Position determination device

Abstract

To provide a position determination device capable of determining the position of a portable machine even when a set number or more of distance measurement values cannot be obtained.SOLUTION: A position determination device includes: a communication section 20 that has a plurality of communication devices 23A to 23G for performing wireless communication with a portable terminal 1, each of the plurality of communication devices 23A to 23G repeatedly performing UWB communication for detecting a distance measurement value Vr, at least one of the plurality of communication devices 23A to 23G repeatedly performing BLE communication for receiving a movement value Vm; a main position determination section 32 that determines a first coordinate position Pf(n) that is a position of the portable terminal 1 on the basis of the plurality of distance measurement values Vr; a sub-position determination section 35 that determines a second coordinate position Ps(n) that is a position of the portable terminal 1 on the basis of the movement value Vm; and a determination position setting section 36 that sets any of the first coordinate position Pf(n) and the second coordinate position Ps(n) as a determination coordinate position Pj(n) that is a current position of the portable terminal 1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a position determining device. [Background technology]

[0002] The position determination device disclosed in Patent Document 1 can determine the position of a passenger relative to the vehicle, and is used, for example, to detect a specific movement of the passenger and control in-vehicle equipment. This position determination device performs wireless communication between a portable device carried by the passenger and multiple communication devices mounted on the vehicle, and determines the position of the portable device relative to the vehicle from multiple distance measurements (distances) obtained from the communication results. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-148740 Summary of the Invention [Problem to be solved by the invention]

[0004] When there is an obstacle between the vehicle and the portable device that blocks wireless communication, it may not be possible to perform distance measurement by wireless communication between some of the multiple communication devices and the portable device. If the number of distance measurements obtained is less than a set number, the position of the portable device cannot be determined. Patent Document 1 does not take into consideration position determination when the set number or more of distance measurements cannot be obtained.

[0005] An object of the present invention is to provide a position determination device that can determine the position of a portable device even when a set number of measured distance values ​​or more are not obtained. [Means for solving the problem]

[0006] One aspect of the present invention provides a position determination device having a plurality of communication devices that perform wireless communication with a portable terminal having a movement detection unit capable of detecting movement values ​​including a movement amount and a movement angle, each of the plurality of communication devices repeatedly performs a first wireless communication to detect a distance measurement value for the portable terminal, and at least one of the plurality of communication devices has a communication unit that repeatedly performs a second wireless communication to receive the movement value, a main position determination unit that determines a first coordinate position, which is the position of the portable terminal, based on the plurality of distance measurement values ​​obtained by the first wireless communication, a secondary position determination unit that determines a second coordinate position, which is the position of the portable terminal, based on the movement value obtained by the second wireless communication, and a determination position setting unit that sets either the first coordinate position or the second coordinate position as a determination coordinate position, which is the current position of the portable terminal.

[0007] When the number of distance measurements obtained from the communication results of the multiple communication devices is less than the set number, the primary position determination unit cannot determine the first coordinate position, but the secondary position determination unit can determine the second coordinate position based on the movement value detected by the movement detection unit included in the mobile terminal. Therefore, even when there is an obstacle between the multiple communication devices and the mobile terminal that blocks wireless communication and the set number or more of distance measurements cannot be obtained by wireless communication, the coordinate position of the mobile terminal can be determined. Effect of the Invention

[0008] In the present invention, the position of the portable device can be determined even when a set number of measured distance values ​​are not obtained. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram of a vehicle control device incorporating a position determination device according to an embodiment of the present invention. [Diagram 2] 1 is a plan view of a vehicle for explaining a plurality of areas related to the control of in-vehicle devices; [Diagram 3] FIG. [Figure 4] FIG. 4 is a sequence diagram showing communication between a communication unit of the vehicle and the portable device. [Diagram 5]FIG. 11 is a diagram showing a method for setting a determination coordinate position. [Figure 6] 6 is a flowchart showing a position determination process performed by a control unit. [Figure 7] A continuation of Figure 6 . [Figure 8] 8 is a flowchart showing the second coordinate position determination process of FIG. 7. [Figure 9] 8 is a flowchart showing the in-vehicle device control process of FIG. 7. [Figure 10] 7 is a flowchart continuing from FIG. 6, showing a modified example of the position determination process by the control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0011] In Fig. 2, the Xa direction indicates the width direction of the vehicle 10, the Ya direction indicates the length direction of the vehicle 10, and the Za direction indicates the height direction of the vehicle 10. In Fig. 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. The Xa direction, Ya direction, and Za direction of the vehicle 10 shown in Fig. 2 hardly coincide with the Xb direction, Yb direction, and Zb direction of the portable device 1 shown in Fig. 3, and when the attitude of the portable device 1 changes, the Xb direction, Yb direction, and Zb direction of the portable device 1 with respect to the Xa direction, Ya direction, and Za direction of the vehicle 10 also change.

[0012] 1, a vehicle control device 15 incorporating a position determination device according to an embodiment of the present invention includes a communication unit 20 and a control unit 30, and is mounted on a vehicle 10 shown in Fig. 2. The control unit 30 can be constructed by hardware including storage devices such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), and software implemented therein.

[0013] 2, the vehicle 10 in this embodiment is a so-called one-box type passenger vehicle, and is equipped with left and right front doors 11L, 11R which are normal horizontally rotating doors, and left and right rear doors 12L, 12R which are sliding doors. Also referring to FIG. 1, the vehicle 10 is equipped with door lock devices (on-board devices) 16L, 16R which can lock the left and right front doors 11L, 11R and the left and right rear doors 12L, 12R when fully closed and fully opened, respectively, and can switch the locked state to an unlocked state where the doors can be opened and closed.

[0014] Referring to FIG. 1, a vehicle control device 15 wirelessly communicates with a portable device 1 carried by a passenger to determine the coordinate position of the portable device 1 relative to a vehicle 10 and controls door lock devices 16L and 16R.

[0015] In the portable devices 1A and 1C shown on the left and right sides in FIG. 2, since there is no obstacle 100 such as a wall between the vehicle 10 and the portable devices 1A and 1C that blocks wireless communication, it is possible to determine the coordinate position (first coordinate position Pf(n)) of the portable devices 1A and 1C. In the portable device 1B shown in the center in FIG. 2, since there is an obstacle 100 between the vehicle 10 and the portable device 1B, it may not be possible to determine the coordinate position (first coordinate position Pf(n)) of the portable device 1B. Furthermore, an inappropriate coordinate position (first coordinate position Pf(n)) may be determined due to erroneous detection. In such a situation, in this embodiment, a configuration is adopted in which an estimated coordinate position (second coordinate position Ps(n)) is set as the coordinate position (determined coordinate position Pj(n)) of the portable device 1 by PDR (Pedestrian Dead Reckoning) using sensor information provided in the portable device 1.

[0016] The portable device 1 and the communication unit 20 and the control unit 30 included in the vehicle control device 15 will be specifically described below.

[0017] Referring to FIG. 1, a portable device 1 includes a communication unit 2 and a movement detection unit 3.

[0018] The communication unit 2, like the communication unit 20 of the vehicle control device 15 described in detail later, includes a BLE (Bluetooth Low Energy (registered trademark)) communication unit (second wireless communication) that performs BLE communication, and a UWB (Ultra Wide Band) communication unit that performs UWB communication (first wireless communication), which is an ultra-wide area wireless communication.

[0019] The movement detection unit 3 includes an acceleration sensor (movement amount detection unit) 4 for detecting the amount of movement 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. In addition to the acceleration sensor 4 and the angular velocity sensor 5, the movement detection unit 3 may further include a different sensor.

[0020] The acceleration sensor 4 transmits information (detection result) about 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) about the detected movement angle θg(n) to the communication unit 20 of the vehicle control device 15 via the communication unit 2. In other words, the movement detection unit 3 transmits a 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 by BLE communication via the communication unit 2 (see FIG. 4).

[0021] A smartphone or a portable information terminal can be used as the portable device 1 having the above configuration. However, the specific configuration of the portable device 1 is not particularly limited as long as it is a portable terminal capable of performing BLE communication and UWB communication.

[0022] Continuing to refer to FIG. 1, the communication unit 20 of the vehicle control device 15 includes a BLE communication unit 21 and a UWB communication unit 22.

[0023] 1 and 4, the BLE communication unit 21 repeatedly performs BLE communication with the portable device 1 carried by the passenger in response to a command from a communication control unit 31, which will be described later in detail. The BLE communication unit 21 transmits information on a movement value Vm(n) including a movement amount Am(n) and a movement angle θg(n) input from the movement detection unit 3 to the control unit 30 via the communication unit 2.

[0024] In this embodiment, the UWB communication unit 22 includes seven communication devices 23A, 23B, 23C, 23D, 23E, 23F, and 23G. Each of these communication devices 23A to 23G repeatedly performs UWB communication with the portable device 1 carried by the passenger in response to a command from the communication control unit 31. Referring to FIG. 2, the communication devices 23A and 23B are disposed on both sides in the vehicle width direction at the front of the vehicle 10 (for example, both ends of the front bumper). The communication devices 23C and 23D are disposed on both sides in the vehicle width direction at the rear of the vehicle 10 (for example, both ends of the rear bumper). The communication devices 23E and 23F are disposed on both sides in the vehicle width direction at the front of the vehicle interior (for example, the front pillars). The communication device 23G is disposed in the center of the vehicle width direction at the rear of the vehicle interior (for example, the rear window).

[0025] 1 and 4, each of the communicators 23A-23G includes a distance detector 24. The distance detector 24 calculates a distance measurement value (distance) Vr from each of the communicators 23A-23G to the portable device 1 based on the communication time (communication result) of each of the communicators 23A-23G. A specific method for calculating the distance measurement value Vr will be described in detail later. The distance detector 24 transmits information about the calculated distance measurement value Vr to the control unit 30 by UWB communication. However, the distance detector 24 may be provided in the control unit 30.

[0026] 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 secondary position determination unit 35, a determination position setting unit 36, an area 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 secondary position determination unit 35, the determination position setting unit 36, the area determination unit 37, and the drive control unit 38 refer to information stored in the storage unit 39 as necessary when performing the processes described below. The storage unit 39 stores information about areas 41 to 44 (see FIG. 2) used by the area determination unit 37 when performing the determination.

[0027] The communication control unit 31 controls 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.

[0028] As shown in FIG. 4, when the strength of the BLE signal received by the BLE communication unit 21 from the portable device 1 becomes equal to or greater than a predetermined threshold, that is, when the portable device 1 carried by the passenger approaches the vehicle 10 to a predetermined distance, the BLE communication unit 21 transmits a trigger signal to the portable device 1 (second wireless communication). The portable device 1 that has received the trigger signal transmits a request signal to the communicators 23A-23G of the UWB communication unit 22 (first wireless communication). When the communicators 23A-23G receive the request signal from the portable device 1, they transmit a response signal to the portable device 1. When the portable device 1 receives the response signal from the communicators 23A-23G, it calculates a time Δt1 from when it transmits the request signal to when it receives the response signal, and transmits information about the time Δt1 to the communicators 23A-23G. The communicators 23A-23G calculate a time Δt2 from when it receives the request signal to when it transmits the response signal. The communications devices 23A-23G calculate the propagation times of signals between the communications devices 23A-23G and the portable device 1 from the times Δt1 and Δt2, and output information about the propagation times to the distance detection unit 24. The distance detection unit 24 multiplies the input propagation times by the signal speed to calculate the distance measurement values ​​Vr from each of the communications devices 23A-23G to the portable device 1, and transmits information about the distance measurement values ​​Vr to the main position determination unit 32 of the control unit 30.

[0029] 1 and 2, the main position determination unit 32 determines a first coordinate position Pf(n), which is the position of the portable device 1 relative to the vehicle 10, based on the distance measurement values ​​Vr from each of the communication devices 23A-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 a plurality of distance measurement values ​​Vr obtained from the communication results of each of the plurality of communication devices 23A-23G. In this embodiment, the determination of this first coordinate position Pf(n) is performed by trilateration. However, the method of determining the first coordinate position Pf(n) of the portable device 1 by the main position determination unit 32 can be changed as necessary as long as it can be determined based on a plurality of distance measurement values ​​Vr.

[0030] When the number of distance measurements Vr obtained from the communication results of the communications devices 23A-23G is less than a 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 measurements Vr obtained from the communication results of the communications devices 23A-23G is equal to or 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 measurements Vr. Information on the determined first coordinate position Pf(n) of the portable device 1 is input to the determination position setting unit 36.

[0031] Here, when the number of distance measurement values ​​Vr obtained from the communication results of the communication devices 23A to 23G is greater than a set number (three in this 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 by selecting three 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 the average value of these is determined as one first coordinate position Pf(n) of the portable device 1. In other words, when the number of obtained distance measurement values ​​Vr is greater than or equal to the set number, the distance measurement values ​​are grouped so that each group has three distance measurement values ​​Vr, and the average value of the determination results for all groups is determined as the first coordinate position Pf(n) of the portable device 1.

[0032] 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 secondary position determination unit 35.

[0033] 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 secondary position determination unit 35.

[0034] When the amount of movement Am(n) of the portable device 1 input from the movement amount detection unit 33 is equal to or greater than a predetermined threshold T (e.g., 50 cm), the secondary position determination unit 35 determines a second coordinate position Ps(n), which is the position of the portable device 1 relative to the vehicle 10. The second coordinate position Ps(n) is determined by estimating the amount of movement and the direction of movement 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, the amount of movement Am(n) and the movement angle θg(n) obtained from the detection results of the acceleration sensor 4 and the angular velocity sensor 5. The details are as follows.

[0035] 5, the second coordinate position Ps(n) is determined based on the immediately previous (previous) 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 latest correction angle θc(n-α) that has already been set. In the example shown in FIG 5, the latest correction angle θc(n-α) that has already been set is the correction angle θc(n-1) that was set in the immediately previous position determination (before the previous position determination).

[0036] First, the secondary position determination unit 35 adds the movement amount Am(n) of the portable device 1 to the previous determination coordinate position Pj(n-1) to set a temporary coordinate position Pt(n). Next, the secondary position determination unit 35 corrects the temporary coordinate position Pt(n) by 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 previous position determination to determine a second coordinate position Ps(n). The determined second coordinate position Ps(n) of the portable device 1 is input to the determination position setting unit 36.

[0037] The correction angle θc(n) is set by the secondary position determination unit 35 based on two first coordinate positions Pf(n, n-1) successively determined by the primary position determination unit 32, i.e., the current first coordinate position Pf(n) and the previous first coordinate position Pf(n-1). More specifically, if the previous first coordinate position Pf(n-1) determined by the primary position determination unit 32 is X1, Y1 and the current first coordinate position Pf(n) is X2, Y2, the correction angle θc(n) is calculated by the following Equation 1.

[0038] [Number 1] θc(n)=arcTan((Y2-Y1) / (X2-X1))*180° / π X1: X coordinate of the previous first coordinate position Pf(n-1) Y1: Y coordinate of the previous first coordinate position Pf(n-1) X2: X coordinate of the current first coordinate position Pf(n) Y2: Y coordinate of the current first coordinate position Pf(n)

[0039] When correcting the temporary coordinate position Pt(n) to the second coordinate position Ps(n) in the current position determination, the latest correction angle θc(n-1) is used among the correction angles θc(n-1, 4 to 6) set in the position determination prior to the current position determination, as described above. This is because if the current position determination does not obtain the set number of distance measurements Vr or more, the first coordinate position Pf(n) cannot be determined and the correction angle θc(n) cannot be set.

[0040] If the set temporary coordinate position Pt(n) is X3, Y3, then X4, Y4, which is the second coordinate position Ps(n), are calculated by the following Equation 2.

[0041] [Number 2] X4=X3*cos(θc(n-1)+θg(n))-Y3*sin(θc(n-1)+θg(n)) Y4=Y3*cos(θc(n-1)+θg(n))+X3*sin(θc(n-1)+θg(n)) X4: X coordinate of the second coordinate position Ps(n) Y4: Y coordinate of the second coordinate position Ps(n) X3: X coordinate of virtual coordinate position Pt(n) Y3: Y coordinate of the virtual coordinate position Pt(n) θc(n-1): The latest correction angle already set θg(n): The moving angle of the portable device

[0042] Equation 2 is an arithmetic expression for correcting the temporary coordinate position Pt(n) to the second coordinate position Ps(n) by adjusting the Xa coordinate, Ya coordinate, and Za coordinate of the vehicle 10 shown in Fig. 2 so that they coincide with the Xb coordinate, Yb coordinate, and Zb coordinate of the portable device 1 shown in Fig. 3. Here, if the attitude of the portable device 1 held by the passenger does not change, the Xa coordinate, Ya coordinate, and Za coordinate of the vehicle 10 coincide with the Xb coordinate, Yb coordinate, and Zb coordinate of the portable device 1. However, if the attitude of the portable device 1 held by the passenger changes, a deviation occurs 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 latest correction angle θc(n-1) already set to the movement angle θg(n) from the portable device 1, the Xa coordinate, Ya coordinate, and Za coordinate of the vehicle 10 are adjusted to coincide with the Xb coordinate, Yb coordinate, and Zb coordinate of the portable device 1 shown in FIG. 3, and the temporary coordinate position Pt(n) is corrected to determine the second coordinate position Ps(n). This improves the accuracy of determining the second coordinate position Ps(n), which is the estimated position of the portable device 1. The second coordinate position Ps(n) determined in this manner 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.

[0043] 1 and 5, the judgment 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 sub-position determination unit 35 as the judgment coordinate position Pj(n), which is the current position of the portable device 1. More specifically, when the number of distance measurement values ​​Vr obtained from the communication results of the multiple communicators 23A to 23G is equal to or greater than a set number (three in this embodiment) and when the first coordinate position Pf(n) is appropriate, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n) as the judgment coordinate position Pj(n). On the other hand, when the number of distance measurement values ​​Vr obtained from the communication results of the multiple communicators 23A to 23G is less than the set number and when the first coordinate position Pf(n) is inappropriate, the judgment position setting unit 36 ​​sets the second coordinate position Ps(n) as the judgment coordinate position Pj(n). The determined coordinate position Pj(n) of the portable device 1 is input to the area determining unit 37.

[0044] The judgment of the first coordinate position Pf(n) by the judgment position setting unit 36 ​​is performed based on the previous judgment coordinate position Pj(n-1) set by the judgment position setting unit 36 ​​and the current first coordinate position Pf(n) judged by the main position judgment unit 32. More specifically, the judgment position setting unit 36 ​​judges that the first coordinate position Pf(n) is appropriate when the moving distance Dm(n), which is the difference between the previous judgment coordinate position Pj(n-1) and the current first coordinate position Pf(n), is equal to or less than the set distance Ds. On the other hand, the judgment position setting unit 36 ​​judges that the first coordinate position Pf(n) is inappropriate when the moving distance Dm(n) is longer than the set distance Ds, that is, when the moving speed of the passenger carrying the portable device 1 indicates an abnormal state that is not normally possible. The set distance Ds is set in a range of 10 cm to 100 cm, and is set to 50 cm in this embodiment.

[0045] The area determination unit 37 determines in which of the areas 41 to 44 shown in FIG. 2 and stored in the storage unit 39 the portable device 1 is located, based on the input determined coordinate position Pj(n) of the portable device 1.

[0046] 2, the set areas 41 to 44 include an area (door control area group 40) used for controlling the door lock devices 16L and 16R. 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 area 44.

[0047] In this embodiment, the door lock area 41 is set as an area that is a certain distance or more away from the vehicle 10, and the door unlock area 42 is set so as to surround the vehicle 10 at a position that is a certain distance closer to the vehicle 10 than the door lock area 41. Also, the engine start permission area 43 in this embodiment is set inside the passenger compartment of the vehicle 10. Between the door lock area 41 and the door unlock area 42, a dead band area 44 is provided to prevent malfunctions caused by setting the door lock area 41 and the door unlock area 42 adjacent to each other.

[0048] The area determining unit 37 determines in which of the areas 41 to 44 the portable device 1 is located, and this information is input to the drive control unit .

[0049] The drive control unit 38 controls the door lock devices 16L, 16R equipped in the vehicle 10 based on the information input from the area determination unit 37 indicating which of the areas 41-44 the portable device 1 is located in and the movement of the portable device 1 between the areas 41-44. When the UWB communication between the communication devices 23A-23G and the portable device 1 described above starts, the area determination unit 37 periodically inputs to the drive control unit 38 the information indicating which of the areas 41-44 the portable device 1 is located in.

[0050] Next, an example of the determination of the second coordinate position Ps(n) by the sub-position determiner 35 and the setting of the determination coordinate position Pj(n) by the determination position setter 36 will be described with reference to FIG.

[0051] Eight position determinations are shown in Figure 5. In Figure 5, the vertical axis is time (msec) and the horizontal axis is distance (cm). In Figure 5, the position determination seven times ago, located at the bottom, is the first (oldest) position determination, and the positions are ordered from top to bottom in order of newness, with the top being the current position determination.

[0052] In Fig. 5, the first coordinate position Pf(n), the second coordinate position Ps(n), the judged coordinate position Pj(n), the provisional 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 the current position judgement. In Fig. 5, the first coordinate position Pf(n-1), the second coordinate position Ps(n-1), the judged coordinate position Pj(n-1), the provisional 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 in the previous (previous) position judgement. In FIG. 5, the first coordinate position Pf(n-2), the second coordinate position Ps(n-2), the judged 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 data from the position judgement two times before (the judgement before last). In this way, the ordinal numbers below the judgement number n increase as the judgement number increases. These data are stored in the memory unit 39 for, for example, 10 times. Data exceeding the 10th time is erased. In addition, these data are reset (erased) when, for example, the engine of the vehicle 10 is started.

[0053] 5, the seventh previous (first) position determination, the sixth previous (second) position determination, the fifth previous (third) position determination, the second previous (sixth) position determination, the first previous (seventh) position determination, and the current (eighth) position determination indicate cases where a distance measurement value Vr of 3 or more was obtained by the communications devices 23A-23G. The fourth previous (fourth) position determination indicates a case where a distance measurement value Vr of 3 or more was obtained by the communications devices 23A-23G, but there was an abnormality in the distance measurement value Vr. The third previous (fifth) position determination indicates a case where a distance measurement value Vr of 3 or more was not obtained by the communications devices 23A-23G. These position determinations will be explained in order below.

[0054] In the seventh previous (first) position determination, 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 previously, 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).

[0055] In the sixth previous (second) position determination, the main position determination unit 32 determines the first coordinate position Pf(n-6) based on three or more distance measurement values ​​Vr. Meanwhile, the secondary position determination unit 35 adds the movement amount Am(n-6) of the portable device 1 input from the movement amount detection unit 33 to the previous determination coordinate position Pj(n-7) to set a temporary coordinate position Pt(n-6). However, in this state, since the correction angle θc has not yet been set previously, the secondary position determination unit 35 does not determine the second coordinate position Ps. Next, the secondary position determination unit 35 sets the correction angle θc(n-6) based on the previous first coordinate position Pf(n-7) and the current first coordinate position Pf(n-6). Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n-6) determined by the main position determining unit 32 is appropriate because the movement distance Dm(n-6), which is the difference between the previous judgment coordinate position Pj(n-7) and the current first coordinate position Pf(n-6), is less than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n-6) as the judgment coordinate position Pj(n-6).

[0056] In the fifth previous (third) position determination, the main position determination unit 32 determines the first coordinate position Pf(n-5) based on three or more distance measurement values ​​Vr. Meanwhile, the secondary position determination unit 35 adds the movement amount Am(n-5) of the portable device 1 input from the movement amount detection unit 33 to the previous determination coordinate position Pj(n-6) to set a temporary coordinate position Pt(n-5). After that, the secondary position determination unit 35 corrects the temporary coordinate position Pt(n-5) using the latest correction angle θc(n-6) that has been set and the movement angle θg(n-5) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n-5). Next, the secondary position determination unit 35 sets the correction angle θc(n-5) based on the previous first coordinate position Pf(n-6) and the current first coordinate position Pf(n-5). Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n-5) determined by the main position determining unit 32 is appropriate because the moving distance Dm(n-5), which is the difference between the previous judgment coordinate position Pj(n-6) and the current first coordinate position Pf(n-5), is less than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n-5) as the judgment coordinate position Pj(n-5).

[0057] In the fourth previous (fourth) position determination, the main position determination unit 32 determines the first coordinate position Pf(n-4) based on three or more distance measurement values ​​Vr. Meanwhile, the secondary position determination unit 35 adds the movement amount Am(n-4) of the portable device 1 input from the movement amount detection unit 33 to the previous determination coordinate position Pj(n-5) to set a temporary coordinate position Pt(n-4). After that, the secondary position determination unit 35 corrects the temporary coordinate position Pt(n-4) using the latest correction angle θc(n-5) that has been set and the movement angle θg(n-4) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n-4). Next, the secondary position determination unit 35 sets the correction angle θc(n-4) based on the previous first coordinate position Pf(n-5) and the current first coordinate position Pf(n-4). Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n-4) determined by the main position determination unit 32 is inappropriate because the moving distance Dm(n-4), which is the difference between the previous judgment coordinate position Pj(n-5) and the current first coordinate position Pf(n-4), is longer than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the second coordinate position Ps(n-4) determined by the secondary position determination unit 35 as the judgment coordinate position Pj(n-4).

[0058] In the third previous (fifth) position determination, a distance measurement value Vr of 3 or more was not obtained, so the primary position determination unit 32 cannot determine the first coordinate position Pf(n-3). Meanwhile, the secondary position determination unit 35 adds the movement amount Am(n-3) of the portable device 1 input from the movement amount detection unit 33 to the previous determined coordinate position Pj(n-4) to set a temporary coordinate position Pt(n-3). After that, the secondary position determination unit 35 corrects the temporary coordinate position Pt(n-3) using the latest correction angle θc(n-4) that has been set and the movement angle θg(n-3) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n-3). Next, the secondary position determination unit 35 does not set the correction angle θc(n-3) because the current first coordinate position Pf(n-3) has not been determined. Finally, the judgment position setting unit 36 ​​sets the second coordinate position Ps(n-3) judged by the sub-position judging unit 35 as the judgment coordinate position Pj(n-3).

[0059] In the second previous (sixth) position determination, the main position determination unit 32 determines the first coordinate position Pf(n-2) based on three or more distance measurement values ​​Vr. Meanwhile, the sub-position determination unit 35 adds the movement amount Am(n-2) of the portable device 1 input from the movement amount detection unit 33 to the previous determined coordinate position Pj(n-3) to set a temporary coordinate position Pt(n-2). After that, the sub-position determination unit 35 corrects the temporary coordinate position Pt(n-2) using the latest correction angle θc(n-4) that has been set and the movement angle θg(n-2) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n-2). Next, the sub-position determination unit 35 does not set the correction angle θc(n-2) because the previous first coordinate position Pf(n-3) has not been determined. Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n-2) determined by the main position determining unit 32 is appropriate because the moving distance Dm(n-2), which is the difference between the previous judgment coordinate position Pj(n-3) and the current first coordinate position Pf(n-2), is equal to or less than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n-2) as the judgment coordinate position Pj(n-2).

[0060] In the previous (seventh) position determination, the main position determination unit 32 determines the first coordinate position Pf(n-1) based on three or more distance measurement values ​​Vr. Meanwhile, the sub-position determination unit 35 adds the movement amount Am(n-1) of the portable device 1 input from the movement amount detection unit 33 to the previous determination coordinate position Pj(n-2) to set a temporary coordinate position Pt(n-1). After that, the sub-position determination unit 35 corrects the temporary coordinate position Pt(n-1) using the latest correction angle θc(n-4) that has been set and the movement angle θg(n-1) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n-1). Next, the sub-position determination unit 35 sets the correction angle θc(n-1) based on the previous first coordinate position Pf(n-2) and the current first coordinate position Pf(n-1). Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n-1) determined by the main position determining unit 32 is appropriate because the moving distance Dm(n-1), which is the difference between the previous judgment coordinate position Pj(n-2) and the current first coordinate position Pf(n-1), is equal to or less than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n-1) as the judgment coordinate position Pj(n-1).

[0061] In the current (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. Meanwhile, the secondary position determination unit 35 adds the movement amount Am(n) of the portable device 1 input from the movement amount detection unit 33 to the previous determination coordinate position Pj(n-1) to set a temporary coordinate position Pt(n). After that, the secondary position determination unit 35 corrects the temporary coordinate position Pt(n) using the latest correction angle θc(n-1) that has been set and the movement angle θg(n) of the portable device 1 input from the movement angle detection unit 34 to determine the second coordinate position Ps(n). Next, the secondary position determination unit 35 sets the correction angle θc(n) based on the previous first coordinate position Pf(n-1) and the current first coordinate position Pf(n). Finally, the judgment position setting unit 36 ​​determines that the first coordinate position Pf(n) determined by the main position determining unit 32 is appropriate because the moving distance Dm(n), which is the difference between the previous judgment coordinate position Pj(n-1) and the current first coordinate position Pf(n), is equal to or less than the set distance Ds. Therefore, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n) as the judgment coordinate position Pj(n).

[0062] As described above, in this embodiment, even if three or more distance measurements Vr are obtained by the communication devices 23A to 23G, but there is an abnormality in the distance measurement value Vr (position determination four times previously), or even if three or more distance measurements Vr are not obtained by the communication devices 23A to 23G (position determination three times previously), the secondary position determination unit 35 determines the second coordinate position Ps(n) and sets this second coordinate position Ps(n) as the determination coordinate position Pj(n).

[0063] Next, the position determination process performed by the vehicle control device 15 will be described with reference to the flowcharts shown in FIG. 6 to FIG.

[0064] 6 and 7, in the position determination process, one position determination from step S1 to step S16 is repeatedly performed.

[0065] 6, in step S1, the process waits until the completion of BLE communication (second wireless communication) between the BLE communication unit 21 and the portable device 1. That is, the process waits until the completion of a series of BLE communications, in which the BLE communication unit 21 receives a BLE signal of a predetermined strength or more from the portable device 1 and outputs a trigger signal, is completed.

[0066] When the BLE communication is completed, in step S2, the process waits until the UWB communication (first wireless communication) between the UWB communication unit 22 and the portable device 1 is completed. That is, the process waits until a series of UWB communications, in which each of the multiple communication devices 23A to 23G receives a request signal from the portable device 1, outputs a response signal, and receives information from the portable device 1 for a time period Δt1, is completed.

[0067] When the UWB communication is completed, in step S3, main position determination unit 32 waits until it receives distance measurement value Vr from communication devices 23A-23G by UWB communication (first wireless communication). When it receives distance measurement value Vr, in step S4, it waits until it receives movement value Vm(n) from portable device 1, that is, until movement amount detection unit 33 receives movement amount Am(n) and movement angle detection unit 34 receives movement angle θg(n) by BLE communication (second wireless communication).

[0068] 7, when the movement value Vm(n) is received, the main position determination unit 32 determines in step S5 whether or not a distance measurement value Vr of 3 or more has been received. If a distance measurement value Vr of 3 or more has been received, the process proceeds to step S6, and if a distance measurement value Vr less than 3 has been received, the process proceeds to step S11.

[0069] In step S6, the first coordinate position Pf(n) is determined from three of the three or more distance measurement values ​​Vr, and then in step S7, it is determined whether the determined first coordinate position Pf(n) is appropriate. That is, it is determined whether the movement distance Dm(n) from the previous determined coordinate position Pj(n-1) to the current first coordinate position Pf(n) is equal to or 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.

[0070] In step S8, the secondary position determination unit 35 determines whether or not there has been a change in the amount of movement Am(n) detected by the acceleration sensor 4 and the movement angle θg(n) detected by the angular velocity sensor 5, i.e., whether or not there has been a change in the movement value Vm(n) of the portable device 1 due to the movement of the passenger. If there has been a change in the movement value Vm(n) of the portable device 1, then in step S9, a second coordinate position determination process, which will be described in detail later, is executed, and the process proceeds to step S10. On the other hand, if there has been no change in the movement value Vm(n) of the portable device 1 in step S8, the process proceeds to step S10 without executing the second coordinate position determination process in step S9.

[0071] In step S10, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n) determined in step S6 as the current judgment coordinate position Pj(n), and proceeds to step S15. That is, since a set number or more of distance measurements Vr were obtained from the communications devices 23A-23G in step S5 and the first coordinate position Pf(n) determined in step S7 is correct, the judgment position setting unit 36 ​​sets the determined first coordinate position Pf(n) as the judgment coordinate position Pj(n).

[0072] If a distance measurement value Vr of 3 or more is not obtained in step S5, and if the first coordinate position Pf(n) determined in step S7 is inappropriate, then in step S11 it is determined whether or not there has been a change in the movement value Vm(n) of the portable device 1. If there has been a change in the movement value Vm(n) of the portable device 1, then in step S12 a second coordinate position determination process is executed, and then the process proceeds to step S13. On the other hand, if there has been no change in the movement value Vm(n) of the portable device 1 in step S11, then the process returns to step S1 without executing steps S12 to S16 described below.

[0073] In step S13, it is determined whether or not 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.

[0074] In step S14, the judgment position setting unit 36 ​​sets the second coordinate position Ps(n) determined in step S12 as the current judgment coordinate position Pj(n), and proceeds to step S15. That is, if the set number or more of distance measurement values ​​Vr are not obtained from the communications devices 23A-23G in step S5, or if the first coordinate position Pf(n) determined in step S7 is inappropriate, the judgment position setting unit 36 ​​sets the determined second coordinate position Ps(n) as the judgment coordinate position Pj(n).

[0075] When the judgment coordinate position Pj(n) is set in step S10 or step S14, an in-vehicle device control process, which will be described in detail later, is executed in step S15, and then the judgment count n of all data stored in the storage unit 39 is updated in step S16. That is, the judgment count n is updated so that the original (n) becomes (n-1) and the original (n-1) becomes (n-2). Then, the process returns to step S1 shown in FIG. 6, and steps S1 to S16 are repeated.

[0076] Next, the second coordinate position determination process in steps S9 and S12 will be described.

[0077] 8, in the second coordinate position determination process, the sub-position determination unit 35 determines in step S20 whether or not the previous determination coordinate position Pj(n-1) set by the determination position setting unit 36 ​​exists. If the determination coordinate position Pj(n-1) exists, the process proceeds to step S21. On the other hand, if the determination coordinate position Pj(n-1) does not exist, the process returns without executing steps S21 to S28 described below, that is, without setting the second coordinate position Ps(n).

[0078] In step S21, the movement amount detection unit 33 calculates the movement amount Am(n) of the portable device 1 from the input acceleration data Da, and in step S22, the secondary position determination unit 35 determines whether the movement amount Am(n) of the portable device 1 is equal to or greater than a threshold value T. If the movement amount Am(n) of the portable device 1 is equal to or greater than the threshold value T, the process proceeds to step S23. On the other hand, if the movement amount Am(n) of the portable device 1 is less than the threshold value T, the process returns without executing steps S23 to S28 described below, that is, without setting the second coordinate position Ps(n).

[0079] In step S23, the movement angle detection unit 34 calculates the movement angle θg(n) of the portable device 1 from the input angular velocity data Dg, and then in step S24, the secondary position determination unit 35 adds the calculated movement amount Am(n) to the previous determined coordinate position Pj(n-1) to set a temporary coordinate position Pt(n).

[0080] Next, in step S25, it is determined whether or not the latest correction angle θc(n-α) set before the current position determination exists. If the latest correction angle θc(n-α) is set, in step S26, the second coordinate position Ps(n) is determined based on the virtual 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 the latest correction angle θc(n-α) is not set, the process proceeds to step S27 without determining the second coordinate position Ps(n) in step S26.

[0081] In step S27, it is determined whether or not there are two first coordinate positions Pf(n-1,2) determined before the current position determination, that is, the first coordinate position Pf(n-1) determined once before and the first coordinate position Pf(n-2) determined two times before. If there are two first coordinate positions Pf(n-1,2), then in step S28, a correction angle θc(n) is set and the process returns. On the other hand, if there are not two first coordinate positions Pf(n-1,2), the process returns without setting the correction angle θc(n) in step S28.

[0082] Next, the in-vehicle device control process in step S15 will be described.

[0083] 9, in the in-vehicle device control process, the drive control unit 38 determines in step S30 whether or not the operation conditions of the door lock devices 16L, 16R are satisfied. If the operation conditions are satisfied, the process proceeds to step S31, and if the operation conditions are not satisfied, the process returns without performing steps S31 to S34 described below.

[0084] 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. If even a portion of them are 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, 16R are operated to lock, and the process returns. In other words, the operation condition for locking the door lock devices 16L, 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, that the passenger continues to stay within the door lock area 41 for a set time or longer.

[0085] In step S33, it is determined whether all three determination coordinate positions Pj(n, n-1, 2) are within the door unlock region 42. If any of them are not within the door unlock region 42, the process returns without executing step S34. On the other hand, if all of them are within the door unlock region 42, the process operates the door lock devices 16L, 16R to unlock them in step S34 and then returns. In other words, the operating condition for unlocking the door lock devices 16L, 16R is that all three determination coordinate positions Pj(n, n-1, 2) are within the door unlock region 42, that is, that the passenger remains within the door unlock region 42 for a set time or longer.

[0086] The vehicle control device 15 including the position determination device configured in this manner has the following features.

[0087] When the number of distance measurements Vr obtained from the communication results of the multiple communications devices 23A-23G is less than the set number, the primary position determination unit 32 cannot determine the first coordinate position Pf(n), but the secondary 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 included in the portable device 1. Therefore, even when an obstacle 100 that blocks wireless communication exists between the multiple communications devices 23A-23G and the portable device 1 and the set number or more of distance measurements Vr cannot be obtained by wireless communication, the determination coordinate position Pj(n) of the portable device 1 can be determined.

[0088] A drive control unit 38 is provided that controls the door lock devices 16L, 16R based on the judgment coordinate position Pj(n) set by the judgment position setting unit 36. This allows the passenger to control the door lock devices 16L, 16R by performing a predetermined operation without performing a physical key operation, thereby improving convenience.

[0089] When the amount of movement Am(n) detected by the movement detection unit 3 of the portable device 1 is greater than the threshold value T, that is, when it indicates that the portable device 1 has moved, the secondary position determination unit 35 sets a temporary coordinate position Pt(n) by adding the amount of movement Am(n) to the previous determination coordinate position Pj(n-1) set by the determination position setting unit 36. This improves the accuracy with which the secondary position determination unit 35 determines the second coordinate position Ps(n).

[0090] The secondary position determination unit 35 corrects the provisional coordinate position Pt(n) and determines the second coordinate position Ps(n) using the latest correction angle θc(n-α) already set based on two first coordinate positions Pf consecutively determined by the primary position determination unit 32 and the movement angle θg(n) detected by the movement detection unit 3. That is, the secondary position determination unit 35 corrects the provisional coordinate position Pt(n) and determines the second coordinate position Ps(n) by adding the latest correction angle θc(n-α) that has been set to the movement angle θg(n) of the portable device 1 so that the axis of the vehicle 10 and the axis of the portable device 1 coincide with each other. This improves the accuracy of the secondary position determination unit 35 in determining the second coordinate position Ps(n).

[0091] When the number of distance values ​​Vr obtained from the communication results of the multiple communication devices 23A-23G is equal to or greater than a set number and when the first coordinate position Pf(n) is appropriate, the judgment position setting unit 36 ​​sets the first coordinate position Pf(n) as the judgment coordinate position Pj(n). Since 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 secondary position determination unit 35 based on the movement value Vm(n) detected by the movement detection unit 3, the accuracy of determining the position of the portable device 1 relative to the vehicle 10 can be improved.

[0092] When the number of distance measurements Vr obtained from the communication results of the multiple communication devices 23A-23G is less than a set number, that is, when distance measurements Vr equal to or greater than the set number that allows the position of the portable device 1 to be determined with high accuracy are not obtained, the judgment position setting unit 36 ​​sets the second coordinate position Ps(n) as the judgment coordinate position Pj(n). If the judgment coordinate position Pj(n) is not set due to poor communication, the door lock devices 16L, 16R cannot be controlled, but in such a case, the second coordinate position Ps(n) is set as the judgment coordinate position Pj(n), thereby preventing the door lock devices 16L, 16R from becoming uncontrollable.

[0093] When the main position determination unit 32 determines that the current first coordinate position Pf(n) determined by the main position determination unit 32 is inappropriate, that is, when the first coordinate position Pf(n) has low accuracy, the determination position setting unit 36 ​​sets the second coordinate position Ps(n) as the determination coordinate position Pj(n). This makes it possible to suppress erroneous determination of the determination coordinate position Pj(n) based on the inappropriate first coordinate position Pf(n), and therefore makes it possible to determine the position of the portable device 1 with high accuracy.

[0094] The judgment position setting unit 36 ​​judges the suitability of the first coordinate position Pf(n) based on the previous judgment coordinate position Pj(n-1) set by the judgment position setting unit 36 ​​and the current first coordinate position Pf(n). That is, the suitability of the current first coordinate position Pf(n) is judged depending on whether the moving speed of the passenger carrying the portable device 1 indicates an abnormal state that is not normally possible. Therefore, the suitability of the current first coordinate position Pf(n) can be judged with high accuracy.

[0095] The present invention is not limited to the configurations of the above-described embodiments, and various modifications are possible.

[0096] For example, steps S5 to S16 of the position determination process may be as shown in Fig. 10. Steps S5 to S16 shown in the embodiment in Fig. 7 described above and steps S5 to S16 in the modified example shown in Fig. 10 differ only in steps S8 and S9, and the other steps S5 to 7 and S10 to S16 are the same.

[0097] Specifically, steps S5 to S7 are performed in the same manner as in the embodiment, and if it is determined in step S7 that the first coordinate position Pf(n) is appropriate, it is determined in step S8 whether or not there are two first coordinate positions Pf(n-1,2) determined before the current position determination, that is, the first coordinate position Pf(n-1) determined once before and the first coordinate position Pf(n-2) determined two times before. If there are two first coordinate positions Pf(n-1,2), a correction angle θc(n) is set in step S9, and the process proceeds to step S10. On the other hand, if there are not two first coordinate positions Pf(n-1,2), the correction angle θc(n) is not set in step S9, and the process proceeds to step S10. Even in this manner, the same actions and effects as those of the embodiment can be obtained.

[0098] The in-vehicle devices controlled by the drive control unit 38 may be door opening / closing devices for opening and closing the left and right rear doors 12L, 12R, respectively, the engine, or welcome lights.

[0099] The movement detection unit 3 of the portable device 1 may transmit information about the movement value Vm(n) including the movement amount Am(n) and the movement angle θg(n) to any one of the multiple communicators 23A to 23G by BLE communication (second wireless communication). In other words, any one of the multiple communicators 23A to 23G may receive the information about the movement value Vm(n) from the portable device 1.

[0100] The position determination device is not limited to the vehicle 10, and may be incorporated in a house door control device that locks and unlocks a house. [Explanation of symbols]

[0101] 1, 1A~1C Portable devices (mobile terminals) 2. Communications Department 3. Movement detection section 4 Acceleration sensor (movement detection section) 5 Angular velocity sensor (movement angle detection section) 10 Vehicles 11L, 11R front doors 12L, 12R rear doors 15 Vehicle control device (position determination device) 16L, 16R Door lock device (on-board equipment) 20 Communications Department 21 BLE Communication Department 22 UWB Communication Department 23A~23G communication device 24 Distance detection unit 30 Control section 31 Communication control section 32 Main position determination section 33 Movement amount detection unit 34 Movement angle detection unit 35 Sub position determination section 36 Judgment position setting section 37 Area determination section 38 Drive control unit 39 Memory section 40 Door Control Area Group 41 Door Lock Area 42 Door unlock area 43 Engine start permitted area 44 Dead Zone 100 Obstacles Pf(n) 1st coordinate position Ps(n) 2nd coordinate position Pj(n) Judgment coordinate position Pt(n) Temporary coordinate position Vr Distance measurement value T threshold Vm(n) Moving value Da acceleration data Am(n) Movement amount Dg Angular velocity data θg(n) Movement angle θc(n) Correction angle Dm(n) Distance traveled Ds Set distance

Claims

1. a plurality of communication devices that perform wireless communication with a portable terminal having a movement detection unit capable of detecting a movement value including a movement amount and a movement angle, each of the plurality of communication devices repeatedly performing a first wireless communication for detecting a distance measurement value for the portable terminal, and at least one of the plurality of communication devices has a communication unit that repeatedly performs a second wireless communication for receiving the movement value; a main position determination unit that determines a first coordinate position, which is a position of the mobile terminal, based on a plurality of distance measurement values ​​obtained by the first wireless communication; a secondary position determination unit that determines a second coordinate position, which is a position of the mobile terminal, based on the movement value obtained by the second wireless communication; a determination position setting unit that sets either the first coordinate position or the second coordinate position as a determination coordinate position that is a current position of the mobile terminal; A position determination device comprising:

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

3. 3. The position determination device according to claim 1, wherein when the amount of movement obtained by the second wireless communication is greater than a predetermined threshold, the sub-position determination unit sets a virtual coordinate position by adding the amount of movement to the previous determination coordinate position set by the determination position setting unit.

4. 4. The position determination device according to claim 3, wherein the sub-position determination unit corrects the provisional coordinate position and determines the second coordinate position using a correction angle set based on two first coordinate positions determined in succession by the main position determination unit prior to the current position determination and the movement angle detected by the movement detection unit.

5. 3. The position determination device according to claim 1, wherein the determination position setting unit sets the current first coordinate position as the determination coordinate position when the number of distance measurement values ​​obtained by the first wireless communication is equal to or greater than a set number and when the current first coordinate position determined by the main position determination unit is appropriate.

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

7. 3 . The position determination device according to claim 1 , wherein the determination position setting unit sets the second coordinate position as the determination coordinate position when the main position determination unit determines that the current first coordinate position determined 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 a previous determination coordinate position set by the determination position setting unit and the current first coordinate position.

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