect to the ground. When the light receiving device 300 is attached, for example, in the vicinity of a dashboard provided in the vehicle 101, the height of the light receiving surface 301a with respect to the ground varies depending on the vehicle height. For this reason, the current position of the vehicle 101 can be calculated more accurately by correcting the light blocking point for each vehicle 101 in advance. Since the technique and method for correcting the light blocking point can be handled by using various known techniques, the description thereof is omitted here.

  FIG. 4 is an explanatory diagram showing a light receiving state of an optical signal. In FIG. 4, the light receiving state of the DL signal received by the light receiving element 301 is shown. The optical beacon 102 transmits an optical signal for a specific lane. A part of the optical signal transmitted from the optical beacon 102 is also transmitted to other lanes other than the target specific lane, such as an opposite lane or an adjacent lane of the target specific lane. For this reason, the vehicle 101 traveling in a specific lane includes an optical signal transmitted to the traveling lane in which the host vehicle travels, and an optical signal transmitted to other lanes other than the traveling lane such as an adjacent lane. May receive.

  The optical signal transmitted to the traveling lane can be detected based on the received light intensity of the optical signal received by the light receiving element 301, for example. The light receiving device 300 detects an optical signal having the highest received light intensity from among a plurality of types of optical signals having different received light intensity as an optical signal transmitted to the traveling lane. Since each optical signal is transmitted at a specific frequency such as 40 Hz, for example, an optical signal transmitted to a traveling lane is detected by extracting a frequency optical signal whose peaks are at intervals of 40 Hz. Is possible.

  The light receiving intensity of the optical signal received by the light receiving element 301 decreases rapidly when the vehicle 101 reaches the light blocking point. The fact that the vehicle 101 has reached the light blocking point can be determined based on, for example, whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 is equal to or greater than a predetermined threshold value. Here, the predetermined threshold is a value that can be arbitrarily set by, for example, a vehicle system designer, and may be set based on an experimental result or the like.

  Specifically, the fact that the vehicle 101 has reached the light blocking point is, for example, whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 has become a predetermined threshold value or more within a unit time. Can be determined based on The light blocking point can be determined based on the speed of the vehicle 101 at the time of determination, for example. In this case, the unit time for determining the reduction amount of the received light intensity becomes shorter as the speed of the vehicle 101 is higher than when the speed is low.

  The light blocking point can be performed based on the travel distance of the vehicle 101 at the time of determination. In this case, for example, while the vehicle 101 travels a predetermined distance, the determination is made based on whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving element 301 has become a predetermined threshold value or more.

  Next, the hardware configuration of the vehicle system will be described. FIG. 5A is a block diagram schematically illustrating a hardware configuration of the vehicle system. 5A, the vehicle system includes a light receiving device 300, an information transfer device 530, and a position location device 540.

  FIG. 5B is a block diagram schematically illustrating the hardware configuration of the light receiving device 300. 5B, the light receiving device 300 includes a light receiving element 301 and an interface (hereinafter referred to as “I / F”) 521. The light receiving element 301 photoelectrically converts an optical signal incident on the light receiving element 301 and outputs an electrical signal obtained by the photoelectric conversion. The I / F 521 transmits the electrical signal output from the light receiving element 301 to the information transfer device 530.

  FIG. 5C is a block diagram schematically illustrating the hardware configuration of the information transfer apparatus 530. The information transfer device 530 includes a CPU 531, a memory 532, and an I / F 533. Each component 531 to 533 is connected by a bus 534.

  The CPU 531 controls the entire information transfer device 530. The memory 532 is realized by a ROM that stores a program such as a boot program or a RAM that is used as a work area of the CPU 531. The I / F 533 controls an interface between the light receiving device 300 and the position locating device 540 and the information transfer device 530, and controls data input / output between the light receiving device 300 and the position locating device 540.

  FIG. 5-4 is a block diagram schematically illustrating a hardware configuration of the position locating device 540. The position locator 540 includes a CPU 541, a memory 542, a hard disk drive (hereinafter referred to as “HDD”) 543, a hard disk (hereinafter referred to as “HD”) 544, and an optical disk drive (hereinafter referred to as “optical DD”) 545. An optical disk 546, an I / F 547, a gyro sensor 548, a speed sensor 549, a display 550, and a speaker 551. Each component 541 to 551 is connected by a bus 552.

  Here, the CPU 541 controls the entire position locator 540. The memory 542 is realized by a ROM that stores a program such as a boot program or a RAM that is used as a work area of the CPU 541. The HDD 543 controls reading / writing of data with respect to the HD 544 according to the control of the CPU 541. The HD 544 stores data written under the control of the HDD 543. The HD 543 stores, for example, map information and traffic information in a rewritable manner.

  The optical DD 545 controls reading / writing of data with respect to the optical disc 546 according to the control of the CPU 541. The optical disk 546 stores data written under the control of the optical DD 545 and causes the CPU 541 to read data stored on the optical disk 546. The optical disk 546 is a recording medium that can be attached to and detached from the optical DD 545.

  The optical disk 546 is specifically a CD-ROM (CD-R, CD-RW), DVD (Digital Versatile Disk), or the like. As the removable recording medium, a recording medium other than the optical disk 546 may be used. Specifically, the removable recording medium in this case may be, for example, a flexible disk, an MO, a memory card, or the like. The I / F 547 serves as an interface between the information transfer device 530 and the position locator 540 and controls input of data transmitted from the information transfer device 530.

  The gyro sensor 548 measures a change in the direction of the vehicle 101. The speed sensor 549 detects the travel distance of the vehicle 101 based on the vehicle speed pulse output from the vehicle 101. The relative position of the vehicle 101 with respect to a reference position (for example, the initial position (X, Y)) is a reference position coordinate, a direction detected by the gyro sensor 548, a travel distance detected by the speed sensor 549, It can be calculated by performing calculations according to autonomous navigation using. Since the calculation according to the autonomous navigation is a known technique, its description is omitted here.

  The display 550 displays the traffic information described above and data such as an image taken by a camera installed on the side of the road, for example. The display 550 may display a map, a current position of the vehicle 101 on the map, a guidance route, and the like. The display 550 may display a list of various services that can be provided by the advanced safety service. The display 550 functions as an output unit that displays information indicating the current position of the vehicle 101 (such as a vehicle mark superimposed on the map image).

  Various functions displayed in the list are selected and executed by an operation of an operation unit (not shown) provided in the vehicle 101. The operation unit can use various known operation means such as a key button, a touch panel, and a remote controller, and the description thereof is omitted here. As the display 550, for example, a TFT liquid crystal display can be adopted. Since various liquid crystal displays including TFT liquid crystal displays are known techniques, their description is omitted here.

  The speaker 551 is composed of, for example, a voice coil, a magnet provided around the voice coil, and a speaker cone attached to the voice coil. Sound is output using a magnetic field. Since the structure of the speaker 551 and the audio output method are known techniques, description thereof is omitted here.

  The display 550 and the speaker 551 are not limited to those provided in the position location device 540, and may be separately connected. In this case, an I / F for controlling input / output of data between the display 550 and the speaker 551 is provided.

  Next, a functional configuration of the vehicle system will be described. FIG. 6A is a block diagram illustrating a functional configuration of the vehicle system. In FIG. 6A, the light receiving device 300 includes a light receiving unit 611 and a frame transmission unit 612. The light receiving unit 611 outputs a signal corresponding to the amount of light received by the light receiving element 301. The light receiving unit 611 is realized by the light receiving element 301 described above, for example.

  The frame transmission unit 612 transmits a frame included in the optical signal received by the light receiving unit 611 to the information transfer device 530. The frame transmission unit 612 directly outputs a signal corresponding to the amount of light received by the light receiving element 301 to the information transfer device 530. The frame transmission unit 612 is realized by the I / F 521 described above, for example.

  The information transfer device 530 includes a light blocking monitoring unit 621 and a notification timing control unit 622. The light blocking monitoring unit 621 detects that the vehicle 101 is located at a predetermined distance from the optical beacon 102 based on the signal directly output from the light receiving unit 611. The predetermined distance from the optical beacon 102 corresponds to the distance from directly below the optical beacon 102 at the point where the vehicle 101 is in the leftmost state in FIG. As described above, this distance varies depending on the angle α2. In this embodiment, it is assumed that the distance is, for example, the installation position of the optical beacon 102 or the vicinity thereof.

  Specifically, the vicinity is desirably within a circle whose radius or diameter is the length of one vehicle (for example, “5 meters”, for example) centering on the installation position of the optical beacon 102, for example. Further, specifically, the vicinity means, for example, a range of one vehicle centered on the installation position of the optical beacon 102 in the front-rear direction of the vehicle 101 in the lane to which the optical signal is transmitted by the optical beacon 102. It may be within.

  The light interception monitoring unit 621 outputs a signal corresponding to, for example, whether the amount of light received by the light receiving unit 611 has decreased by a predetermined threshold or more. Since the amount of light received by the light receiving unit 611 decreases rapidly when the vehicle 101 reaches the light blocking point, the vehicle 101 is blocked by detecting that the amount of received light by the light receiving unit 611 has decreased by a predetermined threshold or more. It is possible to detect that the point has been reached.

  Specifically, the light blocking monitoring unit 621 outputs a high level signal while an optical signal is incident through the light receiving surface 301a, for example, and the light signal incident through the light receiving surface 301a is output by the shielding device 302. When shielded, a low level signal is output. Specifically, the light blocking monitor 621 does not output a signal while an optical signal is incident through the light receiving surface 301a, for example, and outputs a pulse signal when the vehicle 101 reaches the light blocking point. It may be output.

  The notification timing control unit 622 receives the signal transmitted from the frame transmission unit 612 and transmits the received signal or a frame included in the signal to the position locating device 540. The notification timing control unit 622 determines the timing for transmitting a signal to the position location device 540 based on the frame transmitted from the frame transmission unit 612 and the signal output from the light blocking monitoring unit 621. The notification timing control unit 622 detects that the vehicle 101 is located in the vicinity immediately below the optical beacon 102 when the received signal includes a designated frame, and then detects the designation frame or a signal including the designated frame as a position locating device. To 540.

  Specifically, the notification timing control unit 622 stores (buffers) the designated frame in a predetermined storage area such as the memory 542 when the designated signal is included in the received signal, for example, and the vehicle 101 transmits the optical beacon. It waits until it detects that it is located in the immediate vicinity of 102. The notification timing control unit 622 also stores frames received after the designated frame in a predetermined storage area such as the memory 542.

  When the notification timing control unit 622 detects that the vehicle 101 has reached the light blocking point based on the signal output from the light blocking monitoring unit 621, the notification timing control unit 622 is stored in the storage area immediately after the detection. The frame and the frame received after the frame are transmitted to the position locator 540. The notification timing control unit 622 uses, for example, a frame stored in the storage area and the frame as a trigger when it is detected that the vehicle 101 has reached the light blocking point based on a signal output from the light blocking monitoring unit 621. Thereafter, transmission of the received frame is started.

  The position locating device 540 includes a frame receiving unit 631 and a vehicle position determining unit 632. The frame reception unit 631 receives the signal output from the notification timing control unit 622 and outputs the received signal to the vehicle position determination unit 632. The own vehicle position determination unit 632 calculates the current position (own vehicle position) of the vehicle 101 based on the signal received by the frame reception unit 631 and information related to the time when the signal is received. The information about time represents a time represented by the standard time, for example, what hour, minute, and second. Moreover, the information regarding time may represent the elapsed time from the time of receiving a signal, for example.

  The own vehicle position determining unit 632 according to the first embodiment includes an optical beacon position coordinate extracting unit 640, a light blocking point relative distance calculating unit 641, a light blocking point relative orientation calculating unit 642, and a light blocking point relative position calculating unit. 643, a light blocking point absolute position calculation unit 644, and an autonomous positioning unit 645.

  The optical beacon position coordinate extraction unit 640 extracts information related to the absolute coordinates of the optical beacon installation position from the received frame. When the frame receiving unit 631 receives a frame transmitted from the information transfer device 530 at the light blocking point, the optical beacon position coordinate extracting unit 640 extracts a frame in which information about the optical beacon installation position is described. The frame to be extracted may be a frame in which absolute coordinates of the installation position of the optical beacon 102 are described, a frame in which absolute latitude / longitude information is described, or a position coordinate in an intersection. It may be a frame in which such intersection topology information is described.

  Based on the light shielding plate design information stored in the database 641a, the light blocking point relative distance calculation unit 641 calculates the relative distance from the installation position of the light beacon, that is, the road surface point immediately below the light beacon to the actual light blocking point. The light blocking point relative distance calculation unit 641 calculates the relative distance based on, for example, the installation position of the optical beacon 102, the size of the light shielding device 302, and the angle α described above.

  The light interception point relative azimuth calculation unit 642 determines the position of the optical beacon 102 based on the lane direction of intersection topology information (for example, information indicating the positional relationship or connection relationship between the various features) stored in the database 642a. The direction of the actual light blocking point is calculated.

  The light blocking point relative position calculation unit 643 is configured to detect the position of the optical beacon 102 based on the relative distance calculated by the light blocking point relative distance calculation unit 641 and the relative direction calculated by the light blocking point relative direction calculation unit 642. The relative position coordinates of the actual light blocking point are calculated.

  The light blocking point absolute position calculation unit 644 is based on the relative position coordinates calculated by the light blocking point relative position calculation unit 643 and the installation position of the light beacon 102 extracted by the light beacon position coordinate extraction unit 640. The absolute position of the light blocking point is calculated, and the calculated absolute position of the light blocking point is determined as the current position of the vehicle 101 when it is detected that the vehicle 101 is positioned immediately below the light beacon 102.

  Since the received frame is transferred from the information transfer device 530 to the frame receiving unit 631 by the notification timing control unit 622 of the information transfer device 530, the vehicle 101 at the moment when the frame receiving unit 631 receives the designated frame. The position exists at the same position as the light blocking point. For this reason, the current position of the vehicle 101 can be specified with high accuracy by calculating the relative position from the absolute coordinate of the installation position of the optical beacon 102 to the light blocking point.

  The current position of the vehicle 101 is represented by using, for example, a mesh code or the installation position coordinates of the optical beacon 102. The mesh code is, for example, a mesh code that specifies a tertiary mesh from a primary mesh defined by a standard area mesh.

  The autonomous positioning unit 645 uses the direction detected by the gyro sensor 548 and the travel distance detected by the vehicle speed sensor 549, with the absolute position of the actual light blocking point calculated by the light blocking point absolute position calculating unit 644 as an initial position. The current position of the vehicle 101 is calculated, that is, autonomous positioning is performed by performing an operation according to the autonomous navigation.

  Specifically, for example, it is assumed that the count value (number of count pulses) of the vehicle speed pulse at the absolute position of the actual light blocking point is zero, and from the time when it is detected that the vehicle 101 is located immediately below the optical beacon 102. The current position of the vehicle 101 is calculated by adding the relative distance based on the count pulse number to the absolute position of the actual light blocking point.

  Next, the functional configuration of the information transfer apparatus 530 will be described in detail. FIG. 6B is a block diagram illustrating a functional configuration of the information transfer apparatus 530. 6B, the information transfer apparatus 530 includes a reception unit 650, a detection unit 651, a transmission control unit 652, and a transmission unit 653.

  The receiving unit 650 receives information regarding the installation position of the optical beacon 102 transmitted from the optical beacon 102 to the vehicle 101 approaching the optical beacon 102. Specifically, the function of the reception unit 650 is realized by, for example, the I / F 533 illustrated in FIG.

  The detection unit 651 detects that the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below. Then, the detection unit 651 transmits the detection result to the position location device 540. Specifically, the detection unit 651 receives, for example, the received light intensity at the light receiving element 301 from the light receiving device 300 through the I / F 533, and whether or not the received light intensity at the light receiving element 301 has decreased by a predetermined threshold or more based on the reception result. Is realized by the CPU 531 shown in FIG. 5-3.

  The transmission unit 653 transmits the information regarding the installation position received by the reception unit 650 to the position determination destination of the moving object. Specifically, the function of the transmission unit 653 is realized by, for example, the I / F 533 illustrated in FIG.

  The transmission control unit 652 controls the transmission unit 653 to receive the vehicle 101 when it is detected that the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below, based on the detection result of the detection unit 651. The information regarding the installation position received by the unit 650 is transmitted to the position locator 540. The transmission control unit 652 causes the transmission unit 653 to transmit information regarding the installation position immediately after the detection unit 651 detects that the vehicle 101 is in the vicinity immediately below the optical beacon 102.

  In addition, the transmission control unit 652 determines whether the vehicle 101 is in the vicinity immediately below the optical beacon 102 by the detection unit 651 before receiving information related to the installation position by the reception unit 650. May be transmitted to the position locating device 540, and thereafter, information regarding the installation position may be transmitted to the position locating device 540 immediately after receiving information regarding the installation position of the optical beacon 102. Here, the position locating device 540 that has received the predetermined signal starts counting vehicle speed pulses of the vehicle 101.

  Specifically, the transmission control unit 652 restricts the transmission of information by the I / F 533 by the CPU 531 and detects it until it is detected that the vehicle 101 is positioned in the vicinity immediately below the optical beacon 102, for example. In this case, the function is realized by transmitting information on the installation position of the optical beacon 102 by the I / F 533.

  The transmission control unit 652 may transmit a response signal to the information received by the reception unit 650 to the light receiving device 300 that is the information transmission source. In this case, specifically, the transmission control unit 652 generates a response signal corresponding to the information received by the receiving unit 650, for example, by the CPU 531, and transmits the generated response signal to the light receiving device 300 by the I / F 533. The function is realized by.

  Next, a processing procedure executed by the information transfer apparatus 530 will be described. FIG. 7 is a flowchart of a processing procedure executed by the information transfer apparatus 530 according to the first embodiment. In the flowchart of FIG. 7, the information transfer apparatus 530 first waits until the notification timing control unit 622 receives a frame transmitted from the frame transmission unit 612 (No in step S <b> 701).

  In step S701, when the frame transmitted from the frame transmission unit 612 is received (step S701: Yes), it is determined whether or not the received frame is a designated frame (step S702). In step S702, for example, it is determined whether or not the received frame is a frame including a code string representing an optical beacon area notification (message). If the received frame is a frame including a code string representing an optical beacon area notification message, It is good to judge that it is a designated frame.

  In step S702, when the frame received in step S701 is a designated frame (step S702: Yes), the received frame is buffered (step S703). Based on the signal output from the light interception monitoring unit 621 to the notification timing control unit 622, whether or not the absolute value of the light reception intensity reduction amount of the optical signal received by the light receiving unit 611 is equal to or greater than a predetermined threshold value, That is, it is determined whether or not the vehicle 101 exists in the vicinity immediately below the optical beacon 102 (step S704). If the received light intensity decrease amount (absolute value) is smaller than the predetermined threshold value (step S704: No), the process waits until it becomes equal to or greater than the predetermined threshold value.

  In step S704, when the received light intensity decrease amount (absolute value) is equal to or larger than a predetermined threshold (step S704: Yes), the position locating device 540 displays the frame buffered in step S703 and the frames received after that frame. (Step S705). In step S705, for example, frames are transmitted in the same order as received from frame transmitting section 612.

  Then, it is determined whether or not transmission of all frames is completed (step S706). If transmission of all frames is not completed (step S706: No), the process returns to step S705, and the frame is located in the position locator 540. Send to. In step S706, for example, it is determined whether or not the frame received from the frame transmission unit 612 includes the last frame in the series of frames including the designated frame, and whether or not the transmission of the last frame is completed. You may make it carry out by judging.

  On the other hand, if transmission of all the frames is completed in step S706 (step S706: Yes), a light reception frame transmission completion message is transmitted to the position locator 540 (step S707), and the series of processes is terminated.

  In the advanced safety service, it is required to calculate the position of the vehicle 101 with high accuracy within a target range, for example, within an intersection. The position locating system according to the first embodiment calculates the current position of the vehicle 101 with higher accuracy compared to the case where the current position of the vehicle 101 is calculated using GPS, for example, like a car navigation device. Experiments have shown that this can be done.

  The contents of the position information frame included in the optical signal transmitted from the optical beacon 102 can be updated at once, for example, at a center that edits the optical signal. That is, in the position location system in the first embodiment, it is possible to easily update the position information included in the optical signal transmitted from the optical beacon 102.

  In recent years, infrastructure development for using the optical beacon 102 has progressed (50,000 roadside devices, 15 million on-board position location devices), and if the location can be determined using these infrastructures, it is optimal as appropriate. Since the current position of the vehicle 101 can be calculated with higher accuracy by updating to the position information, the usefulness of the position location system in the first embodiment is improved.

  In a general vehicle-mounted device such as a car navigation device, the current position of the vehicle 101 using the position information frame included in the optical signal transmitted from the optical beacon 102 instead of specifying the current position of the vehicle 101 using GPS. In order to specify the light receiving device, the light receiving device 300 that receives the optical signal and transmits the received optical signal to the vehicle-mounted device is required.

  Here, the operation of the light receiving device 300 and the position locating device 540 when the current position of the vehicle 101 is specified using the position information frame included in the optical signal will be described. FIG. 8 is a timing sequence diagram showing the operation of the light receiving device 300 and the position locating device 540. In FIG. 8, description will be made assuming that the position locating device 540 includes the frame receiving unit 631 and the vehicle position determining unit 632 described above.

  In FIG. 8, first, the light receiving device 300 receives an optical signal transmitted from the optical beacon 102 by the light receiving element 301. As described above, the optical signal received by the light receiving element 301 includes a frame representing various types of information. When the light receiving device 300 receives an optical signal by the light receiving element 301, the light receiving device 300 starts transmission of a frame included in the received optical signal. Each time the position locating device 540 receives a frame transmitted from the light receiving device 300, the position locating device 540 responds with “successful reception” indicating that reception is successful (received correctly).

  The light receiving device 300 sequentially transmits the next frame every time it receives a “successful reception” response to the frame transmitted to the position locating device 540. When the transmission of all the frames is completed, the light receiving device 300 transmits to the position locating device 540. Then, a “all frame transmission complete” message is transmitted. Each time the position locating device 540 receives a frame, it responds with “successful reception” corresponding to the received frame. Then, the position locating device 540 responds to the message “complete transmission of all frames”, whereby communication between the light receiving device 300 and the in-vehicle device is completed.

  As described above, in the identification of the current position of the vehicle 101 using the position information frame included in the optical signal transmitted from the optical beacon 102, the reception from the optical beacon 102 is performed between the light receiving device 300 and the position locating device 540. It performs general operations such as notification of a received frame and response to the notification. When the position locating device 540 receives the frame, it interprets the contents of the frame, and if it is determined to be a position information frame, it needs to associate the vehicle position and the optical beacon installation position at the timing of receiving the position information frame.

  That is, the position locating device 540 specifically adds a special function of calculating the vehicle position at the timing of receiving the position information frame using the optical beacon installation position described in the position information frame. There is a need.

  Accordingly, when realizing a system for determining the current position of the vehicle 101 using the installation position information of the optical beacon 102, the position determination is performed so that the vehicle position at the reception timing of the frame received from the light receiving device 300 can be interpreted. The device 540 needs to be modified. As a result, in the configuration in which the vehicle-mounted device such as the car navigation device and the light-receiving device 300 are simply communicated, the affinity of the existing vehicle-mounted device with respect to the position locating system of the first embodiment is reduced, and transmission from the optical beacon 102 is performed. It becomes difficult to spread the system that identifies the current position of the vehicle 101 using the position information frame included in the optical signal.

  On the other hand, in this embodiment, an information transfer device 530 is provided between the light receiving device 300 and the position locating device 540, and the timing at which the position locating device receives a position information frame is determined. By using the general-purpose in-vehicle device as the position locating device 540 without changing the general-purpose in-vehicle device, the function of the positioning system of this embodiment is realized. can do.

  FIG. 9 is a timing sequence diagram illustrating the operation of each unit in the position location system according to the first embodiment. In FIG. 9, the light receiving device 300 receives an optical signal transmitted from the optical beacon 102. When receiving the optical signal, the light receiving device 300 transmits a frame (damping frame) included in the received optical signal to the information transfer device 530.

  When receiving the frame, the information transfer device 530 outputs a response signal (ACK: Acknowledgment) to the received frame to the light receiving device 300 by the notification timing control unit 622. In addition, when the information transfer apparatus 530 receives a frame, the information transfer apparatus 530 analyzes the content of the received frame and determines whether or not the above-described designated frame is included in the received frame. If there is a designated frame among the received frames, the designated frame and frames received after the designated frame are stored in a storage area such as the memory 542. Each time a frame is received after the designated frame, a response signal for the received frame is output to the light receiving device 300.

  Further, the information transfer device 530 receives the frame by the notification timing control unit 622 and based on the signal output from the light blocking monitor unit 621, the absolute amount of the decrease in the received light intensity of the optical signal received by the light receiving unit 611 is obtained. It is determined whether or not the value is equal to or greater than a predetermined threshold, that is, whether or not an optical signal has been detected. When the interruption of the optical signal is detected, the notification timing control unit 622 outputs the frame stored in the storage area such as the memory 542 and the frame received after the frame (damping frame) to the position locator 540. .

  Each time the position locating device 540 receives a frame transmitted from the information transfer device 530, it outputs a response signal for the received frame to the information transfer device 530. As shown in FIG. 9, according to the position locating system of this embodiment, the light receiving device 300 only needs to transmit the received frame to the information transfer device 530, and the in-vehicle device does not consider the frame reception timing. The current position of the vehicle 101 can be specified using the position information frame included in the optical signal transmitted from the optical beacon 102.

  This makes it possible to use the position information frame included in the optical signal transmitted from the optical beacon 102 without significantly changing the configuration of the light receiving device 300 or the general-purpose in-vehicle device already on the market. The current position can be specified. That is, it is possible to provide a position locating system having high affinity for a general vehicle-mounted device.

  As described above, according to the first embodiment, when the vehicle 101 is located in the immediate vicinity of the optical beacon 102 with respect to a general-purpose position locating device 540 such as a car navigation device, for example, the optical beacon 102. The installation position can be transmitted. Accordingly, the installation position of the optical beacon 102 can be accurately transmitted to the position locating device 540 without causing the position locating device 540 to consider the reception timing of the optical signal.

  As a result, the spread of the system which can calculate the present position of the vehicle 101 with high accuracy using the installation position information of the optical beacon 102 can be promoted.

(Embodiment 2)
Next, a location system according to the second embodiment will be described. In the second embodiment, in place of the light receiving device 300 in the first embodiment, a position location system using a light receiving device 300 having a function of buffering a frame included in an optical signal received from the optical beacon 102 is used. Will be described. In the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The light receiving device 300 that receives an optical signal transmitted from the optical beacon 102 has a hardware configuration similar to that of the light receiving device 300 in the first embodiment, and buffers a series of frames included in the received optical signal. Some have the function to do. Such a light receiving device 300 transfers a series of buffered frames to the position locating device 540, triggered by the fact that the light receiving device is outside the light receiving area. That is, the light receiving device 300 collectively transfers a series of buffered frames to the position locating device 540 when the vehicle 101 is outside the light receiving area, that is, after reaching the light blocking point.

  When such a light receiving device 300 is used, according to the first embodiment, when the information transfer device 530 in the vehicle system detects that the vehicle 101 has reached the light blocking point, a series of buffered frames are displayed. It is possible that the frame is not already in the buffer because it is after the transfer. In such a case, the installation position information for specifying the detected light blocking point cannot be transmitted even if it is detected that the vehicle 101 has reached the light blocking point.

  Therefore, the second embodiment describes a position location system using the light receiving device 300 that collectively transfers a buffered series of frames to the position location device 540 when it is detected that the vehicle 101 has reached the light blocking point. To do.

  FIG. 10 is a block diagram illustrating a functional configuration of the vehicle system according to the second embodiment. 10, the vehicle system according to the second embodiment includes a light receiving device 300, an information transfer device 530, and a position locating device 1010.

  When the notification timing control unit 622 in the information transfer device 530 detects that the vehicle 101 has reached the light blocking point based on the signal output from the light blocking monitoring unit 621, the notification timing control unit 622 performs dummy processing on the position locating device 1010. A signal including a frame (transmission notice) is transmitted.

  The dummy frame is, for example, the same signal as the signal transmitted from the notification timing control unit 622 to the frame reception unit 631 when the designated frame is received in the first embodiment. Alternatively, the dummy frame is a signal including a signal to be transmitted from the notification timing control unit 622 to the frame receiving unit 631 when the designated frame is received in the first embodiment described above and information indicating that it is a dummy frame. May be.

  The position locating device 1010 includes a moving distance measuring unit 1011 and a position coordinate correcting unit 1012 in addition to the frame receiving unit 631 and the own vehicle position determining unit 632. The moving distance measuring unit 1011 measures the moving distance of the vehicle 101 from the time when the frame receiving unit 631 receives the dummy frame transmitted from the notification timing control unit 622. The travel distance measurement unit 1011 measures the travel distance of the vehicle 101 based on the vehicle speed pulse output from the vehicle 101. Further, the movement distance measuring unit 1011 may measure the movement distance of the vehicle 101 for each movement direction in consideration of the change in the direction of the vehicle 101 measured by the gyro sensor 548.

  The position coordinate correcting unit 1012 corrects the current position of the vehicle 101 after receiving the dummy frame in the frame receiving unit 631 based on the moving distance of the vehicle 101 measured by the moving distance measuring unit 1011. The position coordinate correction unit 1012 calculates position coordinates for correction, for example. The position coordinates for correction are used, for example, for correcting the current position of the vehicle 101 after receiving the dummy frame in the frame receiving unit 631. The position coordinate correction unit 1012 calculates, for example, the relative position of the vehicle 101 with respect to this reference point, using the point where the frame reception unit 631 received the dummy frame as a reference point.

  The own vehicle position determination unit 632 calculates the current position of the vehicle 101 when the frame reception unit 631 receives a position information frame (or a signal including the position information frame). The own vehicle position determination unit 632 relates to the relative position calculated by the position coordinate correction unit 1012, the position information included in the position information frame received by the frame reception unit 631, and the time when the frame reception unit 631 received the dummy frame. Based on the information, the current position of the vehicle 101 is calculated.

  Specifically, the own vehicle position determination unit 632 is calculated by the position coordinate correction unit 1012 at the installation position of the optical beacon 102 determined based on the position information included in the position information frame received by the frame reception unit 631, for example. The current position of the vehicle 101 after receiving the dummy frame is calculated by the frame receiving unit 631 by adding the relative positions thus obtained.

  Specifically, the vehicle position determination unit 632 has a vehicle speed pulse count value (number of count pulses) at the time of detecting that the vehicle 101 is positioned at a predetermined distance from the optical beacon 102, for example, immediately below, for example. It is assumed that the vehicle speed pulse is counted from the time point when it is detected that the vehicle 101 is positioned immediately below the optical beacon 102. Then, when the frame reception unit 631 receives the position information frame, the vehicle position determination unit 632 adds the relative distance based on the number of count pulses until reception to the absolute position of the actual light blocking point. The current position of the vehicle 101 is calculated.

  As a result, the position where the relative position calculated by the position coordinate correction unit 1012 is added to the current position of the vehicle 101 immediately after the frame reception unit 631 receives the dummy frame, that is, the installation position of the optical beacon 102 is the frame reception. This is calculated as the current position of the vehicle 101 after receiving the dummy frame in the unit 631.

  Next, a processing procedure executed by the information transfer apparatus 530 will be described. FIG. 11 is a flowchart of a processing procedure executed by the information transfer apparatus 530 according to the second embodiment.

  In the flowchart of FIG. 11, first, the information transfer device 530 determines the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving unit 611 based on the signal output from the light blocking monitoring unit 621 to the notification timing control unit 622. Is greater than or equal to a predetermined threshold value, that is, whether or not the vehicle 101 exists in the immediate vicinity of the optical beacon 102 (step S1101). If the received light intensity decrease amount (absolute value) is smaller than the predetermined threshold value (step S1101: No), the process waits until it becomes equal to or greater than the predetermined threshold value.

  In step S1101, when the light reception intensity decrease amount (absolute value) is equal to or larger than a predetermined threshold (step S1101: Yes), the notification timing control unit 622 causes the vehicle function unit 630 to specify a dummy frame, for example, a designation. A frame is transmitted (step S1102). When the position locating device 1010 receives the dummy frame, the position locating device 1010 starts measuring the moving distance of the vehicle 101 by the moving distance measuring unit 1011.

  Next, the notification timing control unit 622 waits until the designated frame transmitted from the frame transmission unit 612 is received (step S1103: No). When the designated frame transmitted from the frame transmission unit 612 has been received (step S1103: Yes), the process waits until a position information frame is received (step S1104: No).

  When the position information frame is received in step S1104 (step S1104: Yes), the notification timing control unit 622 transmits a frame excluding the specified frame from the series of frames including the specified frame received in step S1103: Yes. (Step S1105).

  Then, it is determined whether or not transmission of all frames is completed (step S1106). If transmission of all frames is not completed (step S1106: No), the process returns to step S1105, and the frame is sent to the position locator 540. Send. On the other hand, when the transmission of all the frames is completed (step S1106: Yes), a light reception frame transmission completion message is transmitted to the position locator 540 (step S1107), and the series of processing ends.

  FIG. 12 is a timing sequence diagram illustrating the operation of each unit in the position location system according to the second embodiment. In FIG. 12, the light receiving device 300 receives the optical signal transmitted from the optical beacon 102, and when receiving the optical signal, transmits the frame included in the received optical signal to the information transfer device 530.

  Based on the signal output from the light interception monitoring unit 621, the information transfer device 530 determines whether or not the absolute value of the reduction amount of the received light intensity of the optical signal received by the light receiving unit 611 is equal to or greater than a predetermined threshold, It is determined whether or not an optical signal has been blocked. When the interruption of the optical signal is detected, the notification timing control unit 622 outputs a dummy frame to the position locating device 1010.

  Further, when the information transfer apparatus 530 receives the frame by the notification timing control unit 622 after outputting the dummy frame, the information transfer apparatus 530 outputs a response signal (ACK: Acknowledgment) to the received frame to the light receiving apparatus 300. Further, when the information transfer apparatus 530 receives the frame, the information transfer apparatus 530 analyzes the content of the received frame and determines whether or not the above-described designated frame is included in the received frame. If there is a designated frame in the received frame, every time a designated frame and a frame received after the designated frame are received, the frame is output to the position locator 1010.

  Each time the position locating device 1010 receives a frame transmitted from the information transfer device 530, it outputs a response signal to the received frame to the information transfer device 530.

  As described above, in the second embodiment, when the amount of light received by the light receiving unit 611 is decreased by a predetermined threshold or more (the optical signal incident through the light receiving surface 301a is blocked), a dummy frame is attached to the position locator 1010. Send. The position locator 1010 measures the movement distance (or movement distance for each movement direction) from the time when the dummy frame is received. When the frame receiving unit 631 receives a signal including a position information frame, the current position of the vehicle 101 is calculated.

  As a result, even when a light receiving device 300 of a type that transfers a series of buffered frames to the position locating device 1010 is used, the amount of light received by the light receiving unit 611 is reduced by a predetermined threshold or more (via the light receiving surface 301a). Due to the time lag from the time point when the incident optical signal is shielded) to the time point when the position information frame is transmitted, the calculation result of the current position of the vehicle 101 is prevented from being shifted, and the current position of the vehicle 101 is accurately determined. It can be calculated well.

  As described above, according to the second embodiment, even when it is detected that the vehicle 101 is located in the vicinity immediately below the optical beacon 102 before receiving information related to the installation position of the optical beacon 102, the position location target On the other hand, immediately after detecting that the vehicle 101 is located in the vicinity immediately below the optical beacon 102, the start of counting the vehicle speed pulses can be transmitted by the dummy signal. As a result, the spread of a system that can calculate the current position of the vehicle 101 with high accuracy using the installation position information of the optical beacon 102 can be promoted.

  The functions realized by the light receiving device 300 and the functions realized by the information transfer device 530 and the position locating device 540 are not limited to those realized by independent devices. For example, the function realized by the light receiving device 300 and the information transfer device 530 may be realized in a single device. Further, the function realized by the information transfer device 530 and the function realized by the position location device 540 may be realized in a single device. The functions realized by the light receiving device 300 and the functions realized by the information transfer device 530 and the position locating device 540 may be realized in a single device.

(Another embodiment)
Furthermore, another embodiment will be described. FIG. 13 is a block diagram (No. 1) showing another embodiment. In FIG. 13, the light receiving device 1300 includes a light receiving unit 1301 and an information transfer unit 1302. The light receiving unit 1301 includes a light receiving element 301 and a shielding device 302 similar to the light receiving device 300 described above. The light receiving unit 1301 outputs information related to the installation position of the optical beacon 102 and a signal corresponding to the received light intensity at the light receiving element 301 to the information transfer unit 1302.

  The information transfer unit 1302 has the same function as the information transfer device 530 described above. That is, the information transfer unit 1302 receives information related to the installation position of the optical beacon 102 based on the signal output from the light receiving unit 1301, and the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below. Is detected. And transmission of the information regarding an installation position is prohibited until it detects that the vehicle 101 is located in the vicinity of the optical beacon 102, and when it detects, the information regarding an installation position is transmitted to the position determination apparatus 540.

  Even in such a configuration, the installation position of the optical beacon 102 can be accurately transmitted to the position locating device 530 (or the position locating device 1010 is acceptable). And thereby, the spread of the system which can calculate the present position of the vehicle 101 with high accuracy using the installation position information of the optical beacon 102 can be achieved.

  FIG. 14 is a block diagram (No. 2) showing another embodiment. In FIG. 14, the position location apparatus 1400 includes an information transfer unit 1401 and a position location unit 1402. The information transfer unit 1401 has the same function as the information transfer device 530 described above.

  That is, the information transfer unit 1401 receives information related to the installation position of the optical beacon 102 based on the signal output from the light receiving device 300, and confirms that the vehicle 101 is located at a predetermined distance from the optical beacon 102, for example, immediately below. To detect. Then, output of information related to the installation position is prohibited until it is detected that the vehicle 101 is located in the vicinity immediately below the optical beacon 102, and if detected, information related to the installation position is output to the position locator 1402.

  Based on the information regarding the installation position of the optical beacon 102 output from the information transfer unit 1401, the position locating unit 1402 calculates the current position of the vehicle 101 using the position of the vehicle 101 at the time when the information is output as a reference position. To do. Even in such a configuration, the installation position of the optical beacon 102 can be accurately transmitted to the position locating device 530 (or the position locating device 1010 is acceptable). This also makes it possible to increase the spread of a system that can calculate the current position of the vehicle 101 with high accuracy by using the installation position information of the optical beacon 102.

  The information transfer method described in the various embodiments described above can be realized by executing a program prepared in advance on a computer such as a personal computer or a workstation. This program is recorded on a computer-readable recording medium such as a hard disk, a flexible disk, a CD-ROM, an MO, and a DVD, and is executed by being read from the recording medium by the computer. The program may be a transmission medium that can be distributed via a network such as the Internet.

  In addition, the information transfer device 530 or the information transfer units 1302 and 1401 described in this embodiment is an application-specific IC (hereinafter, simply referred to as “ASIC”) such as a standard cell or a structured ASIC (Application Specific Integrated Circuit). It can also be realized by PLD (Programmable Logic Device) such as FPGA. Specifically, for example, the functional configuration 650 to 653 of the information transfer device 530 described above is defined by HDL description, and the HDL description is logically synthesized and given to the ASIC or PLD to manufacture the information transfer device 530. can do.

(Supplementary Note 1) Receiving means for receiving information on the installation position of the communication device transmitted from the communication device installed on the roadside;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device;
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving body;
Transmission control means for controlling the transmission means, prohibiting transmission of information relating to the installation position received by the reception means until detected by the detection means, and transmitting information relating to the installation position when detected;
An information transfer device comprising:

(Additional remark 2) The said transmission control means transmits the information regarding the said installation position immediately after detecting that the said mobile body exists in the predetermined distance from the said communication apparatus by the said detection means, Additional remark 1 characterized by the above-mentioned. The information transfer device described in 1.

(Supplementary note 3) When the transmission means detects that the moving body is at a predetermined distance from the communication device before the reception means receives information related to the installation position, the transmission control means The apparatus according to claim 1, wherein the control unit is configured to transmit a predetermined signal to the position location, and to transmit the information about the installation position to the position location immediately after receiving the information about the installation position. Information transfer device.

(Supplementary Note 4) The transmission control unit controls the transmission unit to prohibit transmission of information regarding the installation position until it is detected by the detection unit, and sends a response signal to the information received by the reception unit. The information transfer device according to any one of appendices 1 to 3, wherein the information is transmitted to a transmission source of the information.

(Additional remark 5) The said receiving means receives the information regarding the installation position of the said communication apparatus as an optical signal from the said communication apparatus, The said detection means is an angle more than predetermined angle with respect to the light-receiving part which light-receives the said optical signal. The moving body is located at a predetermined distance from the communication device when it is detected that the optical signal incident on the light receiving unit is shielded by a shielding unit that shields the optical signal incident on The information transfer device according to any one of appendices 1 to 4, wherein the information transfer device is detected.

(Supplementary note 6) The information transfer device according to supplementary note 5, wherein the detection means detects that the received light intensity of the optical signal incident on the light receiving unit has decreased by a predetermined threshold value within a unit time. .

(Supplementary note 7) The unit time is variable according to the moving speed of the moving body, and the unit time is shorter when the moving speed of the moving body is faster than when the moving speed of the moving body is slower. The information transfer device according to appendix 6, wherein the information transfer device is set to be

(Additional remark 8) The said detection means detects that the light reception intensity | strength of the said optical signal which injects into the said light-receiving part decreased more than the predetermined threshold value while the said moving body moved the unit distance. 5. The information transfer device according to 5.

(Additional remark 9) The receiving means which receives the optical signal containing the information regarding the installation position of the said communication apparatus transmitted from the communication apparatus installed in the roadside using the light receiving element mounted in the mobile body,
Shielding means for shielding the optical signal incident on the light receiving element at an angle of a predetermined angle or more;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device based on a light reception intensity in the light receiving element when an optical signal is shielded by the shielding means;
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving body;
Transmission control means for controlling the transmission means, prohibiting transmission of information relating to the installation position received by the reception means until detected by the detection means, and transmitting information relating to the installation position when detected;
An information transfer device comprising:

(Supplementary Note 10) In a position locating device for locating a moving body having a light receiving device including a light receiving element and a shielding unit that shields an optical signal incident on the light receiving element at a predetermined angle or more.
Receiving means for receiving, from the light receiving device, information on the installation position of the communication device transmitted from the communication device installed on the roadside;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device when the optical signal is shielded by the shielding means;
Counting means for starting counting of vehicle speed pulses of the moving body when the detecting means detects that the moving body is located at a predetermined distance from the communication device;
Calculation means for calculating the current position of the moving body based on the vehicle speed pulse counted by the counting means and the received information on the installation position of the communication device;
A position locating device comprising:

(Appendix 11)
Receiving means for receiving information regarding the installation position of the communication device transmitted from the communication device installed on the roadside;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device;
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving object;
Transmission control means for controlling the transmission means, prohibiting transmission of information on the installation position until detected by the detection means, and transmitting information on the installation position when detected;
An information transfer program that functions as a computer program.

(Supplementary note 12)
Receiving means for receiving an optical signal including information on the installation position of the communication device transmitted from the communication device installed on the roadside using the light receiving element mounted on the moving body,
Shielding means for shielding the optical signal incident on the light receiving element at an angle of a predetermined angle or more;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device based on a light reception intensity in the light receiving element when an optical signal is shielded by the shielding means;
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving object;
A transmission control means for controlling the transmission means to prohibit transmission of information relating to the installation position received by the reception means until it is detected by the detection means, and to transmit information relating to the installation position if detected;
An information transfer program that functions as a computer program.

(Supplementary note 13)
A light receiving device comprising: a light receiving element and a shielding means for shielding an optical signal incident on the light receiving element at an angle greater than or equal to a predetermined angle, with respect to information regarding the installation position of the communication apparatus transmitted from a communication apparatus installed on a roadside Receiving means for receiving from the device;
Detecting means for detecting that the moving body is located at a predetermined distance from the communication device when the optical signal is shielded by the shielding means;
Counting means for starting counting of vehicle speed pulses of the moving body when the detecting means detects that the moving body is located at a predetermined distance from the communication device;
Calculation means for calculating the current position of the moving body based on the vehicle speed pulse counted by the counting means and the received information on the installation position of the communication device;
Positioning program characterized by functioning as

(Supplementary note 14) A computer-readable recording medium in which the program according to any one of supplementary notes 11 to 13 is recorded.

(Supplementary Note 15) A reception step of receiving information regarding the installation position of the communication device transmitted from the communication device installed on the roadside;
A detection step of detecting that the mobile body is located at a predetermined distance from the communication device;
Transmitting the information on the installation position received by the reception step, prohibiting transmission of the information on the installation position until detected by the detection step, and transmitting the information on the installation position when detected;
An information transfer method comprising:

(Additional remark 16) The receiving process which receives the optical signal containing the information regarding the installation position of the said communication apparatus transmitted from the communication apparatus installed in the roadside using the light receiving element mounted in the mobile body,
Based on the received light intensity of the light receiving element when the optical signal is shielded by shielding means that shields the optical signal incident on the light receiving element at an angle greater than or equal to a predetermined angle, the moving body is removed from the communication device. A detection step of detecting that the vehicle is located at a predetermined distance;
Transmitting the information on the installation position received by the reception step, prohibiting transmission of the information on the installation position until detected by the detection step, and transmitting the information on the installation position when detected;
An information transfer method comprising:

(Supplementary note 17) In a position locating method for locating a moving body having a light receiving device including a light receiving element and a shielding unit that shields an optical signal incident on the light receiving element at a predetermined angle or more,
A receiving step of receiving information related to the installation position of the communication device transmitted from the communication device installed on the roadside;
A detection step of detecting that the mobile body is located at a predetermined distance from the communication device;
A counting step of starting counting vehicle speed pulses of the moving body when the detecting step detects that the moving body is located at a predetermined distance from the communication device;
Based on the vehicle speed pulse counted by the counting step and the received information regarding the installation position of the communication device, a calculation step for calculating a current position of the moving body;
A position location method characterized by comprising:

It is explanatory drawing which shows the structure of the position location system concerning this Embodiment 1. FIG. It is explanatory drawing which shows the content of the communication area of an optical beacon. It is explanatory drawing which shows the outline | summary of a light-receiving device. It is explanatory drawing which shows the relationship between the incident angle of the optical signal with respect to a light-receiving surface, and a shielding apparatus. It is explanatory drawing which shows the light reception state of an optical signal. It is a block diagram which shows roughly the hardware constitutions of a vehicle system. It is a block diagram which shows roughly the hardware constitutions of a light-receiving device. It is a block diagram which shows roughly the hardware constitutions of an information transfer apparatus. It is a block diagram which shows roughly the hardware constitutions of a position location apparatus. It is a block diagram which shows the functional structure of a vehicle system. It is a block diagram which shows the functional structure of an information transfer apparatus. 4 is a flowchart illustrating a processing procedure executed by the information transfer apparatus according to the first embodiment. It is a timing sequence diagram which shows operation | movement with a light-receiving device and a position location apparatus. FIG. 6 is a timing sequence diagram illustrating operations of respective units in the position location system according to the first embodiment. It is a block diagram which shows the functional structure of the vehicle system concerning this Embodiment 2. FIG. It is a flowchart which shows the process sequence which the information transfer apparatus concerning this Embodiment 2 performs. FIG. 10 is a timing sequence diagram illustrating operations of respective units in the position location system according to the second embodiment. It is the block diagram (the 1) which shows another embodiment. It is the block diagram (the 2) which shows another embodiment.

Explanation of symbols

REFERENCE SIGNS LIST 300 light receiving device 301 light receiving element 302 shielding device 530 information transfer device 540 position locating device 611 light receiving unit 612 frame transmission unit 621 light block monitor unit 622 notification timing control unit 650 reception unit 651 detection unit 652 transmission control unit 653 transmission unit 1300 light reception device 1301 Light Receiving Unit 1302 Information Transfer Unit 1400 Positioning Device 1401 Information Transfer Unit 1402 Position Positioning Unit

Claims (7)

Receiving means for receiving information on the installation position of the communication device transmitted from the communication device installed on the roadside, using a light receiving element mounted on the moving body ;
Detection means for detecting that the moving body is located at a predetermined distance from the communication device when the absolute value of the decrease amount of the received light intensity is greater than or equal to a predetermined threshold based on the received light intensity at the light receiving element. When,
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving body;
Transmission control means for controlling the transmission means, and transmitting information related to the installation position when the detection means detects that the moving body is located at a predetermined distance from the communication device ;
An information transfer device comprising: The transmission control means includes
2. The information transfer apparatus according to claim 1, wherein information regarding the installation position is transmitted immediately after the detection unit detects that the moving body is at a predetermined distance from the communication device. Incident to the front Symbol receiving element at a predetermined angle or more angles, including a shielding means for shielding the optical signal containing information about the installation position,
The detection means is configured to detect the moving object when an absolute value of a decrease amount of the received light intensity is equal to or greater than a predetermined threshold based on a received light intensity of the light receiving element when an optical signal is blocked by the shielding means. There information transfer apparatus according to claim 1 or 2, characterized in the Turkey be detected that is located a predetermined distance from the communication device. In a position locating device for locating a moving body having a light receiving device including a light receiving element and a light shielding device that shields an optical signal incident on the light receiving element at a predetermined angle or more,
Receiving means for receiving, from the light receiving device, information on the installation position of the communication device transmitted from the communication device installed on the roadside;
When the absolute value of the decrease amount of the received light intensity is equal to or greater than a predetermined threshold based on the received light intensity in the light receiving element when the optical signal is blocked by the shielding means, the mobile body is the communication device. Detecting means for detecting that it is located at a predetermined distance from,
Counting means for starting counting of vehicle speed pulses of the moving body when the detecting means detects that the moving body is located at a predetermined distance from the communication device;
Calculation means for calculating the current position of the moving body based on the vehicle speed pulse counted by the counting means and the received information on the installation position of the communication device;
A position locating device comprising: Computer
Receiving means for receiving information related to the installation position of the communication device transmitted from the communication device installed on the roadside using the light receiving element mounted on the moving body ,
Detection means for detecting that the moving body is located at a predetermined distance from the communication device when the absolute value of the decrease amount of the received light intensity is greater than or equal to a predetermined threshold based on the received light intensity at the light receiving element. ,
Transmitting means for transmitting information relating to the installation position received by the receiving means to the position location of the moving object;
A transmission control unit that controls the transmission unit and transmits information related to the installation position when the detection unit detects that the moving body is located at a predetermined distance from the communication device ;
An information transfer program that functions as a computer program. A computer-readable recording medium on which the program according to claim 5 is recorded. Using a light receiving element mounted on a moving body, a receiving step of receiving information related to the installation position of the communication device transmitted from the communication device installed on the roadside;
A detection step of detecting that the moving body is located at a predetermined distance from the communication device when the absolute value of the decrease amount of the received light intensity is equal to or greater than a predetermined threshold based on the received light intensity at the light receiving element. When,
A transmission step for transmitting information on the installation position received by the receiving step when the detection step detects that the mobile body is located at a predetermined distance from the communication device ; ,
An information transfer method comprising:

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