Vehicle positioning system and vehicle assistance information program

Abstract

A positioning system (1) for a vehicle is provided with: an other-vehicle assistance information reception unit (6a) that receives other-vehicle assistance information transmitted from other vehicles in the vicinity of the vehicle; a peripheral information analysis unit (7) that analyzes the other vehicle assistance information and acquires the positioning performance of the other vehicle; a positioning unit (3) that performs positioning on the basis of satellite information acquired in the own vehicle and the positioning performance of the other vehicle; a positioning accuracy determination unit (4) that determines the positioning accuracy of the vehicle on the basis of the positioning performance of the vehicle and the positioning performance of the other vehicle; a local vehicle assistance information generation unit (5) that generates local vehicle assistance information on the basis of the determination result of the positioning accuracy determination unit; and a host vehicle assistance information transmission unit (6b) that transmits the host vehicle assistance information to another vehicle.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims the benefit of Japanese Application No. 2022-116478, filed on Jul. 21, 2022, the entire contents of which are hereby incorporated by reference. Technical Field

[0003] The present disclosure relates to a vehicle positioning system and a vehicle auxiliary information providing program. Background Art

[0004] In the infrastructure coordination system, it is important to share the vehicle position indicating the current position of the vehicle with other vehicles around the vehicle. However, the positioning performance of each vehicle varies depending on the performance of the GNSS receiver mounted on the vehicle, the positioning algorithm, etc. Therefore, no matter how good the positioning performance of the vehicle is, if the positioning performance of other vehicles is poor, there is a concern that sufficient service cannot be provided. For example, Patent Document 1 discloses a technology for comparing the positioning performance of the vehicle with the positioning performance of other vehicles.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-133316

[0006] Patent Document 1 does not provide auxiliary information effective for improving positioning accuracy from the own vehicle to other vehicles when the positioning performance of other vehicles is lower than that of the own vehicle, and cannot improve the positioning accuracy of the entire system including other vehicles. Summary of the invention

[0007] The present disclosure aims to improve the positioning accuracy of the entire system including other vehicles around the own vehicle.

[0008] According to one method of the present disclosure, an other-vehicle auxiliary information receiving unit receives other-vehicle auxiliary information sent from other vehicles around the vehicle. A surrounding information analyzing unit analyzes the other-vehicle auxiliary information and obtains the positioning performance of other vehicles. A positioning unit performs positioning based on satellite information obtained in the vehicle and the positioning performance of other vehicles. A positioning accuracy determination unit determines the positioning accuracy of the vehicle based on the positioning performance of the vehicle and the positioning performance of other vehicles. A vehicle auxiliary information generating unit generates vehicle auxiliary information based on the determination result of the positioning accuracy determination unit. A vehicle auxiliary information sending unit sends the vehicle auxiliary information to other vehicles.

[0009] The auxiliary information of other vehicles sent from other vehicles around the vehicle is parsed to obtain the positioning performance of other vehicles, and positioning is performed based on the satellite information obtained in the vehicle and the positioning performance of other vehicles. The positioning accuracy of the vehicle is determined based on the positioning performance of the vehicle and the positioning performance of other vehicles, and auxiliary information of the vehicle is generated based on the determination result, and the generated auxiliary information of the vehicle is sent to other vehicles. In the case where the positioning performance of other vehicles is worse than that of the vehicle, by sending the auxiliary information of the vehicle to other vehicles, auxiliary information effective in improving the positioning accuracy can be provided from the vehicle to other vehicles, and the positioning accuracy of the entire system including other vehicles can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above-mentioned object and other objects, features and advantages of the present disclosure will become more apparent through the following detailed description with reference to the accompanying drawings.

[0011] Figure 1 is a functional block diagram showing one embodiment,

[0012] Figure 2 is a graph representing a message,

[0013] Figure 3 This is a diagram showing the relationship between the positioning accuracy of the vehicle and the number of satellites used.

[0014] Figure 4 This is a diagram showing the state when the positioning accuracy of the vehicle is poor and a large number of satellites are used.

[0015] Figure 5 This is a diagram showing the state when the positioning accuracy of the vehicle is poor and the number of satellites used is small.

[0016] Figure 6 This is a diagram showing the state when the positioning accuracy of the vehicle is good and a large number of satellites are used.

[0017] Figure 7 This is a diagram showing the state when the positioning accuracy of the vehicle is good and the number of satellites used is small.

[0018] Figure 8 is a flowchart showing the processing of receiving auxiliary information from other vehicles,

[0019] Fig. 9 is a flowchart showing the positioning process,

[0020] Fig.10 : is a flowchart showing the process of transmitting the vehicle auxiliary information. DETAILED DESCRIPTION

[0021] Hereinafter, an embodiment will be described with reference to the accompanying drawings. In addition, the global positioning satellite system (GNSS (Global Navigation Satellite System)) described in this embodiment refers to the general term for satellite positioning systems such as the GPS (Global Positioning System) of the United States, the Quasi-Zenith Satellite System (QZSS (Quasi-Zenith Satellite System)) of Japan, the GLONASS of Russia, the Galileo of the European Union, and the BDS (BeiDou Navigation Satellite System) of China.

[0022] like Figure 1 As shown, the vehicle positioning system 1 mounted on the vehicle is equipped with a GNSS antenna 2, a positioning unit 3, a positioning accuracy determination unit 4, a vehicle auxiliary information generation unit 5, an RF transmission and reception unit 6, a surrounding information analysis unit 7, a vehicle auxiliary information database (DB) 8, and an other vehicle auxiliary information database (DB) 9. These functional modules 3 to 9 are mainly composed of a microcomputer (hereinafter referred to as a microcomputer) having a CPU, RAM, ROM, I / O port, etc. The microcomputer performs control based on software processing and hardware processing to control the operation of the vehicle positioning system 1. The software processing is based on the execution of a computer program stored in a non-migrating physical storage medium by the CPU, and the hardware processing is hardware processing based on a dedicated electronic circuit. The computer program executed by the CPU includes a vehicle auxiliary information providing program.

[0023] The GNSS antenna 2 receives GNSS satellite signals transmitted from GNSS satellites orbiting the sky. The RF transceiver 6 includes an other vehicle auxiliary information receiving unit 6a and a own vehicle auxiliary information transmitting unit 6b. The other vehicle auxiliary information receiving unit 6a monitors the reception of other vehicle auxiliary information transmitted from other vehicles around the own vehicle, for example, when the vehicle is in a drivable state based on the ignition switch being turned on, at a predetermined period. If the other vehicle auxiliary information receiving unit 6a detects the reception of other vehicle auxiliary information transmitted from other vehicles, the other vehicle auxiliary information is stored in the other vehicle auxiliary information DB 9. The other vehicle auxiliary information transmitted from other vehicles includes the positioning performance of the vehicle positioning system mounted on the other vehicles. The positioning performance of the vehicle positioning system mounted on the other vehicles is referred to as the positioning performance of the other vehicles.

[0024] The surrounding information analysis unit 7 refers to the other vehicle auxiliary information DB 9 at a predetermined period, for example, when the vehicle is in a drivable state based on the ignition switch being turned on. When the other vehicle auxiliary information DB 9 stores unresolved other vehicle auxiliary information, the surrounding information analysis unit 7 obtains the unresolved other vehicle auxiliary information and performs analysis to obtain the positioning performance of the other vehicle. When the surrounding information analysis unit 7 obtains the positioning performance of the other vehicle, it outputs the obtained positioning performance of the other vehicle to the positioning unit 3 and the positioning accuracy determination unit 4.

[0025] The positioning unit 3 acquires GNSS information (equivalent to satellite information) as a parameter from the GNSS signal received by the GNSS antenna 2 , and performs positioning based on the acquired GNSS information and the positioning performance of other vehicles input from the surrounding information analysis unit 7 .

[0026] The positioning accuracy determination unit 4 determines the positioning accuracy of the vehicle based on the positioning performance of the vehicle and the positioning performance of other vehicles input from the surrounding information analysis unit 7. Figure 2 As shown, the information used by the positioning accuracy determination unit 4 to determine the positioning accuracy includes information calculated based on the positioning conditions and vehicle-specific information. The vehicle-specific information is information calculated based on the positioning conditions and is not dependent on the positioning conditions.

[0027] The information calculated based on the positioning status is information about satellites used for positioning, reliability, etc. The information about satellites used for positioning is the carrier-to-noise power density ratio (CN (Carrier to Noise Density Ratio)), reduction rate, satellite system information, etc. The reduction rate is the value obtained by dividing the number of satellites not used for positioning by the total number of captured satellites. The higher the reliability, the higher the evaluation of the information calculated based on the positioning status, and the lower the reliability, the lower the evaluation of the information calculated based on the positioning status.

[0028] Vehicle-specific information includes antenna information, positioning algorithm or chip performance, satellite systems that can be used for positioning, inertial sensor information, etc. Antenna information includes antenna mounting position and antenna type. Antenna mounting position includes height and antenna category. Antenna category can also be classified as roof, dashboard, etc. Positioning algorithm or chip performance includes information related to RTK (Real Time Kinematic), DGPS (Differential Global Positioning System), dual-frequency positioning, etc. Inertial sensor information includes information related to observation axis, resolution, etc. If the positioning accuracy determination unit 4 determines the positioning accuracy of the vehicle, it outputs the determination result to the vehicle auxiliary information generation unit 5.

[0029] When the determination result is input from the positioning accuracy determination unit 4, the own vehicle auxiliary information generation unit 5 generates own vehicle auxiliary information based on the input determination result, and stores the generated own vehicle auxiliary information in the own vehicle auxiliary information DB 8. For example, when the vehicle is in a drivable state based on the ignition switch being turned on, the own vehicle auxiliary information transmission unit 6b refers to the own vehicle auxiliary information DB 8 at a predetermined period, and when the own vehicle auxiliary information DB 8 stores unsent own vehicle auxiliary information, the unsent own vehicle auxiliary information is transmitted to the vehicle positioning system of the other vehicle. In this case, the own vehicle auxiliary information transmission unit 6b may also transmit the determination material of the measurement accuracy in the measurement accuracy determination unit 4 together with the own vehicle auxiliary information to the vehicle positioning system of the other vehicle.

[0030] like Figure 2 As shown, the own vehicle assistance information and other vehicle assistance information include information on which satellite to use or not to use in positioning, almanac information, pseudorange correction information, etc. The pseudorange correction information is information received from a module capable of dual-frequency positioning, a module corresponding to RTK or DGPS.

[0031] Here, refer to Figure 3 to Figure 7 The determination result of the positioning accuracy of the vehicle by the positioning accuracy determination unit 4 is described. Figure 3 As shown, four modes are assumed. Each mode is described below. In addition, the distinction between good and bad positioning accuracy of the vehicle is based on the comparison with the positioning accuracy of other vehicles. The number of satellites used for positioning, that is, the distinction between more and fewer satellites used, is a relative distinction.

[0032] (1) The vehicle's positioning accuracy is poor and a large number of satellites are used (see Figure 4 )

[0033] When the positioning accuracy of the vehicle is poor and a large number of satellites are used, it is assumed that there is a high possibility that many of the satellites used for positioning in the vehicle positioning system 1 of the vehicle are multipath. In this case, the vehicle positioning system 1 of the vehicle can expect to eliminate multipath by reducing the satellites used for positioning, and can expect to improve the positioning accuracy of the vehicle. The vehicle positioning system 1 of the vehicle determines the satellites used for positioning by majority voting, and sends information related to the satellites used for positioning to the vehicle positioning systems of other vehicles. The vehicle positioning systems of other vehicles can share the satellites used for positioning with the vehicle positioning system 1 of the vehicle by receiving information related to the satellites used for positioning from the vehicle positioning system 1 of the vehicle.

[0034] (2) The vehicle's positioning accuracy is poor and the number of satellites used is small (see Figure 5 )

[0035] When the positioning accuracy of the vehicle is poor and the number of satellites used is small, it is assumed that if the surrounding environment information of the vehicle is different from that of other vehicles, there is a high possibility that the parameters used in the vehicle positioning system 1 of the vehicle are inappropriate. In this case, the vehicle positioning system 1 of the vehicle can be expected to make the parameters appropriate by dynamically changing the parameters of the vehicle, and can be expected to improve the positioning accuracy of the vehicle.

[0036] (3) When the vehicle's positioning accuracy is good and a large number of satellites are used (see Figure 6 )

[0037] If the positioning accuracy of the vehicle is good and the number of satellites used is large, it is assumed that the vehicle positioning system 1 of the vehicle is more likely to be superior to other systems. In this case, the vehicle positioning system 1 of the vehicle maintains the status quo and sends a notification signal indicating the status quo to the vehicle positioning systems of other vehicles.

[0038] (4) The vehicle's positioning accuracy is good and the number of satellites used is small (see Figure 7 )

[0039] When the positioning accuracy of the vehicle is good and the number of satellites used is small, it is assumed that there is a high possibility that many of the satellites used for positioning in the vehicle positioning systems of other vehicles are multipath. In this case, the vehicle positioning system 1 of the vehicle can share the satellites used for positioning with the vehicle positioning systems of other vehicles by sending information related to the deleted satellites to the vehicle positioning systems of other vehicles. By reducing the satellites used for positioning, the vehicle positioning systems of other vehicles can expect to eliminate multipath and improve the positioning accuracy of other vehicles.

[0040] Next, refer to Figure 8 to Figure 10 The operation of the above-mentioned configuration will be described. The vehicle positioning system 1 performs other vehicle auxiliary information receiving processing, positioning processing, and own vehicle auxiliary information transmission processing. Each processing will be described below.

[0041] (1) Other vehicle auxiliary information reception and processing (refer to Figure 8 )

[0042] The vehicle positioning system 1 performs other vehicle auxiliary information receiving processing at a predetermined period. If the start condition of the other vehicle auxiliary information receiving processing of each predetermined period is satisfied, the vehicle positioning system 1 starts the other vehicle auxiliary information receiving processing and determines whether other vehicle auxiliary information transmitted from the vehicle positioning system of another vehicle is received during the period from the end time of the last other vehicle auxiliary information receiving processing to the start time of this other vehicle auxiliary information receiving processing (S1). If the vehicle positioning system 1 determines that other vehicle auxiliary information is not received (S1: No), the other vehicle auxiliary information receiving processing is terminated and waits for the establishment of the start condition of the next other vehicle auxiliary information receiving processing. If the vehicle positioning system 1 determines that other vehicle auxiliary information is received (S1: Yes, equivalent to the other vehicle auxiliary information receiving step), the received other vehicle auxiliary information is stored in the other vehicle auxiliary information DB9 (S2), the other vehicle auxiliary information receiving processing is terminated, and waits for the establishment of the start condition of the next other vehicle auxiliary information receiving processing.

[0043] (2) Positioning processing (refer to Fig. 9 )

[0044] The vehicle positioning system 1 performs positioning processing at a predetermined period. If the starting condition of the positioning processing of each predetermined period is met, the vehicle positioning system 1 starts the positioning processing and obtains GNSS information as a parameter based on the GNSS signal received by the GNSS antenna 2 (S11). The vehicle positioning system 1 refers to the other vehicle auxiliary information DB9 and determines whether unresolved other vehicle auxiliary information is stored in the other vehicle auxiliary information DB9 (S12). If the vehicle positioning system 1 determines that unresolved other vehicle auxiliary information is not stored in the other vehicle auxiliary information DB9 (S12: No), positioning is performed based on the GNSS information (S13).

[0045] If the vehicle positioning system 1 determines that unresolved other vehicle auxiliary information is stored in the other vehicle auxiliary information DB9 (S12: Yes), the unresolved other vehicle auxiliary information is analyzed to obtain the positioning performance of other vehicles (S14, equivalent to the peripheral information analysis step), and positioning is performed based on the GNSS information and the positioning performance of other vehicles (S13, equivalent to the positioning step). In this case, the vehicle positioning system 1 compares the positioning performance of the vehicle with the positioning performance of other vehicles, and does not use the other vehicle auxiliary information for positioning when it is determined that the positioning performance of the vehicle is better than the positioning performance of other vehicles. When the vehicle positioning system 1 determines that the positioning performance of other vehicles is better than the positioning performance of the vehicle, it uses the other vehicle auxiliary information and performs positioning based on the GNSS information.

[0046] When the vehicle positioning system 1 performs positioning, it determines the positioning accuracy of the vehicle (S15, equivalent to the positioning accuracy determination step), and generates vehicle auxiliary information based on the determination result of the positioning accuracy (S16, equivalent to the vehicle auxiliary information generation step). In this case, the vehicle positioning system 1 generates vehicle auxiliary information that can determine the points where the positioning performance of the vehicle is better than the positioning performance of other vehicles and the points where the positioning performance of other vehicles is better than the positioning performance of the vehicle. That is, if the positioning performance of the vehicle is better than the positioning performance of other vehicles in terms of the positioning performance related to the antenna mounting position, for example, the vehicle positioning system 1 generates vehicle auxiliary information that can determine that the vehicle is better than other vehicles in terms of the antenna mounting position. If the positioning performance of the vehicle is better than the positioning performance of other vehicles in terms of the positioning performance related to the positioning algorithm, for example, the vehicle positioning system 1 generates vehicle auxiliary information that can determine that the vehicle is better than other vehicles in terms of the positioning algorithm. When the vehicle positioning system 1 generates vehicle auxiliary information, it stores the generated vehicle auxiliary information in the vehicle auxiliary information DB10 (S17), and ends the positioning process.

[0047] (3) Processing of sending auxiliary information to the vehicle (refer to Fig.10 )

[0048] The vehicle positioning system 1 performs the own vehicle auxiliary information transmission process at a predetermined period. If the starting condition of the own vehicle auxiliary information transmission process of each predetermined period is satisfied, the vehicle positioning system 1 starts the own vehicle auxiliary information transmission process, refers to the own vehicle auxiliary information DB10 (S21), and determines whether the own vehicle auxiliary information DB10 stores unsent own vehicle auxiliary information (S22). If the vehicle positioning system 1 determines that the unsent own vehicle auxiliary information is not stored in the own vehicle auxiliary information DB10 (S22: No), the own vehicle auxiliary information transmission process is terminated, and the start condition of the next own vehicle auxiliary information transmission process is waited for. If the vehicle positioning system 1 determines that the unsent own vehicle auxiliary information is stored in the own vehicle auxiliary information DB10 (S22: Yes), the unsent own vehicle auxiliary information is transmitted from the own vehicle auxiliary information transmission unit 6b to the vehicle positioning system of another vehicle (S23, equivalent to the own vehicle auxiliary information transmission step), the own vehicle auxiliary information transmission process is terminated, and the start condition of the next own vehicle auxiliary information transmission process is waited for.

[0049] As described above, according to the embodiment, the following effects can be obtained.

[0050] In the vehicle positioning system 1, the auxiliary information of other vehicles sent from other vehicles around the vehicle is analyzed to obtain the positioning performance of other vehicles, and positioning is performed based on the GNSS information obtained in the vehicle and the positioning performance of other vehicles. The positioning accuracy of the vehicle is determined based on the positioning performance of the vehicle and the positioning performance of other vehicles, and auxiliary information of the vehicle is generated based on the determination result, and the generated auxiliary information of the vehicle is sent to other vehicles. In the case where the positioning performance of other vehicles is worse than the positioning performance of the vehicle, by sending the auxiliary information of the vehicle to other vehicles, auxiliary information effective for improving the positioning accuracy can be provided from the vehicle to other vehicles, and the positioning accuracy of the entire system including other vehicles can be improved.

[0051] As a comparison between the positioning performance of the own vehicle and the positioning performance of other vehicles, information depending on the positioning conditions is compared, and the information depending on the positioning conditions can be reflected in the positioning accuracy of the own vehicle.

[0052] As information depending on the positioning situation, the information and reliability of the satellites used for positioning are compared, and the own vehicle auxiliary information reflecting the information and reliability of the satellites used for positioning can be reflected in the positioning accuracy of the own vehicle.

[0053] As a comparison between the positioning performance of the own vehicle and the positioning performance of other vehicles, information not depending on the positioning situation is compared, and the information not depending on the positioning situation can be reflected in the positioning accuracy of the own vehicle.

[0054] As information that does not depend on the positioning conditions, antenna information, positioning algorithm or chip performance, satellite systems that can be used for positioning, and inertial sensor information are compared. Antenna information, positioning algorithm or chip performance, satellite systems that can be used for positioning, and inertial sensor information can be reflected.

[0055] As the host vehicle auxiliary information, information on which satellite is used or not used for positioning, almanac information, and pseudo-range correction information are sent to other vehicles. Information on which satellite is used or not used for positioning, almanac information, and pseudo-range correction information can be sent from the host vehicle to other vehicles.

[0056] The present disclosure is described in accordance with the embodiments, but it should be understood that it is not limited to the embodiments and structures. The present disclosure also includes various modifications and variations within the same scope. In addition, various combinations and methods, even other combinations and methods that only include one element, more or fewer elements, are also included in the scope and thought range of the present disclosure.

[0057] The control unit and method described in the present disclosure may also be implemented by a dedicated computer provided by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and method described in the present disclosure may also be implemented by a dedicated computer provided by a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in the present disclosure may also be implemented by one or more dedicated computers composed of a combination of a processor and a memory programmed to execute one or more functions and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored as an instruction executed by a computer in a non-migratable tangible recording medium that can be read by a computer.

[0058] The present disclosure includes the following inventions in addition to the description of the claims.

[0059] [1] A vehicle positioning system comprising:

[0060] Another vehicle auxiliary information receiving unit (6a), receiving another vehicle auxiliary information sent from another vehicle around the vehicle;

[0061] A peripheral information analysis unit (7) analyzes the auxiliary information of other vehicles to obtain the positioning performance of other vehicles;

[0062] A positioning unit (3) for performing positioning based on satellite information acquired in the vehicle and positioning performance of the other vehicles;

[0063] A positioning accuracy determination unit (4) determines the positioning accuracy of the vehicle based on the positioning performance of the vehicle and the positioning performance of the other vehicles;

[0064] A vehicle auxiliary information generating unit (5) generates vehicle auxiliary information based on the determination result of the positioning accuracy determination unit; and

[0065] The own vehicle auxiliary information transmitting unit (6b) transmits the above-mentioned own vehicle auxiliary information to other vehicles.

[0066] [2] According to the vehicle positioning system described in [1],

[0067] The positioning accuracy determination unit compares information depending on the positioning conditions as a comparison between the positioning performance of the own vehicle and the positioning performance of the other vehicles.

[0068] [3] According to the vehicle positioning system described in [2],

[0069] The positioning accuracy determination unit compares at least one of information on satellites used for positioning and reliability as the information depending on the positioning condition.

[0070] [4] A vehicle positioning system according to any one of [1] to [3],

[0071] The positioning accuracy determination unit compares information not depending on the positioning conditions as a comparison between the positioning performance of the own vehicle and the positioning performance of the other vehicles.

[0072] [5] According to the vehicle positioning system described in [4],

[0073] The positioning accuracy determination unit compares at least any one of antenna information, positioning algorithm or chip performance, a satellite system that can be used for positioning, and inertial sensor information as the information that does not depend on the positioning condition.

[0074] [6] A vehicle positioning system according to any one of [1] to [5],

[0075] The host vehicle assist information transmitting unit transmits at least any one of information on which satellite is used or not used for positioning, almanac information, and pseudo-range correction information to other vehicles as the host vehicle assist information.

Claims

1. A vehicle positioning system, wherein: have: Another vehicle auxiliary information receiving unit (6a), receiving another vehicle auxiliary information sent from another vehicle around the vehicle; A peripheral information analysis unit (7) analyzes the auxiliary information of other vehicles to obtain the positioning performance of other vehicles; A positioning unit (3) for performing positioning based on satellite information acquired in the vehicle and positioning performance of the other vehicles; A positioning accuracy determination unit (4) determines the positioning accuracy of the vehicle based on the positioning performance of the vehicle and the positioning performance of the other vehicles; A vehicle auxiliary information generating unit (5) generates vehicle auxiliary information based on the determination result of the positioning accuracy determination unit; as well as The own vehicle auxiliary information transmitting unit (6b) transmits the above-mentioned own vehicle auxiliary information to other vehicles.

2. The vehicle positioning system according to claim 1, wherein: The positioning accuracy determination unit compares information depending on the positioning conditions as a comparison between the positioning performance of the own vehicle and the positioning performance of the other vehicles.

3. The vehicle positioning system according to claim 2, wherein: The positioning accuracy determination unit compares at least one of information on satellites used for positioning and reliability as the information depending on the positioning condition.

4. The vehicle positioning system according to claim 1, wherein: The positioning accuracy determination unit compares information not depending on the positioning conditions as a comparison between the positioning performance of the own vehicle and the positioning performance of the other vehicles.

5. The vehicle positioning system according to claim 4, wherein: The positioning accuracy determination unit compares at least any one of antenna information, positioning algorithm or chip performance, a satellite system that can be used for positioning, and inertial sensor information as the information that does not depend on the positioning condition.

6. The vehicle positioning system according to claim 1, wherein: The host vehicle assist information transmitting unit transmits at least any one of information on which satellite is used or not used for positioning, almanac information, and pseudo-range correction information to other vehicles as the host vehicle assist information.

7. A vehicle auxiliary information providing program, wherein: Using the vehicle positioning system (1) to perform: Another vehicle auxiliary information receiving step, receiving another vehicle auxiliary information sent from another vehicle around the vehicle; A peripheral information analysis step, analyzing the auxiliary information of other vehicles to obtain the positioning performance of other vehicles; A positioning step, performing positioning based on satellite information acquired in the vehicle and the positioning performance of the other vehicles; A positioning accuracy determination step, determining the positioning accuracy of the vehicle based on the positioning performance of the vehicle and the positioning performance of the other vehicles; a self-vehicle auxiliary information generating step, generating self-vehicle auxiliary information based on the determination result of the positioning accuracy determination step; as well as The vehicle auxiliary information sending step sends the above vehicle auxiliary information to other vehicles.

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