Position determination device

Abstract

The present invention provides a position determination device capable of determining the position of a portable device even when a set number or more of distance measurement values cannot be obtained. A position determination device is provided with: a communication unit (20) having a plurality of communication devices (23A-23G) that wirelessly communicate with a portable terminal (1), each of the plurality of communication devices (23A-23G) repeatedly performing UWB communication for detecting a distance measurement value (Vr), and at least one of the plurality of communication devices (23A-23G) repeatedly performing BLE communication for receiving a movement value (Vm); a main position determination unit (32) that determines a first coordinate position (Pf (n)), which is the position of the portable terminal (1), on the basis of the plurality of distance measurement values (Vr); a sub-position determination unit (35) that determines a second coordinate position Ps (n), which is the position of the portable terminal (1), on the basis of the movement value Vm; and a determination position setting unit (36) that sets either the first coordinate position (Pf (n)) or the second coordinate position (Ps (n)) as a determination coordinate position (Pj (n)) that is the current position of the portable terminal (1).

Description

Technical Field

[0001] The present invention relates to a position determination device. Background Art

[0002] The position determination device disclosed in Patent Document 1 can determine the position of a passenger relative to a vehicle, for example, to detect a predetermined action of the passenger to control an onboard device. In the position determination device, wireless communication is performed between a portable device held by the passenger and a plurality of communication devices mounted on the vehicle, and the position of the portable device relative to the vehicle is determined based on a plurality of ranging values ​​(distances) obtained from the communication results.

[0003] When there is an obstacle that hinders wireless communication between the vehicle and the portable device, sometimes it is impossible to perform distance measurement based on wireless communication between some of the multiple communication devices and the portable device. When the number of distance measurement values ​​obtained is less than the set number, the position of the portable device cannot be determined. Patent document 1 does not consider any position determination when the distance measurement values ​​exceeding the set number cannot be obtained.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-148740 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The technical problem of the present invention is to provide a position determination device which can determine the position of a portable device even when a set number or more of distance measurement values ​​cannot be obtained.

[0009] Solutions for solving problems

[0010] One embodiment of the present invention provides a position determination device, comprising: a communication unit having a plurality of communication devices for wirelessly communicating with a portable terminal, the portable terminal having a movement detection unit capable of detecting a movement value including a movement amount and a movement angle, the plurality of communication devices respectively repeatedly performing a first wireless communication for detecting a distance measurement value relative to the portable terminal, and at least one of the plurality of communication devices repeatedly performing a second wireless communication for receiving the movement value; a main position determination unit for determining a first coordinate position as the position of the portable terminal based on a plurality of distance measurement values ​​obtained through the first wireless communication; a secondary position determination unit for determining a second coordinate position as the position of the portable terminal based on the movement value obtained through the second wireless communication; and a determination position setting unit for setting either the first coordinate position or the second coordinate position as a determination coordinate position as the current position of the portable terminal.

[0011] When the number of distance measurement values ​​obtained from the communication results of the plurality of communication devices is less than the set number, the main position determination unit cannot determine the first coordinate position, but the auxiliary position determination unit can determine the second coordinate position based on the movement value detected by the movement detection unit of the portable terminal. Therefore, even if there is an obstacle that hinders wireless communication between the plurality of communication devices and the portable terminal and the distance measurement values ​​exceeding the set number cannot be obtained through wireless communication, the coordinate position of the portable terminal can be determined.

[0012] Effects of the Invention

[0013] In the present invention, even when a set number or more of distance measurement values ​​cannot be obtained, the position of the portable device can be determined. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a block diagram of a vehicle control device incorporating a position determination device according to an embodiment of the present invention.

[0015] Figure 2 This is a top view of a vehicle for explaining a plurality of areas related to control of in-vehicle equipment.

[0016] Figure 3 It is a three-dimensional diagram showing the coordinate system of the portable device.

[0017] Figure 4 This is a sequence diagram showing communication between the communication unit of the vehicle and the portable device.

[0018] Figure 5 This is a diagram showing a method of setting a determination coordinate position.

[0019] Figure 6 : is a flowchart showing the position determination processing performed by the control unit.

[0020] Figure 7 yes Figure 6 The subsequent flowchart.

[0021] Figure 8 Yes means Figure 7 Flow chart of the second coordinate position determination process.

[0022] Fig. 9 Yes means Figure 7 Flowchart of the vehicle-mounted device control processing.

[0023] Fig.10 is a diagram showing a modified example of the position determination process performed by the control unit. Figure 6 The subsequent flow chart.

[0024] Description of Reference Numerals

[0025] 1, 1A~1C: portable device (portable terminal); 2: communication unit; 3: movement detection unit; 4: acceleration sensor (movement amount detection unit); 5: angular velocity sensor (movement angle detection unit); 10: vehicle; 11L, 11R: front door; 12L, 12R: rear door; 15: vehicle control device (position determination device); 16L, 16R: door lock device (vehicle-mounted device); 20: communication unit; 21: BLE communication unit; 22: UWB communication unit; 23A~23G: communication device; 24: distance detection unit; 30: control unit; 31: communication control unit; 32: main position determination unit; 33: movement amount detection unit; 34: movement angle detection unit; 35: auxiliary position determination unit Fixed unit; 36: determination position setting unit; 37: area determination unit; 38: drive control unit; 39: storage unit; 40: door control area group; 41: door locking area; 42: door unlocking area; 43: engine start permission area; 44: dead zone; 100: obstacle; Pf(n): first coordinate position; Ps(n): second coordinate position; Pj(n): determination coordinate position; Pt(n): temporary coordinate position; Vr: ranging value; T: threshold value; Vm(n): movement value; Da: acceleration data; Am(n): movement amount; Dg: angular velocity data; θg(n): movement angle; θc(n): correction angle; Dm(n): movement distance; Ds: set distance. DETAILED DESCRIPTION

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0027] exist Figure 2 In FIG. 1 , the Xa direction indicates the vehicle width direction of the vehicle 10, the Ya direction indicates the vehicle length direction of the vehicle 10, and the Za direction indicates the vehicle height direction of the vehicle 10. Figure 3 , the Xb direction indicates the width direction of the portable device 1 , the Yb direction indicates the thickness direction of the portable device 1 , and the Zb direction indicates the length direction of the portable device 1 . Figure 2 The Xa direction, Ya direction, and Za direction of the vehicle 10 shown in FIG. Figure 3 The Xb, Yb and Zb directions of the portable device 1 shown are basically inconsistent, and when the posture of the portable device 1 changes, the Xb, Yb and Zb directions of the portable device 1 also change relative to the Xa, Ya and Za directions of the vehicle 10.

[0028] Reference Figure 1 The vehicle control device 15 in which the position determination device according to the embodiment of the present invention is assembled includes a communication unit 20 and a control unit 30, and is mounted on Figure 2The vehicle 10 shown in the figure. The control unit 30 can be constructed by hardware including a CPU (Central Processing Unit), a RAM (Random Access Memory), a storage device such as a ROM (Read Only Memory), and software installed in the hardware.

[0029] Reference Figure 2 The vehicle 10 in this embodiment is a so-called one-box sedan, and is provided with: conventional horizontally rotating left and right front doors 11L, 11R; and left and right rear doors 12L, 12R as sliding doors. Figure 1 The vehicle 10 is provided with door lock devices (vehicle-mounted equipment) 16L, 16R, which can respectively lock the left and right front doors 11L, 11R and the left and right rear doors 12L, 12R when they are fully closed and fully opened (a state in which opening and closing actions cannot be performed), and can switch from the locked state to the unlocked state in which opening and closing actions can be performed.

[0030] Reference Figure 1 The vehicle control device 15 wirelessly communicates with the portable device 1 held by the passenger to determine the coordinate position of the portable device 1 relative to the vehicle 10 and controls the door lock devices 16L and 16R.

[0031] exist Figure 2 In the portable devices 1A and 1C shown on the left and right sides of , there is no obstacle 100 such as a wall that blocks wireless communication between the vehicle 10 and the portable devices 1A and 1C, so the coordinate position (first coordinate position Pf(n)) of the portable devices 1A and 1C can be determined. Figure 2 In the portable device 1B shown in the center, there is an obstacle 100 between the vehicle 10 and the portable device 1B, so the coordinate position of the portable device 1B (the first coordinate position Pf(n)) may not be determined. In addition, an inappropriate coordinate position (the first coordinate position Pf(n)) may be determined due to misdetection. In such a situation, the following structure is adopted in this embodiment: the estimated coordinate position (the second coordinate position Ps(n)) is set as the coordinate position of the portable device 1 (determined coordinate position Pj(n)) by PDR (Pedestrian Dead Reckoning) using sensor information possessed by the portable device 1.

[0032] Hereinafter, the communication unit 20 and the control unit 30 included in the portable device 1 and the vehicle control apparatus 15 will be described in detail.

[0033] Reference Figure 1 The portable device 1 includes a communication unit 2 and a movement detection unit 3 .

[0034] The communication unit 2 is similar to the communication unit 20 of the vehicle control device 15 described in detail later, and includes: a BLE communication unit (second wireless communication) for performing BLE (Bluetooth Low Energy (registered trademark)) communication; and a UWB communication unit for performing UWB (Ultra Wide Band) communication (first wireless communication) which is ultra-wide area wireless communication.

[0035] The movement detection unit 3 includes an acceleration sensor (movement amount detection unit) 4 for detecting the movement amount Am(n) of the portable device 1, and an angular velocity sensor (movement angle detection unit) 5 for detecting the movement angle θg(n) of the portable device 1. The movement detection unit 3 may include a different sensor in addition to the acceleration sensor 4 and the angular velocity sensor 5.

[0036] The acceleration sensor 4 transmits information (detection result) related to the detected movement amount Am(n) to the communication unit 20 of the vehicle control device 15 via the communication unit 2. The angular velocity sensor 5 transmits information (detection result) related to the detected movement angle θg(n) to the communication unit 20 of the vehicle control device 15 via the communication unit 2. That is, the movement detection unit 3 transmits the movement value Vm(n) including the movement amount Am(n) and the movement angle θg(n) to the communication unit 20 of the vehicle control device 15 via the communication unit 2 by BLE communication (see Figure 4 ).

[0037] As the portable device 1 having the above structure, a smart phone or a portable information terminal can be used. However, the portable device 1 is not particularly limited in its specific structure as long as it is a portable terminal capable of performing BLE communication and UWB communication.

[0038] Next refer to Figure 1 The communication unit 20 of the vehicle control device 15 includes a BLE communication unit 21 and a UWB communication unit 22 .

[0039] Reference Figure 1 and Figure 4 The BLE communication unit 21 repeatedly performs BLE communication with the portable device 1 held by the passenger according to the instruction of the communication control unit 31 described in detail later. The BLE communication unit 21 sends information related to the movement value Vm(n) including the movement amount Am(n) and the movement angle θg(n) input from the movement detection unit 3 via the communication unit 2 to the control unit 30.

[0040] The UWB communication unit 22 includes seven communication devices 23A, 23B, 23C, 23D, 23E, 23F, and 23G in this embodiment. These communication devices 23A to 23G repeatedly perform UWB communication with the portable device 1 held by the passenger according to the command of the communication control unit 31. Figure 2 The communication devices 23A and 23B are arranged on both sides of the front of the vehicle 10 in the vehicle width direction (e.g., both ends of the front bumper). The communication devices 23C and 23D are arranged on both sides of the rear of the vehicle 10 in the vehicle width direction (e.g., both ends of the rear bumper). The communication devices 23E and 23F are arranged on both sides of the front of the vehicle compartment in the vehicle width direction (e.g., the front pillars). The communication device 23G is arranged in the center of the rear of the vehicle compartment in the vehicle width direction (e.g., the rear window).

[0041] Reference Figure 1 and Figure 4 , the communication devices 23A to 23G are respectively provided with a distance detection unit 24. The distance detection unit 24 calculates the distance value (distance) Vr from each communication device 23A to 23G to the portable device 1 based on the communication time (communication result) of each communication device 23A to 23G. The specific calculation method of the distance value Vr will be described in detail later. The distance detection unit 24 sends information related to the calculated distance value Vr to the control unit 30 via UWB communication. Among them, the distance detection unit 24 can also be provided by the control unit 30.

[0042] Next refer to Figure 1 The control unit 30 includes a communication control unit 31, a main position determination unit 32, a movement amount detection unit 33, a movement angle detection unit 34, a sub-position determination unit 35, a determination position setting unit 36, a region determination unit 37, a drive control unit 38, and a storage unit 39. The communication control unit 31, the main position determination unit 32, the movement amount detection unit 33, the movement angle detection unit 34, the sub-position determination unit 35, the determination position setting unit 36, the region determination unit 37, and the drive control unit 38 refer to the information stored in the storage unit 39 as needed during the processing performed by these components described below. The storage unit 39 stores information related to the regions 41 to 44 (refer to Figure 2 ) related information.

[0043] The communication control unit 31 controls the communication with the portable device 1 performed by the BLE communication unit 21 and the UWB communication unit 22 of the communication unit 20 as follows.

[0044] like Figure 4As shown, if the strength of the BLE signal received by the BLE communication unit 21 from the portable device 1 is above a specified threshold, that is, the portable device 1 held by the passenger approaches the vehicle 10 to a specified distance, the BLE communication unit 21 sends a trigger signal to the portable device 1 (second wireless communication). The portable device 1 that receives the trigger signal sends a request signal to the communication devices 23A to 23G of the UWB communication unit 22 (first wireless communication). When the request signal is received from the portable device 1, the communication devices 23A to 23G send a response signal to the portable device 1. When the response signal is received from the communication devices 23A to 23G, the portable device 1 calculates the time Δt1 from the sending of the request signal to the receiving of the response signal, and sends information related to the time Δt1 to the communication devices 23A to 23G respectively. The communication devices 23A to 23G calculate the time Δt2 from the receiving of the request signal to the sending of the response signal. The communication devices 23A to 23G respectively calculate the signal propagation time between the communication devices 23A to 23G and the portable device 1 based on the time Δt1 and Δt2, and output the information related to the propagation time to the distance detection unit 24. The distance detection unit 24 multiplies the input propagation time by the speed of the signal, thereby respectively calculating the distance measurement value Vr from each communication device 23A to 23G to the portable device 1, and sends the information related to the distance measurement value to the main position determination unit 32 of the control unit 30.

[0045] Reference Figure 1 and Figure 2 The main position determination unit 32 determines the first coordinate position Pf(n) as the position of the portable device 1 relative to the vehicle 10 based on the distance measurement value Vr from each communication device 23A to 23G to the portable device 1 input from the distance detection unit 24. That is, the main position determination unit 32 determines the first coordinate position Pf(n) of the portable device 1 relative to the vehicle 10 based on the multiple distance measurement values ​​Vr obtained according to the communication results of the multiple communication devices 23A to 23G. The determination of the first coordinate position Pf(n) is performed by three-sided positioning in this embodiment. However, the determination method of the first coordinate position Pf(n) of the portable device 1 by the main position determination unit 32 can be changed as needed as long as it can be determined based on multiple distance measurement values ​​Vr.

[0046] When the number of distance measurement values ​​Vr obtained based on the communication results of the communication devices 23A to 23G is less than a predetermined set number (three in this embodiment), the main position determination unit 32 cannot determine the first coordinate position Pf(n) of the portable device 1 relative to the vehicle 10. On the other hand, when the number of distance measurement values ​​Vr obtained based on the communication results of the communication devices 23A to 23G is greater than the set number, the main position determination unit 32 determines the first coordinate position Pf(n) of the portable device 1 relative to the vehicle 10 based on these distance measurement values ​​Vr. Information on the determined first coordinate position Pf(n) of the portable device 1 is input to the determination position setting unit 36.

[0047] Here, when the number of distance measurement values ​​Vr obtained according to the communication results of the communication devices 23A to 23G is greater than the prescribed set number (three in the present embodiment), the main position determination unit 32 determines the first coordinate position Pf(n) as follows. For example, when four distance measurement values ​​Vr are obtained, four distance measurement value groups are set in which three are selected from the four distance measurement values ​​Vr. Then, the first coordinate position Pf(n) is determined for each of the four distance measurement value groups, and their average value is determined as one first coordinate position Pf(n) of the portable device 1. That is, when the number of distance measurement values ​​Vr obtained is greater than the set number, they are grouped in a manner that each becomes three distance measurement values ​​Vr, and the average value of the determination results in all groups is set as the first coordinate position Pf(n) of the portable device 1.

[0048] The movement amount detection unit 33 calculates the movement amount Am(n) of the portable device 1 based on the acceleration data Da (detection result) of the acceleration sensor 4 of the portable device 1 input from the BLE communication unit 21 . Information on the calculated movement amount Am(n) is input to the sub-position determination unit 35 .

[0049] The movement angle detection unit 34 calculates the movement angle θg(n) of the portable device 1 based on the angular velocity data Dg (detection result) of the angular velocity sensor 5 of the portable device 1 input from the BLE communication unit 21 . Information on the calculated movement angle θg(n) is input to the sub-position determination unit 35 .

[0050] When the movement amount Am(n) of the portable device 1 input from the movement amount detection unit 33 is greater than a predetermined threshold value T (e.g., 50 cm), the sub-position determination unit 35 determines the second coordinate position Ps(n) as the position of the portable device 1 relative to the vehicle 10. The second coordinate position Ps(n) is determined by estimating the movement amount and movement direction of the portable device 1 based on the movement value Vm(n) input from the movement detection unit 3 of the portable device 1, more specifically, based on the movement amount Am(n) and the movement angle θg(n) obtained from the detection results of the acceleration sensor 4 and the angular velocity sensor 5. Details are as follows.

[0051] Reference Figure 5 The second coordinate position Ps(n) is determined based on the previous (last) determination coordinate position Pj(n-1) set by the determination position setting unit 36, the movement amount Am(n) of the portable device 1 input from the movement amount detection unit 33, the movement angle θg(n) of the portable device 1 input from the movement angle detection unit 34, and the set latest correction angle θc(n-α). Figure 5 In the example shown, the latest correction angle θc(n-α) that is set refers to the correction angle θc(n-1) that was set in the position determination one time ago (before the last position determination).

[0052] First, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-1) to the movement amount Am(n) of the portable device 1 to set the temporary coordinate position Pt(n). Next, the auxiliary position determination unit 35 corrects the temporary coordinate position Pt(n) to the second coordinate position Ps(n) based on the movement angle θg(n) of the portable device 1 and the latest correction angle θc(n-1) among the correction angles θc(n-1, 4 to 6) set before the last position determination. The determined second coordinate position Ps(n) of the portable device 1 is input to the determination position setting unit 36.

[0053] Based on the two first coordinate positions Pf(n, n-1) continuously determined by the main position determination unit 32, namely, the current first coordinate position Pf(n) and the previous first coordinate position Pf(n-1), the correction angle θc(n) is set by the sub-position determination unit 35. More specifically, if the previous first coordinate position Pf(n-1) determined by the main position determination unit 32 is set to X1, Y1 and the current first coordinate position Pf(n) is set to X2, Y2, the correction angle θc(n) is calculated by the following formula 1.

[0054] [Formula 1]

[0055] θc(n)=arcTan((Y2-Y1) / (X2-X1))*180° / π

[0056] X1: X coordinate of the previous first coordinate position Pf(n-1).

[0057] Y1: Y coordinate of the previous first coordinate position Pf(n-1).

[0058] X2: The X coordinate of the first coordinate position Pf(n) this time.

[0059] Y2: The Y coordinate of the first coordinate position Pf(n) of this time.

[0060] When the temporary coordinate position Pt(n) is corrected to the second coordinate position Ps(n) in the current position determination, the latest correction angle θc(n-1) among the correction angles θc(n-1, 4 to 6) set in the position determination before the current position determination is used as described above. The reason is that in the current position determination, when the distance measurement value Vr exceeding the set number cannot be obtained, the first coordinate position Pf(n) cannot be determined, and the correction angle θc(n) cannot be set.

[0061] If the set temporary coordinate position Pt(n) is set to X3 and Y3, X4 and Y4 as the second coordinate position Ps(n) are calculated by the following formula 2.

[0062] [Formula 2]

[0063] X4=X3*cos(θc(n-1)+θg(n))-Y3*sin(θc(n-1)+θg(n))

[0064] Y4=Y3*cos(θc(n-1)+θg(n))+X3*sin(θc(n-1)+θg(n))

[0065] X4: X coordinate of the second coordinate position Ps(n).

[0066] Y4: Y coordinate of the second coordinate position Ps(n).

[0067] X3: X coordinate of the temporary coordinate position Pt(n).

[0068] Y3: Y coordinate of the temporary coordinate position Pt(n).

[0069] θc(n-1): The latest calibration angle that has been set.

[0070] θg(n): The moving angle of the portable device.

[0071] Formula 2 is used to make Figure 2 The Xa coordinate, Ya coordinate, and Za coordinate of the vehicle 10 shown are Figure 3The temporary coordinate position Pt(n) is corrected to the second coordinate position Ps(n) by adjusting the Xb coordinate, Yb coordinate and Zb coordinate of the portable device 1 in a consistent manner as shown. Here, as long as the posture of the portable device 1 held by the passenger does not change, the Xa coordinate, Ya coordinate and Za coordinate of the vehicle 10 are consistent with the Xb coordinate, Yb coordinate and Zb coordinate of the portable device 1. However, if the posture of the portable device 1 held by the passenger changes, a deviation will occur between the Xa coordinate, Ya coordinate and Za coordinate of the vehicle 10 and the Xb coordinate, Yb coordinate and Zb coordinate of the portable device 1. Therefore, by adding the set latest correction angle θc(n-1) to the movement angle θg(n) relative to the portable device 1, the Xa coordinate, Ya coordinate and Za coordinate of the vehicle 10 are consistent with the Xb coordinate, Yb coordinate and Zb coordinate of the portable device 1. Figure 3 The Xb coordinate, Yb coordinate, and Zb coordinate of the portable device 1 shown are adjusted to be consistent, the temporary coordinate position Pt(n) is corrected, and the second coordinate position Ps(n) is determined. Thus, the determination accuracy of the second coordinate position Ps(n) as the estimated position of the portable device 1 is improved. The second coordinate position Ps(n) determined in this way is less accurate than the first coordinate position Pf(n) determined by the main position determination unit 32, but can be determined within the allowable error range.

[0072] Reference Figure 1 and Figure 5 , the determination position setting unit 36 ​​sets either the first coordinate position Pf(n) determined by the main position determination unit 32 or the second coordinate position Ps(n) determined by the auxiliary position determination unit 35 as the determination coordinate position Pj(n) as the current position of the portable device 1. More specifically, when the number of distance measurement values ​​Vr obtained based on the communication results of the plurality of communication devices 23A to 23G is greater than the set number (three in the present embodiment) and the first coordinate position Pf(n) is appropriate, the determination position setting unit 36 ​​sets the first coordinate position Pf(n) as the determination coordinate position Pj(n). On the other hand, when the number of distance measurement values ​​Vr obtained based on the communication results of the plurality of communication devices 23A to 23G is less than the set number and the first coordinate position Pf(n) is inappropriate, the determination position setting unit 36 ​​sets the second coordinate position Ps(n) as the determination coordinate position Pj(n). The set determination coordinate position Pj(n) of the portable device 1 is input to the area determination unit 37.

[0073] The suitability judgment of the first coordinate position Pf(n) by the judgment position setting unit 36 ​​is performed based on the last judgment coordinate position Pj(n-1) set by the judgment position setting unit 36 ​​and the current first coordinate position Pf(n) determined by the main position determination unit 32. More specifically, when the moving distance Dm(n) which is the difference between the last judgment coordinate position Pj(n-1) and the current first coordinate position Pf(n) is less than the set distance Ds, the judgment position setting unit 36 ​​judges that the first coordinate position Pf(n) is appropriate. On the other hand, when the moving distance Dm(n) is longer than the set distance Ds, that is, when the moving speed of the passenger holding the portable device 1 shows an abnormal state that is not normally possible, the judgment position setting unit 36 ​​judges that the first coordinate position Pf(n) is inappropriate. The set distance Ds is set to a range of 10 cm to 100 cm, and is set to 50 cm in the present embodiment.

[0074] The area determination unit 37 determines whether the portable device 1 is located in the area stored in the storage unit 39 based on the input determination coordinate position Pj(n) of the portable device 1. Figure 2 Which of the areas 41 to 44 shown is the area to be selected?

[0075] Reference Figure 2 The set areas 41 to 44 include areas used for controlling the door lock devices 16L and 16R (door control area group 40 ). The door control area group 40 includes a door lock area 41 , a door unlock area 42 , an engine start permission area 43 , and a dead zone 44 .

[0076] In the present embodiment, the door lock area 41 is set to an area more than a certain distance away from the vehicle 10, and the door unlock area 42 is set to surround the vehicle 10 at a position closer to the vehicle 10 than the door lock area 41 by a certain distance. In addition, the engine start permission area 43 in the present embodiment is set to the interior of the vehicle 10. A dead zone 44 is provided between the door lock area 41 and the door unlock area 42 to prevent erroneous operation caused by setting the door lock area 41 and the door unlock area 42 adjacent to each other.

[0077] In which of the areas 41 to 44 the portable device 1 is located, determined by the area determination unit 37 , is input to the drive control unit 38 .

[0078] The drive control unit 38 controls the door lock devices 16L and 16R of the vehicle 10 based on the input from the area determination unit 37 of which area the portable device 1 is located in and the movement of the portable device 1 between the areas 41 to 44. When the UWB communication between the communication devices 23A to 23G and the portable device 1 starts, the area determination unit 37 periodically inputs to the drive control unit 38 which area the portable device 1 is located in.

[0079] Next, refer to Figure 5 An example of determination of the second coordinate position Ps(n) by the auxiliary position determination unit 35 and setting of the determination coordinate position Pj(n) by the determination position setting unit 36 ​​will be described.

[0080] Figure 5 The eight-time position determination is shown in FIG. Figure 5 The vertical axis is time (msec) and the horizontal axis is distance (cm). Figure 5 In the figure, the position determination seven times ago at the bottom is the initial (earliest) position determination, and the position determination becomes newer as it goes up, with the top being the current position determination.

[0081] Figure 5 In it, the first coordinate position Pf(n), the second coordinate position Ps(n), the determination coordinate position Pj(n), the temporary coordinate position Pt(n), the movement amount Am(n), the movement angle θg(n), the correction angle θc(n) and the movement distance Dm(n) are the data in this position determination. Figure 5 , the first coordinate position Pf(n-1), the second coordinate position Ps(n-1), the judgment coordinate position Pj(n-1), the temporary coordinate position Pt(n-1), the movement amount Am(n-1), the movement angle θg(n-1), the correction angle θc(n-1) and the movement distance Dm(n-1) are the data of the position judgment one time ago (last time). Figure 5 , the first coordinate position Pf(n-2), the second coordinate position Ps(n-2), the determination coordinate position Pj(n-2), the temporary coordinate position Pt(n-2), the movement amount Am(n-2), the movement angle θg(n-2) and the movement distance Dm(n-2) are the data of the position determination twice before (the last time). In this way, the ordinal number below the determination number n becomes larger as it becomes earlier. The storage unit 39 stores these data, for example, in 10 times. The data exceeding 10 times will be deleted. In addition, for example, when the engine of the vehicle 10 is started, these data will be reset (deleted).

[0082] Figure 5In the figure, for the position determination seven times ago (the first), six times ago (the second), five times ago (the third), two times ago (the sixth), one time ago (the seventh), and this time (the eighth), the situation where the communication devices 23A to 23G obtain three or more distance measurement values ​​Vr is shown. For the position determination four times ago (the fourth), the situation where the communication devices 23A to 23G obtain three or more distance measurement values ​​Vr but the distance measurement values ​​Vr are abnormal is shown. For the position determination three times ago (the fifth), the situation where the communication devices 23A to 23G do not obtain three or more distance measurement values ​​Vr is shown. Below, these position determinations are explained in turn.

[0083] In the position determination seven times ago (the first time), the main position determination unit 32 first determines the first coordinate position Pf(n-7) based on three or more distance measurement values ​​Vr. At this time, since the determination coordinate position Pj and the correction angle θc have not been set before, the sub-position determination unit 35 does not determine the second coordinate position Ps. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n-7) determined by the main position determination unit 32 as the determination coordinate position Pj(n-7).

[0084] In the position determination six times ago (the second time), the main position determination unit 32 determines the first coordinate position Pf(n-6) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-7) to the movement amount Am(n-6) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-6). However, in this state, since the correction angle θc has not been set before, the auxiliary position determination unit 35 does not determine the second coordinate position Ps. Next, the auxiliary position determination unit 35 sets the correction angle θc(n-6) based on the last first coordinate position Pf(n-7) and the current first coordinate position Pf(n-6). Finally, since the moving distance Dm(n-6), which is the difference between the previous determination coordinate position Pj(n-7) and the current first coordinate position Pf(n-6), is less than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n-6) determined by the main position determination unit 32 is appropriate. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n-6) as the determination coordinate position Pj(n-6).

[0085] In the position determination five times ago (the third time), the main position determination unit 32 determines the first coordinate position Pf(n-5) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-6) to the movement amount Am(n-5) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-5). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-6) and the movement angle θg(n-5) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n-5) and determine the second coordinate position Ps(n-5). Next, the auxiliary position determination unit 35 sets the correction angle θc(n-5) based on the last first coordinate position Pf(n-6) and the current first coordinate position Pf(n-5). Finally, since the moving distance Dm(n-5), which is the difference between the previous determination coordinate position Pj(n-6) and the current first coordinate position Pf(n-5), is less than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n-5) determined by the main position determination unit 32 is appropriate. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n-5) as the determination coordinate position Pj(n-5).

[0086] In the position determination four times ago (the fourth time), the main position determination unit 32 determines the first coordinate position Pf(n-4) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-5) to the movement amount Am(n-4) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-4). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-5) and the movement angle θg(n-4) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n-4) and determine the second coordinate position Ps(n-4). Next, the auxiliary position determination unit 35 sets the correction angle θc(n-4) based on the last first coordinate position Pf(n-5) and the current first coordinate position Pf(n-4). Finally, since the moving distance Dm(n-4), which is the difference between the previous determination coordinate position Pj(n-5) and the current first coordinate position Pf(n-4), is longer than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n-4) determined by the main position determination unit 32 is inappropriate. Therefore, the determination position setting unit 36 ​​sets the second coordinate position Ps(n-4) determined by the auxiliary position determination unit 35 as the determination coordinate position Pj(n-4).

[0087] In the position determination three times ago (the fifth time), since three or more distance measurement values ​​Vr were not obtained, the main position determination unit 32 could not determine the first coordinate position Pf(n-3). On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-4) to the movement amount Am(n-3) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-3). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-4) and the movement angle θg(n-3) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n-3) and determine the second coordinate position Ps(n-3). Next, since the first coordinate position Pf(n-3) of this time has not been determined, the auxiliary position determination unit 35 does not set the correction angle θc(n-3). Finally, the determination position setting unit 36 ​​sets the second coordinate position Ps(n-3) determined by the auxiliary position determination unit 35 as the determination coordinate position Pj(n-3).

[0088] In the position determination twice before (the sixth time), the main position determination unit 32 determines the first coordinate position Pf(n-2) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-3) to the movement amount Am(n-2) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-2). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-4) and the movement angle θg(n-2) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n-2) and determine the second coordinate position Ps(n-2). Next, since the last first coordinate position Pf(n-3) was not determined, the auxiliary position determination unit 35 does not set the correction angle θc(n-2). Finally, since the moving distance Dm(n-2) which is the difference between the previous determination coordinate position Pj(n-3) and the current first coordinate position Pf(n-2) is less than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n-2) determined by the main position determination unit 32 is appropriate. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n-2) as the determination coordinate position Pj(n-2).

[0089] In the position determination once before (the seventh time), the main position determination unit 32 determines the first coordinate position Pf(n-1) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-2) to the movement amount Am(n-1) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n-1). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-4) and the movement angle θg(n-1) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n-1) and determine the second coordinate position Ps(n-1). Next, the auxiliary position determination unit 35 sets the correction angle θc(n-1) based on the last first coordinate position Pf(n-2) and the current first coordinate position Pf(n-1). Finally, since the moving distance Dm(n-1), which is the difference between the previous determination coordinate position Pj(n-2) and the current first coordinate position Pf(n-1), is less than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n-1) determined by the main position determination unit 32 is appropriate. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n-1) as the determination coordinate position Pj(n-1).

[0090] In this (eighth) position determination, the main position determination unit 32 determines the first coordinate position Pf(n) based on three or more distance measurement values ​​Vr. On the other hand, the auxiliary position determination unit 35 adds the last determined coordinate position Pj(n-1) to the movement amount Am(n) of the portable device 1 input from the movement amount detection unit 33, and sets the temporary coordinate position Pt(n). Then, the auxiliary position determination unit 35 uses the set latest correction angle θc(n-1) and the movement angle θg(n) of the portable device 1 input from the movement angle detection unit 34 to correct the temporary coordinate position Pt(n) and determine the second coordinate position Ps(n). Next, the auxiliary position determination unit 35 sets the correction angle θc(n) based on the last first coordinate position Pf(n-1) and the current first coordinate position Pf(n). Finally, since the moving distance Dm(n), which is the difference between the previous determination coordinate position Pj(n-1) and the current first coordinate position Pf(n), is less than the set distance Ds, the determination position setting unit 36 ​​determines that the first coordinate position Pf(n) determined by the main position determination unit 32 is appropriate. Therefore, the determination position setting unit 36 ​​sets the first coordinate position Pf(n) as the determination coordinate position Pj(n).

[0091] As described above, in this embodiment, in the case where more than three distance measurement values ​​Vr are obtained through the communication devices 23A~23G but the distance measurement values ​​Vr are abnormal (position determination four times ago), and in the case where more than three distance measurement values ​​Vr are not obtained through the communication devices 23A~23G (position determination three times ago), the second coordinate position Ps(n) can be determined by the sub-position determination unit 35 and the second coordinate position Ps(n) can be set as the determination coordinate position Pj(n).

[0092] Next, refer to Figures 6 to 9 The flowchart shown in FIG. 1 illustrates the position determination processing performed by the vehicle control device 15 .

[0093] Reference Figure 6 and Figure 7 In the position determination process, the position determination from step S1 to step S16 is repeated.

[0094] Specifically, if Figure 6 As shown, in step S1, the BLE communication (second wireless communication) between the BLE communication unit 21 and the portable device 1 is waited to be completed. That is, the BLE communication is waited to be completed until the BLE communication unit 21 receives a BLE signal with a predetermined strength or higher from the portable device 1 and outputs a trigger signal.

[0095] When the BLE communication is completed, in step S2, the UWB communication (first wireless communication) between the UWB communication unit 22 and the portable device 1 is waited for to be completed. That is, the UWB communication series in which the plurality of communication devices 23A to 23G receive request signals from the portable device 1, output response signals, and then receive information of time Δt1 from the portable device 1 is waited for to be completed.

[0096] When the UWB communication is completed, in step S3, the main position determination unit 32 waits until the distance value Vr is received from the communication devices 23A to 23G via UWB communication (first wireless communication). When the distance value Vr is received, in step S4, the main position determination unit 32 waits until the movement value Vm(n) is received from the portable device 1, that is, the movement amount detection unit 33 waits until the movement amount Am(n) is received via BLE communication (second wireless communication), and the movement angle detection unit 34 waits until the movement angle θg(n) is received via BLE communication (second wireless communication).

[0097] When receiving the movement value Vm(n), Figure 7 As shown, in step S5, the main position determination unit 32 determines whether three or more distance measurement values ​​Vr have been received. If three or more distance measurement values ​​Vr have been received, the process proceeds to step S6, and if less than three distance measurement values ​​Vr have been received, the process proceeds to step S11.

[0098] In step S6, after the first coordinate position Pf(n) is determined based on three of the three or more distance measurement values ​​Vr, it is determined in step S7 whether the determined first coordinate position Pf(n) is appropriate. That is, it is determined whether the moving distance Dm(n) from the last determined coordinate position Pj(n-1) to the current first coordinate position Pf(n) is less than the set distance Ds (50 cm in this embodiment). If the determined first coordinate position Pf(n) is appropriate, the process proceeds to step S8, and if the determined first coordinate position Pf(n) is inappropriate, the process proceeds to step S11.

[0099] In step S8, the auxiliary position determination unit 35 determines whether the movement amount Am(n) obtained by the acceleration sensor 4 and the movement angle θg(n) obtained by the angular velocity sensor 5 have changed, that is, whether the movement value Vm(n) of the portable device 1 has changed due to the movement of the passenger. If the movement value Vm(n) of the portable device 1 has changed, in step S9, after executing the second coordinate position determination process described in detail later, the process proceeds to step S10. On the other hand, if the movement value Vm(n) of the portable device 1 has not changed in step S8, the process proceeds to step S10 without executing the second coordinate position determination process of step S9.

[0100] In step S10, the determination position setting unit 36 ​​sets the first coordinate position Pf(n) determined in step S6 as the determination coordinate position Pj(n) of this time, and proceeds to step S15. That is, in step S5, the distance measurement values ​​Vr of the set number or more are obtained from the communication devices 23A to 23G, and the first coordinate position Pf(n) determined in step S7 is appropriate, so the determination position setting unit 36 ​​sets the determined first coordinate position Pf(n) as the determination coordinate position Pj(n).

[0101] If three or more distance measurement values ​​Vr are not obtained in step S5 and if the first coordinate position Pf(n) determined in step S7 is inappropriate, in step S11, it is determined whether the movement value Vm(n) of the portable device 1 has changed. If the movement value Vm(n) of the portable device 1 has changed, the second coordinate position determination process is performed in step S12, and the process proceeds to step S13. On the other hand, if the movement value Vm(n) of the portable device 1 has not changed in step S11, steps S12 to S16 described below are not performed and the process returns to step S1.

[0102] In step S13, it is determined whether the second coordinate position Ps(n) has been determined by the second coordinate position determination process in step S12. If the second coordinate position Ps(n) has been determined, the process proceeds to step S14, and if the second coordinate position Ps(n) has not been determined, the process returns to step S1.

[0103] In step S14, the determination position setting unit 36 ​​sets the second coordinate position Ps(n) determined in step S12 as the determination coordinate position Pj(n) of this time, and proceeds to step S15. That is, in the case where the distance measurement values ​​Vr exceeding the set number are not obtained from the communication devices 23A to 23G in step S5, or in the case where the first coordinate position Pf(n) determined in step S7 is inappropriate, the determination position setting unit 36 ​​sets the determined second coordinate position Ps(n) as the determination coordinate position Pj(n).

[0104] When the determination coordinate position Pj(n) is set in step S10 or step S14, the vehicle-mounted device control process described in detail later is executed in step S15, and then the determination times n of all data stored in the storage unit 39 are updated in step S16. That is, the determination times n are updated in such a way that the original (n) is set to (n-1) and the original (n-1) is set to (n-2). Then, the process returns to Figure 6 The step S1 shown is repeated with steps S1 to S16.

[0105] Next, the second coordinate position determination process of step S9 and step S12 will be described.

[0106] Reference Figure 8 In the second coordinate position determination process, the auxiliary position determination unit 35 determines in step S20 whether there is the last determination coordinate position Pj(n-1) set by the determination position setting unit 36. If there is the determination coordinate position Pj(n-1), the process proceeds to step S21. On the other hand, if there is no determination coordinate position Pj(n-1), steps S21 to S28 described below are not executed, that is, the second coordinate position Ps(n) is not set and the process returns.

[0107] In step S21, the movement amount detection unit 33 calculates the movement amount Am(n) of the portable device 1 based on the input acceleration data Da, and in step S22, the sub-position determination unit 35 determines whether the movement amount Am(n) of the portable device 1 is greater than the threshold value T. When the movement amount Am(n) of the portable device 1 is greater than the threshold value T, the process proceeds to step S23. On the other hand, when the movement amount Am(n) of the portable device 1 is less than the threshold value T, steps S23 to S28 described below are not executed, that is, the second coordinate position Ps(n) is not set and the process returns.

[0108] In step S23, after the movement angle detection unit 34 calculates the movement angle θg(n) of the portable device 1 based on the input angular velocity data Dg, in step S24, the sub-position determination unit 35 adds the last determination coordinate position Pj(n-1) and the calculated movement amount Am(n) to set the temporary coordinate position Pt(n).

[0109] Next, in step S25, it is determined whether there is the latest correction angle θc(n-α) set before the current position determination. If there is a set latest correction angle θc(n-α), in step S26, the second coordinate position Ps(n) is determined based on the temporary coordinate position Pt(n), the correction angle θc(n-α) and the movement angle θg(n), and the process proceeds to step S27. On the other hand, if there is no set latest correction angle θc(n-α), the process proceeds to step S27 without determining the second coordinate position Ps(n) in step S26.

[0110] In step S27, it is determined whether the first coordinate position Pf(n-1, 2) determined twice before the current position determination, that is, the first coordinate position Pf(n-1) determined once and the first coordinate position Pf(n-2) determined twice, exist. If the first coordinate position Pf(n-1, 2) of the two quantities exists, in step S28, the correction angle θc(n) is set and the process returns. On the other hand, if the first coordinate position Pf(n-1, 2) of the two quantities does not exist, the process returns directly without setting the correction angle θc(n) in step S28.

[0111] Next, the in-vehicle device control process of step S15 will be described.

[0112] Reference Fig. 9 In the vehicle-mounted device control process, the drive control unit 38 determines in step S30 whether the operating conditions of the door lock devices 16L and 16R are met. If the operating conditions are met, the process proceeds to step S31. If the operating conditions are not met, the process does not proceed to steps S31 to 34 described below and directly returns.

[0113] In step S31, it is determined whether all of the five determination coordinate positions Pj (n, n-1 to 4) are within the door lock area 41. Even if a part of them is not within the door lock area 41, the process proceeds to step S33. On the other hand, if all of them are within the door lock area 41, in step S32, the door lock devices 16L and 16R are operated in a locked manner and returned. That is, the operating condition for locking the door lock devices 16L and 16R is that all of the five determination coordinate positions Pj (n, n-1 to 4) are within the door lock area 41, that is, the passenger continues to be within the door lock area 41 for a set time or more.

[0114] In step S33, it is determined whether the three-fold determination coordinate position Pj (n, n-1, 2) is all present in the door unlocking area 42. Even if a part of it is not present in the door unlocking area 42, step S34 is not executed and the system returns directly. On the other hand, if all of it is present in the door unlocking area 42, in step S34, the door lock devices 16L and 16R are operated in an unlocked manner and return. That is, the operating condition for unlocking the door lock devices 16L and 16R is that the three-fold determination coordinate position Pj (n, n-1, 2) is all present in the door unlocking area 42, that is, the passenger continues to be in the door unlocking area 42 for more than the set time.

[0115] The vehicle control device 15 including the position determination device configured in this way has the following features.

[0116] When the number of distance measurement values ​​Vr obtained based on the communication results of the plurality of communication devices 23A to 23G is less than the set number, the main position determination unit 32 cannot determine the first coordinate position Pf(n), but the sub-position determination unit 35 can determine the second coordinate position Ps(n) based on the movement value Vm(n) detected by the movement detection unit 3 provided in the portable device 1. Therefore, even if there is an obstacle 100 that hinders wireless communication between the plurality of communication devices 23A to 23G and the portable device 1 and the distance measurement values ​​Vr exceeding the set number cannot be obtained through wireless communication, the determination coordinate position Pj(n) of the portable device 1 can be determined.

[0117] The drive control unit 38 is provided for controlling the door lock devices 16L and 16R based on the determination coordinate position Pj(n) set by the determination position setting unit 36. Thus, the passenger can control the door lock devices 16L and 16R by performing a predetermined action without physically operating a key, thereby improving convenience.

[0118] When the movement amount Am(n) detected by the movement detection unit 3 of the portable device 1 is greater than the threshold value T, that is, when the portable device 1 has moved, the sub-position determination unit 35 sets a temporary coordinate position Pt(n) obtained by adding the last determination coordinate position Pj(n-1) set by the determination position setting unit 36 ​​to the movement amount Am(n). In this way, the determination accuracy of the second coordinate position Ps(n) by the sub-position determination unit 35 can be improved.

[0119] The auxiliary position determination unit 35 corrects the temporary coordinate position Pt(n) based on the latest correction angle θc(n-α) set based on the two first coordinate positions Pf successively determined by the main position determination unit 32 and the movement angle θg(n) detected by the movement detection unit 3, and determines the second coordinate position Ps(n). That is, the temporary coordinate position Pt(n) is corrected and the second coordinate position Ps(n) is determined by adding the latest correction angle θc(n-α) set to the movement angle θg(n) of the portable device 1 so that the axis of the vehicle 10 coincides with the axis of the portable device 1. This can improve the accuracy of the determination of the second coordinate position Ps(n) by the auxiliary position determination unit 35.

[0120] When the number of distance measurement values ​​Vr obtained based on the communication results of the plurality of communication devices 23A to 23G is greater than the set number and the first coordinate position Pf(n) is appropriate, the determination position setting unit 36 ​​sets the first coordinate position Pf(n) as the determination coordinate position Pj(n). The first coordinate position Pf(n) determined by the main position determination unit 32 is more accurate than the second coordinate position Ps(n) determined by the sub-position determination unit 35 based on the movement value Vm(n) detected by the movement detection unit 3, and thus the position determination accuracy of the portable device 1 relative to the vehicle 10 can be improved.

[0121] When the number of distance measurement values ​​Vr obtained based on the communication results of the plurality of communication devices 23A to 23G is less than the set number, that is, when the distance measurement values ​​Vr exceeding the set number that can accurately determine the position of the portable device 1 are not obtained, the determination position setting unit 36 ​​sets the second coordinate position Ps(n) as the determination coordinate position Pj(n). If the determination coordinate position Pj(n) is not set due to poor communication, the door lock devices 16L and 16R cannot be controlled, but in such a case, the second coordinate position Ps(n) is set as the determination coordinate position Pj(n), thereby preventing the undesirable situation that the door lock devices 16L and 16R cannot be controlled.

[0122] When it is determined that the first coordinate position Pf(n) determined by the main position determination unit 32 is inappropriate, that is, the first coordinate position Pf(n) is of low precision, the determination position setting unit 36 ​​sets the second coordinate position Ps(n) as the determination coordinate position Pj(n). Therefore, it is possible to suppress the erroneous determination of the determination coordinate position Pj(n) based on the inappropriate first coordinate position Pf(n), and thus the position of the portable device 1 can be determined with high precision.

[0123] The determination position setting unit 36 ​​determines whether the first coordinate position Pf(n) is appropriate based on the last determination coordinate position Pj(n-1) set by the determination position setting unit 36 ​​and the first coordinate position Pf(n) of this time. That is, whether the first coordinate position Pf(n) of this time is appropriate is determined based on whether the moving speed of the passenger holding the portable device 1 shows an abnormal state that is not usually possible. Therefore, it is possible to determine whether the first coordinate position Pf(n) of this time is appropriate with high accuracy.

[0124] It should be noted that the present invention is not limited to the configuration of the above-described embodiment, and various modifications can be made.

[0125] For example, steps S5 to S16 of the position determination process may be as follows: Fig.10 As shown above. Figure 7 Steps S5 to S16 shown in the embodiment of Fig.10 Among steps S5 to S16 of the modified example shown, only steps S8 and S9 are different, and the other steps S5 to 7 and S10 to S16 are the same.

[0126] Specifically, steps S5 to S7 are performed in the same manner as in the above-mentioned embodiment. When it is determined in step S7 that the first coordinate position Pf(n) is appropriate, in step S8, it is determined whether the first coordinate position Pf(n-1, 2) determined twice before the current position determination, that is, the first coordinate position Pf(n-1) determined once and the first coordinate position Pf(n-2) determined twice, exist. In the case where the first coordinate position Pf(n-1, 2) of the two quantities exists, in step S9, the correction angle θc(n) is set and the process proceeds to step S10. On the other hand, in the case where the first coordinate position Pf(n-1, 2) of the two quantities does not exist, the correction angle θc(n) is not set in step S9 and the process proceeds to step S10. In this way, the same action and effect as in the above-mentioned embodiment can be obtained.

[0127] The vehicle-mounted device controlled by the drive control unit 38 may be a door opening and closing device for opening and closing the left and right rear doors 12L, 12R, respectively, an engine, or a welcome light.

[0128] The movement detection unit 3 of the portable device 1 can send information related to the movement value Vm(n) including the movement amount Am(n) and the movement angle θg(n) to any one of the plurality of communication devices 23A to 23G through BLE communication (second wireless communication). That is, any one of the plurality of communication devices 23A to 23G can receive the information related to the movement value Vm(n) from the portable device 1.

[0129] The position determination device is not limited to the vehicle 10 , and may be incorporated into a house door control device that locks / unlocks a house lock.

Claims

1. A position determination device, comprising: a communication unit having a plurality of communication devices for wirelessly communicating with a portable terminal, the portable terminal having a movement detection unit capable of detecting a movement value including a movement amount and a movement angle, the plurality of communication devices respectively repeatedly performing a first wireless communication for detecting a distance measurement value relative to the portable terminal, and at least one of the plurality of communication devices repeatedly performing a second wireless communication for receiving the movement value; a main position determination unit that determines a first coordinate position as the position of the portable terminal based on a plurality of distance measurement values ​​obtained through the first wireless communication; a sub-position determination unit that determines a second coordinate position as a position of the portable terminal based on the movement value obtained through the second wireless communication; as well as The determination position setting unit sets one of the first coordinate position and the second coordinate position as a determination coordinate position as a current position of the portable terminal.

2. The position determination device according to claim 1, wherein: The invention further includes a drive control unit that controls an in-vehicle device of the vehicle based on the determination coordinate position set by the determination position setting unit.

3. The position determination device according to claim 1 or 2, wherein: When the movement amount obtained by the second wireless communication is larger than a predetermined threshold value, the sub-position determination unit sets a temporary coordinate position obtained by adding the movement amount to the previous determination coordinate position set by the determination position setting unit.

4. The position determination device according to claim 3, wherein: The auxiliary position determination unit corrects the temporary coordinate position according to a set correction angle and the movement angle detected by the movement detection unit, and determines the second coordinate position, wherein the correction angle is set based on two first coordinate positions successively determined by the main position determination unit before this position determination.

5. The position determination device according to claim 1 or 2, wherein: When the number of the distance measurement values ​​obtained through the first wireless communication is equal to or larger than a set number and the first coordinate position of this time determined by the main position determination unit is appropriate, the determination position setting unit sets the first coordinate position of this time as the determination coordinate position.

6. The position determination device according to claim 1 or 2, wherein: The determination position setting unit sets the second coordinate position as the determination coordinate position when the number of the distance measurement values ​​obtained through the first wireless communication is smaller than a set number.

7. The position determination device according to claim 1 or 2, wherein: The determination position setting unit sets the second coordinate position as the determination coordinate position when it is determined that the first coordinate position determined this time by the main position determination unit is inappropriate.

8. The position determination device according to claim 7, wherein: The determination position setting unit determines whether the current first coordinate position is appropriate based on the previous determination coordinate position set by the determination position setting unit and the current first coordinate position.

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