Information processing apparatus and information processing method

Abstract

The invention provides an information processing apparatus and an information processing method. The present invention makes it possible to estimate the position of a vehicle with high accuracy even when the reliability of a received GNSS (Global Navigation Satellite System) signal is not high. The information processing device estimates the position of a vehicle, and is provided with a control unit that performs the following operations: receiving a GNSS signal; acquiring information indicating a traveling state of the vehicle; and deciding whether to estimate the position of the vehicle on the basis of the GNSS signal or to estimate the position of the vehicle on the basis of information indicating the traveling state of the vehicle on the basis of whether the first position and the second position match, the first position is a position of the vehicle estimated from previously acquired position information of the vehicle and information indicating the traveling state of the vehicle, and the second position is a position of the vehicle calculated based on the GNSS signal.

Description

Technical Field

[0001] The present disclosure relates to estimating vehicle position. Background Art

[0002] Technology for estimating vehicle positions is widely known. For example, Patent Document 1 discloses an on-vehicle device that, when a GPS (Global Positioning System) signal is unavailable, determines the vehicle's location based on a weight associated with the last checkpoint passed, the vehicle's speed, and the time elapsed since the last GPS signal was acquired.

[0003]

Existing Technology Documents

[0004] [Patent Literature]

[0005] [Patent Document 1]

[0006] Japanese Patent Application No. 2018-60436 Summary of the Invention

[0007] An object of the present disclosure is to estimate the position of a vehicle with high accuracy even when the reliability of a received GNSS (Global Navigation Satellite System) signal is not high.

[0008]

Methods to solve the problem

[0009] One embodiment of the present disclosure is an information processing device for estimating the position of a vehicle, the information processing device having a control unit, the control unit performing the following processing: receiving a GNSS signal; obtaining information indicating the driving status of the vehicle; and determining whether to estimate the position of the vehicle based on the GNSS signal or to estimate the position of the vehicle based on the information indicating the driving status of the vehicle according to whether the first position matches the second position, the first position being the position of the vehicle estimated based on previously obtained position information of the vehicle and the information indicating the driving status of the vehicle, and the second position being the position of the vehicle calculated based on the GNSS signal.

[0010] In addition, one embodiment of the present disclosure is an information processing method for estimating the position of a vehicle, the information processing method including: a step of receiving a GNSS signal; a step of obtaining information indicating the driving status of the vehicle; and a step of determining whether to estimate the position of the vehicle based on the GNSS signal or to estimate the position of the vehicle based on the information indicating the driving status of the vehicle according to whether the first position matches the second position, the first position being the position of the vehicle estimated based on the previously obtained position information of the vehicle and the information indicating the driving status of the vehicle, and the second position being the position of the vehicle calculated based on the GNSS signal.

[0011] In addition, other aspects include the above-mentioned method, a program for causing a computer to execute the method, or a computer-readable storage medium storing the program non-transitorily.

[0012] According to the present disclosure, even when the reliability of the received GNSS signal is not high, the position of the vehicle can be estimated with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG. 1 is a diagram showing an example of processing executed by the vehicle-mounted device according to the embodiment.

[0014] Figure 2 It is a diagram for explaining the components of a system including the vehicle-mounted device according to the embodiment.

[0015] Figure 3 This is a flowchart of a process executed by the control unit of the vehicle-mounted device according to the embodiment.

[0016] Description of Reference Numerals

[0017] 10: Vehicle; 11: Control unit; 12: Storage unit; 13: Communication unit; 14: Drive unit; 15: ECU; 16: GNSS processing unit; 100: On-vehicle device; 110: Control unit; 111: Acquisition unit; 112: Determination unit; 113: Update unit; 120: Storage unit; 130: Communication unit; 200: Satellite. DETAILED DESCRIPTION

[0018] A system for estimating the position of a traveling vehicle is known.

[0019] For example, consider a system that estimates the vehicle's position based on GNSS signals received while driving. First, the vehicle receives GNSS signals from satellites. The system then estimates the vehicle's position (hereinafter referred to as the positioning position) based on the position calculated based on the received GNSS signals. If the vehicle is unable to receive GNSS signals for some reason while driving, the system updates the vehicle's last position using information obtained from onboard sensors (such as speed and direction of travel) to estimate the vehicle's most recent position.

[0020] However, the reliability of GNSS signals received by a vehicle is not always high. For example, consider a situation where the position calculated based on the GNSS signals received by the vehicle differs significantly from the vehicle's actual location. Examples of such situations include situations where the positioning error temporarily increases due to external factors, or where a fake GNSS signal is transmitted to the vehicle for the purpose of an attack. In such situations, if the positioning location is always treated as accurate, the vehicle's position cannot be accurately estimated, which can lead to problems.

[0021] To address such a problem, the system preferably determines the reliability of the GNSS signal received by the vehicle and estimates the positioning position as the vehicle's position only when the reliability of the GNSS signal is high.

[0022] An information processing device involved in one embodiment of the present invention is an information processing device for estimating the position of a vehicle, the information processing device having a control unit, the control unit performing the following processing: receiving a GNSS signal; obtaining information indicating the driving status of the vehicle; and determining whether to estimate the position of the vehicle based on the GNSS signal or to estimate the position of the vehicle based on the information indicating the driving status of the vehicle based on whether a first position matches a second position, the first position being the position of the vehicle estimated based on previously obtained position information of the vehicle and the information indicating the driving status of the vehicle, and the second position being a position calculated based on the GNSS signal.

[0023] GNSS signals are signals used for satellite positioning, transmitted from GPS satellites, Quasi-Zenith Satellites, and other satellites. GNSS signals can be transmitted from multiple satellites.

[0024] The information indicating the driving state of the vehicle refers to information including the vehicle speed, the vehicle's traveling direction, time information, etc. Hereinafter, the information indicating the driving state of the vehicle is also referred to as driving information.

[0025] The first position is the vehicle's position estimated by adding a difference calculated based on information indicating the vehicle's driving state (driving information) to a previously acquired vehicle position. Alternatively, the first position may be the vehicle's position at a second time, estimated by adding a difference calculated based on driving information obtained between a second time and a second time after the first time to a vehicle's position acquired at a first time.

[0026] The second position refers to the position of the vehicle calculated based on the GNSS signal received at the second moment.

[0027] The control unit decides whether to estimate the vehicle's position based on the GNSS signal received at the second moment or to estimate the vehicle's position based on the driving information (i.e., using the difference) based on whether the first position and the second position match. For example, if the first position and the second position match, the GNSS signal received at the second moment is likely to be reliable. In this case, it is preferred to estimate the vehicle's position based on the obtained GNSS signal. On the contrary, if the first position and the second position do not match, the reliability of the GNSS signal received at the second moment may be relatively low. In this case, it is preferred to estimate the vehicle's position based on the position information and driving information previously obtained (at the first moment) rather than the GNSS signal received at the second moment.

[0028] Thus, the information processing device of the present disclosure can estimate the position of the vehicle with high accuracy even when the reliability of the GNSS signal received by the vehicle is not high.

[0029] Furthermore, the control unit may estimate the position of the vehicle based on the GNSS signal when a difference between the first position and the second position is within a predetermined range.

[0030] When the difference between the first position and the second position is within a predetermined range, it can be estimated that the reliability of the received GNSS signal is high, and therefore it is preferable to estimate the position using the GNSS signal.

[0031] In addition, the control unit may also estimate the position of the vehicle based on information indicating the driving state of the vehicle when it is determined that the vehicle is in a driving state and when it is determined that the position of the vehicle calculated based on the GNSS signal has not changed.

[0032] This is because if the vehicle's position calculated based on GNSS signals does not change despite the vehicle being in motion, the reliability of the GNSS signals is generally considered to be low. In such cases, it is preferable to estimate the position based on the vehicle's driving information (i.e., estimate the position based on the difference).

[0033] Furthermore, the control unit may not estimate the position of the vehicle when it is determined that the vehicle is not traveling and the position of the vehicle calculated based on the GNSS signal has not changed.

[0034] In this case, since it can be estimated that the vehicle is stopped, it is possible to choose not to perform position estimation.

[0035] An information processing method involved in one embodiment of the present invention includes: a step of receiving a GNSS signal; a step of obtaining information indicating the driving status of the vehicle; and a step of determining whether to infer the position of the vehicle based on the GNSS signal or to infer the position of the vehicle based on the information indicating the driving status of the vehicle based on whether a first position matches a second position, wherein the first position is the position of the vehicle inferred based on previously obtained position information of the vehicle and the information indicating the driving status of the vehicle, and the second position is the position of the vehicle calculated based on the GNSS signal.

[0036] The following describes specific embodiments of the present disclosure with reference to the accompanying drawings. Unless otherwise specified, the hardware configuration, module configuration, and functional configuration described in each embodiment do not limit the scope of the disclosed technology to these configurations.

[0037] (Implementation) With reference to FIG1 , an overview of the processing performed by the vehicle-mounted device of the implementation is described. FIG1 is a diagram showing an example of processing performed by the vehicle-mounted device 100 of the implementation. Here, the vehicle-mounted device 100 is an example of an information processing device of the present disclosure. The vehicle-mounted device 100 is a device that obtains GNSS signals, beacon signals, or information related to the driving state of the vehicle (hereinafter referred to as driving information), etc. and estimates the position of the vehicle 10. The vehicle-mounted device 100 is configured to be able to communicate with the vehicle 10. The vehicle 10 has a module for receiving signals from the satellite 200, and receives GNSS signals from the satellite 200. The vehicle-mounted device 100 can also obtain GNSS signals received by the vehicle 10 from the vehicle 10.

[0038] First, vehicle 10 receives a GNSS signal transmitted from satellite 200. Vehicle 10 periodically receives GNSS signals from satellites. Here, one of the GNSS signals received by vehicle 10 is referred to as a first GNSS signal. While vehicle 10 is driving, after vehicle 10 has traveled a predetermined distance for a certain period of time, it receives a GNSS signal again. The GNSS signal received at this time is referred to as a second GNSS signal. Furthermore, while driving, vehicle 10 obtains information indicating the driving state of vehicle 10, such as vehicle speed and direction of travel (driving information). Vehicle 10 transmits the first GNSS signal, the second GNSS signal, and the driving information to the onboard device 100.

[0039] When the vehicle 10 is determined to be traveling, the onboard device 100 determines whether the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal. If the onboard device 100 determines that the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal, the onboard device 100 performs the following processing (Figure 1(a)).

[0040] The onboard device 100 determines whether the difference between the position of the vehicle 10 estimated based on the first GNSS signal received before the second GNSS signal and the vehicle 10's driving information and the position calculated based on the second GNSS signal is within a predetermined range. For example, the onboard device 100 estimates the distance and direction traveled by the vehicle 10 between the time the first GNSS signal was received and the time the second GNSS signal was received based on the vehicle 10's driving information. The onboard device 100 then uses the estimated distance and direction as the difference from the position calculated based on the first GNSS signal and uses this difference to estimate the position of the vehicle 10 at the time the second GNSS signal was received.

[0041] Then, if the difference between the position estimated based on the first GNSS signal and the driving information of the vehicle 10 and the position calculated based on the second GNSS signal is within a predetermined range, the in-vehicle device 100 estimates the position calculated based on the second GNSS signal as the position of the vehicle 10. Even when the vehicle 10 is not traveling, if the difference between the position estimated based on the first GNSS signal and the driving information of the vehicle 10 and the position calculated based on the second GNSS signal is within a predetermined range, the position calculated based on the second GNSS signal is estimated as the position of the vehicle 10.

[0042] On the other hand, when the difference between the position estimated based on the first GNSS signal and the driving information of the vehicle 10 and the position calculated based on the second GNSS signal is not within a predetermined range, the vehicle-mounted device 100 estimates the position estimated based on the first GNSS signal and the driving information of the vehicle 10 as the position of the vehicle 10.

[0043] Furthermore, if the onboard device 100 determines that the vehicle 10 is traveling, and if the onboard device 100 determines that the position calculated based on the second GNSS signal has not changed from the position calculated based on the first GNSS signal, the onboard device 100 performs the following processing ( FIG1( b )). The onboard device 100 estimates the position estimated based on the first GNSS signal and the driving information of the vehicle 10 as the position of the vehicle 10. If the vehicle 10 is not traveling, the onboard device 100 does not update the position of the vehicle 10.

[0044] In this way, the onboard device 100 uses the vehicle's speed and other factors to estimate the difference between the position calculated based on the previously received first GNSS signal and other factors, thereby independently estimating the position of the vehicle 10 at the time the second GNSS signal was received. The onboard device 100 then compares the independently estimated position of the vehicle 10 with the position calculated based on the second GNSS signal to determine the reliability of the second GNSS signal and selects a method for estimating the position of the vehicle 10 based on the reliability of the second GNSS signal. Specifically, the onboard device 100 estimates the position of the vehicle 10 based on the GNSS signal only when it determines that a highly reliable GNSS signal has been received. This allows the onboard device 100 to utilize a GNSS signal received by the vehicle 10 only when the reliability of the GNSS signal is high, and to select a position estimation method that eliminates the influence of the GNSS signal when the reliability of the GNSS signal is low.

[0045] According to this configuration, the in-vehicle device 100 can appropriately select a method for estimating the position of the vehicle 10 based on the reliability of the received GNSS signal.

[0046] Next, each element constituting the system will be described in detail. Figure 2 1 is a diagram illustrating components of a system according to an embodiment. The system includes an onboard device 100 , a satellite 200 , and a vehicle 10 .

[0047] The vehicle-mounted device 100 of the present embodiment includes a control unit 110 , a storage unit 120 , and a communication unit 130 .

[0048] The control unit 110 is implemented by a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) and memory. The control unit 110 includes an acquisition unit 111, a determination unit 112, and an update unit 113 as functional modules. These functional modules can also be implemented by the control unit 110 executing a program.

[0049] The acquisition unit 111 acquires, from the vehicle 10, GNSS signals received by the vehicle 10 from the satellite 200. Specifically, the acquisition unit 111 receives, from among the GNSS signals periodically received by the vehicle 10 from the satellite 200, a first GNSS signal and a second GNSS signal received after the first GNSS signal.

[0050] Furthermore, the acquisition unit 111 acquires information indicating the driving state of the vehicle 10 (driving information) from the vehicle 10. The driving information of the vehicle 10 includes the vehicle speed, the traveling direction, the time information, and the like.

[0051] The determination unit 112 determines whether the vehicle 10 is in a driving state. The determination unit 112 may determine whether the vehicle 10 is in a driving state from the time the first GNSS signal is received to the time the second GNSS signal is received. The determination unit 112 may determine whether the vehicle 10 is in a driving state based on the vehicle speed of the vehicle 10, etc.

[0052] Furthermore, the determination unit 112 determines whether the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal.

[0053] The determination unit 112 calculates the difference between the position of the vehicle 10 and the position calculated based on the first GNSS signal, based on factors such as the vehicle 10's speed. The determination unit 112 then determines whether the difference between the position of the vehicle 10 at the time of receipt of the second GNSS signal, calculated using the aforementioned method, and the position calculated based on the second GNSS signal, is within a predetermined range. Furthermore, when calculating the position of the vehicle 10 at the time of receipt of the second GNSS signal, the determination unit 112 may use a position indicated by a beacon signal emitted from a device located at a predetermined location, instead of the position calculated based on the first GNSS signal.

[0054] The updating unit 113 selects a method for estimating the position of the vehicle 10 based on whether the position of the vehicle 10 at the time of receiving the second GNSS signal, estimated based on the vehicle 10's speed, etc., matches the position calculated based on the second GNSS signal. Specifically, the updating unit 113 may estimate the position of the vehicle 10 based on the second GNSS signal if the difference between the position of the vehicle 10 at the time of receiving the second GNSS signal, estimated based on the vehicle 10's speed, etc., and the position calculated based on the second GNSS signal, is within a predetermined range. Alternatively, the updating unit 113 may estimate the position of the vehicle 10 based on the vehicle's driving information if the difference between the position of the vehicle 10 at the time of receiving the second GNSS signal, estimated based on the vehicle 10's speed, etc., and the position calculated based on the second GNSS signal, is not within the predetermined range.

[0055] The storage unit 120 is a main storage device such as RAM or ROM, or an auxiliary storage device such as an EPROM, a hard disk drive, or a removable medium. The auxiliary storage device stores an operating system (OS), various programs, various tables, and the like. By executing the programs stored in the auxiliary storage device, the various functions corresponding to the intended purposes of the various components of the control unit 110 can be realized. However, some or all of these functions may also be implemented using hardware circuits such as ASICs or FPGAs.

[0056] The storage unit 120 stores data and the like used or generated in the processing executed by the control unit 110. The storage unit 120 may also store road map information and the like.

[0057] The communication unit 130 is composed of a communication circuit that performs wireless communication. The communication unit 130 may be, for example, a communication circuit that performs wireless communication using 4G (fourth generation), or a communication circuit that performs wireless communication using 5G (fifth generation). In addition, the communication unit 130 may be a communication circuit that performs wireless communication using Long Term Evolution (LTE), or a communication circuit that performs communication via a Low Power Wide Area (LPWA) network. In addition, the communication unit 130 may also be a communication circuit that performs wireless communication using Wi-Fi (registered trademark).

[0058] Next, devices other than the in-vehicle device 100 will be described. Satellites 200 are satellites used in the satellite positioning system. Satellites 200 may be multiple GPS satellites or Quasi-Zenith Satellites. Satellites 200 transmit GNSS signals to ground-based receivers. The receivers determine their own positions based on the speed and propagation time of the GNSS signals received from multiple satellites 200. In this application, satellites 200 transmit GNSS signals to the GNSS processing unit 16 of the vehicle 10.

[0059] Vehicle 10 is a vehicle such as a passenger car. Vehicle 10 may be a truck, bus, or the like. Vehicle 10 includes a control unit 11, a storage unit 12, a communication unit 13, a drive unit 14, an ECU 15, and a GNSS processing unit 16. Vehicle 10 periodically receives GNSS signals from satellites 200. Furthermore, vehicle 10 may communicate with an onboard device 100 to receive information such as the vehicle's position estimated by the onboard device 100.

[0060] The control unit 11 controls the ECU (Electronic Control Unit) and other components mounted on the vehicle 10. The control unit 11 is implemented by a processor such as a CPU or GPU and memory. The control unit 11 can also control the storage unit 12, communication unit 13, drive unit 14, ECU 15, and GNSS processing unit 16 by executing programs.

[0061] The storage unit 12 is a main storage device such as RAM or ROM, or an auxiliary storage device such as an EPROM, a hard disk drive, or a removable medium. The auxiliary storage device stores an operating system (OS), various programs, various tables, and the like. By executing the programs stored in the auxiliary storage device, the various functions consistent with the intended purposes of the various components of the control unit 11 can be realized. However, some or all of these functions may be implemented using hardware circuits such as ASICs or FPGAs.

[0062] The storage unit 12 stores data and the like used or generated in the processing performed by the control unit 11. The storage unit 12 may also store road map information and the like.

[0063] The communication unit 13 is composed of a communication circuit that performs wireless communications. For example, the communication unit 13 may be a communication circuit that performs wireless communications using 4G or 5G. Furthermore, the communication unit 13 may be a communication circuit that performs wireless communications using LTE or LPWA. Furthermore, the communication unit 13 may be a communication circuit that performs wireless communications using Wi-Fi (registered trademark).

[0064] The drive unit 14 is a unit that drives the vehicle 10. The drive unit 14 may include, for example, a motor for driving the wheels, an inverter, a brake, and a steering mechanism. The drive unit 14 may also be operated by power supplied from a battery.

[0065] The ECU 15 is an electronic control unit and is a computer that implements various functions required for driving the vehicle 10. Multiple ECUs 15 may be installed. The ECU 15 acquires or generates various information included in the driving information of the vehicle 10 and transmits this information to the in-vehicle device 100. For example, the ECU 15 acquires driving information such as the driving speed and driving direction of the vehicle 10 and transmits this driving information to the in-vehicle device 100.

[0066] The GNSS processing unit 16 includes an antenna for receiving GNSS signals and a processor for processing the received GNSS signals. The GNSS processing unit 16 periodically receives GNSS signals from satellites 200 , calculates position information, and then transmits the position information to the in-vehicle device 100 .

[0067] Next, the specific content of the processing performed by the vehicle-mounted device 100 will be described. Figure 3 This is a flowchart of the process executed by the control unit 110 of the vehicle-mounted device 100 according to the embodiment.

[0068] For example, the vehicle-mounted device 100 may start the vehicle when the ignition switch of the vehicle 10 is turned on. Figure 3In addition, it is assumed that at the beginning Figure 3 Prior to the illustrated process, the in-vehicle device 100 has already received the first GNSS signal and the second GNSS signal from the satellite 200 .

[0069] First, in step S10, the determination unit 112 determines whether the vehicle 10 is traveling. Specifically, the determination unit 112 determines whether the vehicle 10 is traveling based on the traveling information acquired by the acquisition unit 111. For example, the determination unit 112 may determine that the vehicle 10 is traveling if the speed of the vehicle 10 acquired by the acquisition unit 111 is greater than a predetermined value.

[0070] When the determination unit 112 determines that the vehicle 10 is traveling, the determination in this step is affirmative.

[0071] When an affirmative determination is made in this step, the process proceeds to step S11 .

[0072] When a negative determination is made in this step, the process proceeds to step S13.

[0073] Next, in step S11, the determination unit 112 determines whether the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal. If the determination unit 112 determines that the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal, this step is a positive determination.

[0074] When an affirmative determination is made in this step, the process proceeds to step S12.

[0075] When a negative determination is made in this step, the process proceeds to step S15.

[0076] When the process moves to step S13, similar to step S11, the determination unit 112 determines whether the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal. If the determination unit 112 determines that the position calculated based on the second GNSS signal has changed from the position calculated based on the first GNSS signal, this step results in an affirmative determination.

[0077] When an affirmative determination is made in this step, the process proceeds to step S12.

[0078] If a negative determination is made in this step, the process proceeds to step S10 .

[0079] Next, in step S12 , the determination unit 112 determines whether the difference between the position of the vehicle 10 at the time of receiving the second GNSS signal, estimated based on the previously acquired position of the vehicle 10 and driving information, and the position calculated based on the second GNSS signal, is within a predetermined range.

[0080] Specifically, the determination unit 112 calculates the distance and direction traveled from the position calculated based on the first GNSS signal based on the vehicle 10's speed and driving direction, thereby calculating the difference between the position calculated based on the first GNSS signal and the position of the vehicle 10 at the time of receiving the second GNSS signal. Here, the difference is the direction and distance from the position of the vehicle 10 at the time of receiving the second GNSS signal to the position calculated based on the first GNSS signal. In this case, the determination unit 112 calculates the distance and direction traveled from the position calculated based on the first GNSS signal based on the vehicle 10's speed and driving direction, etc. Furthermore, the determination unit 112 can calculate the difference from the position calculated based on the first GNSS signal to the position of the vehicle 10 at the time of receiving the second GNSS signal through the above-described process. The determination unit 112 can receive a beacon signal emitted by a device installed at a predetermined location instead of the first GNSS signal and calculate the distance and direction traveled from the position indicated by the beacon signal as the difference. For example, the beacon signal can be emitted from a road device installed on the road.

[0081] The determination unit 112 then estimates the position of the vehicle 10 at the time the second GNSS signal was received by moving the vehicle 10 to a position that is the difference from the position calculated based on the first GNSS signal. The determination unit 112 then compares the estimated position with the position calculated based on the second GNSS signal to determine whether the difference between the two is within a predetermined range.

[0082] This step is a positive judgment when the judgment unit 112 determines that the position of the vehicle 10 at the time of receiving the second GNSS signal, which is estimated based on the vehicle speed of the vehicle 10 and the difference from the position calculated based on the first GNSS signal, is within a predetermined range.

[0083] When an affirmative determination is made in this step, the process proceeds to step S14.

[0084] When a negative determination is made in this step, the process proceeds to step S15.

[0085] When the process proceeds to step S14 , the updating unit 113 estimates the position of the vehicle 10 based on the second GNSS signal. That is, the updating unit 113 selects and updates the position information of the vehicle 10 using the position calculated based on the second GNSS signal as the position of the vehicle 10 .

[0086] When the process proceeds to step S15, the updating unit 113 estimates the position of the vehicle 10 based on the previously acquired position of the vehicle 10 and the driving information. Specifically, the updating unit 113 updates the vehicle 10 position information by selecting the position obtained by adding the difference (the direction and distance traveled by the vehicle 10 from the previously acquired position) to the previously acquired position of the vehicle 10. The updating unit 113 may also calculate the distance traveled by the vehicle 10 from the previously acquired position of the vehicle 10 based on the driving information.

[0087] Thus, the in-vehicle device 100 can determine the reliability of the GNSS signal and choose to estimate the position of the vehicle 10 using the GNSS signal only when a highly reliable GNSS signal is received. Furthermore, if a highly reliable GNSS signal is not received, the in-vehicle device 100 can choose to estimate the position of the vehicle 10 using previously acquired vehicle 10 position and driving information. Thus, the in-vehicle device 100 can appropriately switch the method for estimating the position of the vehicle 10 based on the reliability of the received GNSS signal.

[0088] (Modifications) The above-described embodiment is merely an example, and the present disclosure can be modified in appropriate manners without departing from the spirit of the present disclosure.

[0089] For example, the processes and components described in the present disclosure can be freely combined and implemented as long as no technical contradiction occurs.

[0090] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be performed by one device. In a computer system, it is possible to flexibly change the hardware structure (server structure) used to implement each function.

[0091] The present disclosure can also be implemented by providing a computer program that implements the functions described in the above embodiments to a computer, and causing one or more processors of the computer to read and execute the program. Such a computer program can be provided to the computer via a non-transitory computer-readable storage medium that can be connected to the system bus of the computer, or it can be provided to the computer via a network. Non-transitory computer-readable storage media include, for example, any type of disk such as a magnetic disk (floppy disk (registered trademark), hard disk drive (HDD)), optical disk (CD-ROM, DVD disk / Blu-ray disk, etc.), read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic card, flash memory, optical card, and any type of medium suitable for storing electronic instructions.

Claims

1. An information processing device for estimating the position of a vehicle, wherein: The information processing device includes a control unit, which performs the following operations: Receive GNSS signals, namely global satellite navigation system signals; obtaining information indicating a driving state of the vehicle; and Whether to estimate the position of the vehicle based on the GNSS signal or to estimate the position of the vehicle based on the information indicating the driving status of the vehicle is determined based on whether the first position matches the second position, the first position being the position of the vehicle estimated based on previously obtained position information of the vehicle and the information indicating the driving status of the vehicle, and the second position being the position of the vehicle calculated based on the GNSS signal.

2. The information processing device according to claim 1, wherein The control unit estimates the position of the vehicle based on the GNSS signal when a difference between the first position and the second position is within a predetermined range.

3. The information processing device according to claim 1 or 2, wherein: The control unit estimates the position of the vehicle based on information indicating the driving state of the vehicle, when it is determined that the vehicle is in a driving state and when it is determined that the position of the vehicle calculated based on the GNSS signal has not changed.

4. The information processing device according to claim 1 or 2, wherein: The control unit does not estimate the position of the vehicle when it is determined that the vehicle is not traveling and when it is determined that the position of the vehicle calculated based on the GNSS signal has not changed.

5. An information processing method for estimating a vehicle's position, comprising: The step of receiving GNSS signals, i.e., global navigation satellite system signals; a step of acquiring information indicating a driving state of the vehicle; as well as A step of determining whether to estimate the position of the vehicle based on the GNSS signal or to estimate the position of the vehicle based on information indicating the driving status of the vehicle based on whether the first position matches the second position, the first position being the position of the vehicle estimated based on previously acquired position information of the vehicle and the information indicating the driving status of the vehicle, and the second position being the position of the vehicle calculated based on the GNSS signal.

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