Route determination device, route determination system, and program
The route determination device addresses misidentification by considering route proximity and historical data to accurately determine the path of a moving object, preventing errors in route identification.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- NIPPON SIGNAL CO LTD
- Filing Date
- 2024-11-19
- Publication Date
- 2026-05-29
AI Technical Summary
Existing route determination devices struggle to accurately identify the path of a moving object when multiple routes are close to each other, particularly when the position sensor accuracy is low, leading to potential misidentification.
The route determination device stores information on route proximity, acquires the moving object's position and permitted route information, and determines if the object is not on the correct route based on proximity to other routes, issuing warnings if necessary.
Prevents errors in route identification by considering proximity to other routes and using historical data to confirm the actual route taken by the moving object.
Smart Images
Figure 2026088847000001_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a route determination device that determines a route through which a moving object is passing.
Background Art
[0002] There is a route determination device that identifies a route through which a moving object is passing by using a position sensor mounted on the moving object. When a plurality of routes are close to each other, this route determination device may have difficulty identifying the passing route of the moving object.
[0003] In particular, if the accuracy of the position sensor is low compared to the degree of proximity between the routes, the route determination device may erroneously recognize that the moving object is passing through a route where it is not actually passing.
[0004] To prevent such misidentifications, various improvements have been made to the route determination device. For example, Patent Document 1 discloses an error diagnosis device including a travel section specifying section that specifies, in chronological order, a road section through which a vehicle has traveled among map information based on the vehicle's own position information. This error diagnosis device diagnoses the presence or absence of a positioning error by determining the continuity of the road section through which the moving object is traveling specified by the travel section specifying section.
Prior Art Documents
Patent Documents
[0005]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0006] However, since the error diagnosis device described in Patent Document 1 is mounted on a vehicle and specifies a road section traveled based on the vehicle's own position information, it was necessary to have a storage device that stores map information around the vehicle.
[0007] Furthermore, for example, in the case of a moving object such as a bus traveling on a public road, the route may merge or diverge. The section at the merging or diverging point is continuous with multiple sections belonging to different routes. Therefore, a moving object such as a bus does not necessarily enter a section continuous with the section it is currently in. On the other hand, the error diagnosis device described in Patent Document 1 attempts to identify the route of a moving object based only on the continuity of road information and changes in location information. Consequently, the error diagnosis device described in Patent Document 1 may not be able to identify the section the moving object is traveling through.
[0008] One of the objectives of the present invention is to prevent errors in identifying the path a moving object takes in an area that is in close proximity to other paths. [Means for solving the problem]
[0009] The present invention provides, in its first embodiment, a route determination device that stores whether or not each of a plurality of sections constituting a route is in proximity to another route different from the said route, acquires the position of a moving object and permitted route information indicating the route to which it is permitted to travel, and determines that the moving object is not traveling along the predetermined route if the position is included in a section of the predetermined route that is in proximity to another route, and the predetermined route is not included in the permitted route information.
[0010] According to the route determination device of the first embodiment, it is possible to prevent errors in identifying the route that a moving object will take in an area where there is proximity to other routes.
[0011] In the first embodiment of the route determination device, a second embodiment may be adopted in which, even if the position of the moving body is included in a section of the predetermined route that is in proximity to another route, and the predetermined route is not included in the permitted route information, if the moving body has a history of being in an entrance section of the predetermined route that is adjacent to an entrance from the outside, it is determined that the moving body is traveling along the predetermined route.
[0012] According to the route determination device of the second embodiment, errors in route determination of a moving object in a section that is in close proximity to other routes can be prevented, and route determination can not be judged as erroneous if a predetermined history exists.
[0013] In the first embodiment of the path determination device, a third embodiment may be adopted in which the section includes a physical area within the path to which a moving object can physically move, and an extended area obtained by expanding the physical area according to the positioning error.
[0014] According to the third embodiment of the path determination device, measurement errors in the position of the moving object can be absorbed.
[0015] In the first embodiment of the route determination device, a fourth embodiment may be adopted in which a warning is issued to the mobile body if the predetermined route information of the mobile body determined to be traveling along the predetermined route does not include the predetermined route.
[0016] According to the route determination device of the fourth embodiment, a warning can be issued to a moving object traveling on a route that is not permitted to be used.
[0017] The present invention provides a fifth embodiment of a route determination system comprising a terminal device and a route determination device, wherein the terminal device transmits the position of a moving object and authorized route information indicating a route to which the moving object is permitted to travel to the route determination device, the route determination device stores whether or not there is proximity to other routes different from the route for each of a plurality of sections constituting the route, obtains the position and the authorized route information from the terminal device, and determines that the moving object is not traveling along the predetermined route if the position is included in a section of the predetermined route that is in proximity to other routes, and the predetermined route is not included in the authorized route information.
[0018] According to the fifth embodiment of the route determination system, errors in identifying the route taken by a moving object can be prevented in areas where there is proximity to other routes.
[0019] The present invention provides a program for causing a computer to execute steps of: storing, for each of a plurality of sections constituting a route, whether there is proximity to another route different from the route; acquiring position and permitted route information indicating a permitted route from a moving object; and determining that the moving object has not passed through the predetermined route when the position is included in a section having proximity to another route among sections of the predetermined route and the predetermined route is not included in the permitted route information, as a sixth aspect.
[0020] According to the program of the sixth aspect, it is possible to prevent a specific error in the route through which the moving object passes in a section having proximity to another route.
Brief Description of Drawings
[0021] [Figure 1] A block diagram showing an example of the configuration of a route determination system 9 according to an embodiment of the present invention. [Figure 2] A diagram showing an example of the configuration of an in-vehicle terminal 1. [Figure 3] A diagram showing an example of the configuration of a route determination device 2. [Figure 4] A diagram showing an example of a section DB 221. [Figure 5] A diagram showing an example of a route composed of a plurality of sections. [Figure 6] A diagram showing an example of a history DB 222. [Figure 7] A diagram showing an example of the functional configuration of the route determination device 2. [Figure 8] A flowchart showing an example of the operation of the in-vehicle terminal 1. [Figure 9] A flowchart showing an example of the operation of the route determination device 2.
Modes for Carrying Out the Invention
[0022] <Embodiment> <Configuration of Route Determination System> Figure 1 is a block diagram showing an example of the configuration of a route determination system 9 according to an embodiment of the present invention. The route determination system 9 shown in Figure 1 includes an in-vehicle terminal 1, a route determination device 2, and a communication line 3. In the route determination system 9, each of these components may be multiple or one.
[0023] The in-vehicle terminal 1 is a terminal device that moves with the mobile vehicle V and measures its own device, and is, for example, a slate PC or a tablet PC. The in-vehicle terminal 1 may be installed on the mobile vehicle V or carried by the crew of the mobile vehicle V. This in-vehicle terminal 1 functions as an HMI (Human Machine Interface) that serves as a point of contact between the user, such as the crew of the mobile vehicle V, and the route determination system 9.
[0024] The route determination system 9 may have a terminal device that is not mounted on the mobile body V (i.e., a non-vehicle-mounted device that does not move with the mobile body V) instead of the vehicle-mounted terminal 1. In this case, the terminal device only needs to be able to acquire information on the location of the mobile body V and the route that the mobile body V is permitted to travel on and transmit it to the route determination device 2. This terminal device may be, for example, an information processing device that is installed along the route and connected to a plurality of monitoring devices capable of transmitting its own location information. These monitoring devices may be, for example, visible light cameras, infrared cameras, millimeter-wave radar, etc., and may capture images of the vehicle registration number (license plate) of the mobile body V traveling around the vehicle along the route and identify its identification information. Alternatively, the monitoring device may identify the mobile body V by communicating bidirectionally with wireless communication equipment mounted on the mobile body V via wireless communication.
[0025] Communication line 3 is a line that connects the in-vehicle terminal 1 and the route determination device 2 in a way that enables communication, either by wire or wireless connection. Communication line 3 may be, for example, a LAN (Local Area Network), a WAN (Wide Area Network), the Internet, or a combination of these. Furthermore, communication line 3 may include public switched telephone networks (PSTN), integrated services digital networks (ISDN), etc.
[0026] The route determination device 2 acquires location information indicating the position of the mobile object V from the in-vehicle terminal 1 and determines the route that the mobile object V will take based on this location information. For example, it is a computer. The route determination device 2 shown in Figure 1 is connected to the in-vehicle terminal 1 via a communication line 3.
[0027] <Configuration of in-vehicle terminals> Figure 2 shows an example of the configuration of the in-vehicle terminal 1. The in-vehicle terminal 1 includes a processor 11, memory 12, position sensor 16, and transmitter 17. These are connected to each other via a bus so that they can communicate with one another. The in-vehicle terminal 1 may also have an interface for connecting external devices to the bus, in which case the position sensor 16 and transmitter 17 may be connected to the processor 11 via this interface.
[0028] The processor 11 controls the in-vehicle terminal 1 by reading and executing a program from the memory 12. The processor 11 is, for example, a CPU (Central Processing Unit). Alternatively, the processor 11 may be, for example, an FPGA (Field Programmable Gate Array), or may include an FPGA. Furthermore, this processor may have an ASIC (Application Specific Integrated Circuit) or other programmable logic device, and control may be performed by these.
[0029] Memory 12 is a storage means for storing the operating system, various computer programs (hereinafter simply referred to as "programs"), data, etc., which are loaded into the processor 11. Memory 12 has RAM (Random Access Memory) and ROM (Read Only Memory). Memory 12 may also have a solid-state drive, a hard disk drive, etc. Memory 12 also stores the mobile entity ID 121 and the travel permit 122. The mobile entity ID 121 is identification information that uniquely identifies the mobile entity V. The travel permit 122 is information that includes a route ID, which is identification information of the route (also called an authorized route) on which the mobile entity V is permitted to travel. In other words, the travel permit 122 is an example of authorized route information that shows the route on which the mobile entity V is permitted to travel. The travel permit 122 may also include data for preventing forgery.
[0030] The position sensor 16 is a sensor that senses the position of the moving object V. For example, it is a receiver that receives signals transmitted by satellites of the Global Navigation Satellite System (GNSS) and measures its own position accordingly. Note that the position sensor 16 is not limited to using GNSS, as long as it is capable of acquiring the position of the moving object V.
[0031] The transmitter 17 is a device that transmits information to the route determination device 2 wirelessly. The transmitter 17 shown in Figure 2 transmits information to the route determination device 2 via the communication line 3 (not shown in Figure 2).
[0032] <Configuration of the route determination device> Figure 3 shows an example of the configuration of the route determination device 2. The route determination device 2 shown in Figure 3 has a processor 21, memory 22, and interface 23. These are connected to each other via a bus so that they can communicate with one another.
[0033] The processor 21 controls each part of the path determination device 2 by reading and executing a program stored in the memory 22. The processor 21 is, for example, a CPU.
[0034] Interface 23 is a communication circuit that connects the route determination device 2 to other devices via wired or wireless means, enabling communication. Interface 23 also has the function of connecting to the communication line 3. The route determination device 2 exchanges information with the in-vehicle terminal 1 via interface 23 and the communication line 3. The route determination device 2 may also have an operation unit for receiving commands and a display unit for displaying images. The route determination device 2 may be operated from an external device via interface 23, or it may present information to an external device.
[0035] Memory 22 is a storage means for storing the operating system, various programs, data, etc., that are loaded into the processor 21. Memory 22 has RAM or ROM. Memory 22 may also have a solid-state drive, a hard disk drive, etc. Memory 22 also stores partition DB 221 and history DB 222.
[0036] <Configuration of the partition database> Figure 4 shows an example of partition DB221. Partition DB221 is a database that stores information about multiple partitions that make up a route. Partition DB221 has a route list 2211 and a partition table 2212.
[0037] Route list 2211 is a list of route IDs, which are identification information that identifies each of multiple routes. Partition table 2212 is a table created for each route ID listed in route list 2211, and stores information about the partitions that make up the route identified by that route ID.
[0038] The partition table 2212 shown in Figure 4 includes items for partition ID, coordinates, adjacent partitions to the uphill direction, adjacent partitions to the downhill direction, entrance partition determination, and proximity determination.
[0039] The parcel ID is identification information that identifies a parcel. The coordinate information is information about the coordinates on the map of the parcel identified by the corresponding parcel ID. This coordinate information consists of, for example, the coordinates of the vertices of a polygon that indicates the boundary of the parcel, or parameters used in a mathematical formula that indicates the boundary of the parcel.
[0040] Furthermore, the boundaries of the areas indicated by the coordinate information may have a width corresponding to the positioning error. In other words, the boundaries of the areas may not be the boundaries of the physical area to which the moving object V can physically move, but rather the boundaries of the area outside an extended area that is an extension of this physical area by a width corresponding to the positioning error. That is, an example of an area whose coordinates are defined by the area table 2212 is an area that includes the physical area to which the moving object can physically move along the path, and an extended area that is an extension of this physical area according to the positioning error.
[0041] Upbound adjacent sections are the identification information of sections adjacent to the section identified by the corresponding section ID in the upbound direction on the route to which the section belongs. Downbound adjacent sections are the identification information of sections adjacent to the section identified by the corresponding section ID in the downbound direction on the route to which the section belongs. If there are no adjacent sections in the upbound or downbound direction, information indicating that there are no such sections ("-" in Figure 4) is stored in these items.
[0042] The entrance area determination is information that determines whether the area identified by the corresponding area ID is an entrance area that is adjacent to an external entrance on the route to which it belongs. For example, in Figure 4, the area with area ID "B1" is an entrance area because the entrance area determination is "y".
[0043] Proximity determination is information that determines whether a partition identified by a corresponding partition ID is adjacent to a different route (also called an "other route") than the route to which it belongs. For example, in Figure 4, the partition with partition ID "B3" has a proximity determination of "y", so it is adjacent to another route.
[0044] In this context, "a path being close to another path" means that the distance from one path to another is less than a threshold, and this includes cases where paths overlap, i.e., they are aligned in the height direction.
[0045] Therefore, the route determination device 2 that stores the partition DB221 is an example of a route determination device that stores whether or not each of the multiple partitions that make up a route is adjacent to other routes that are different from that route.
[0046] Figure 5 shows an example of a route composed of multiple sections. The predetermined route shown in Figure 5 is identified by route ID "R1" and has sections identified by section IDs "B1", "B2", "B3", "B4", and "B5". Entrance En is adjacent to the section identified by section ID "B1". In other words, the section identified by section ID "B1" is the entrance section.
[0047] The section identified by section ID "B3" is adjacent to a different route Rx than the route identified by route ID "R1". In Figure 5, the other route Rx is, for example, a general road, and the route identified by route ID "R1" is, for example, a highway that intersects above the other route Rx at an overpass. The section with section ID "B3" shown in Figure 5 is the section that intersects with the other route Rx at an overpass.
[0048] <Configuration of History DB222> Figure 6 shows an example of the history DB 222. The history DB 222 is a database that stores a history of each mobile object V, specifically the combination of the section it traveled through and the date and time it passed through. The history DB 222 shown in Figure 6 has a mobile object list 2221 and a history table 2222.
[0049] The mobile object list 2221 is a list of mobile object IDs, which are identification information that identifies each of the multiple mobile objects V. The history table 2222 is a table created for each mobile object ID listed in the mobile object list 2221. This history table 2222 stores the route and section traveled by the mobile object V identified by the corresponding mobile object ID, along with the date and time. Here, "traveling" includes a stationary state where the object is simply present but not moving.
[0050] The history table 2222 shown in Figure 6 has the fields for date and time information, route ID, and section ID. The date and time information indicates the date and time when the mobile object V was traveling along the route. The route ID is the identification information for the route that the mobile object V was traveling along at the corresponding date and time. The section ID is the identification information for the section that the mobile object V was traveling through on the above route at the corresponding date and time. Therefore, for example, the history DB 222 shown in Figure 6 indicates that the mobile object V with mobile object ID "V01" was traveling through section "B1" on the route with route ID "R1" at the date and time of date and time information "t1".
[0051] <Functional Configuration of the Route Determination Device> Figure 7 shows an example of the functional configuration of the route determination device 2. The processor 21 of the route determination device 2 functions as an acquisition unit 211, a partition estimation unit 212, a permission determination unit 213, a proximity determination unit 214, a history determination unit 215, and a warning unit 216 by reading and executing a program stored in the memory 22.
[0052] The in-vehicle terminal 1 reads the mobile ID 121 in the memory 12, which represents the mobile object V associated with the terminal, and also obtains the location information of the mobile object V measured by the position sensor 16, as well as the date and time information of when the mobile object V was at that location. The in-vehicle terminal 1 also reads the authorized route information of the mobile object V associated with the terminal from the travel permit 122. The in-vehicle terminal 1 then transmits this mobile object ID, location / date and time information, and authorized route information to the route determination device 2.
[0053] The acquisition unit 211 acquires the aforementioned mobile ID, location and date / time information, and authorized route information from the in-vehicle terminal 1 via the interface 23. Therefore, the route determination device 2, which has a processor 21 that functions as this acquisition unit 211, is an example of a route determination device that acquires the location of a mobile object and authorized route information indicating a route that is permitted to be traveled.
[0054] The partition estimation unit 212 refers to the partition DB 221 in the memory 22 to estimate which partition on which path the position of the moving object V acquired by the acquisition unit 211 is included in. The partition estimation unit 212, for example, refers to the coordinate information shown in Figure 4 to identify a partition that has a boundary line encompassing the position of the moving object V, thereby estimating the path and partitions that the moving object V will travel through.
[0055] The permission determination unit 213 compares the permitted route information acquired by the acquisition unit 211 with the route estimated by the section estimation unit 212 to determine whether the mobile object V is traveling on a permitted route. If it determines that the mobile object V is traveling on a permitted route, the permission determination unit 213 stores the above-mentioned date and time, along with the estimated route and section identification information, in the history database 222, associating them with the mobile object ID.
[0056] If the permission determination unit 213 determines that the mobile object V is not traveling on a permitted route, the proximity determination unit 214 determines whether the area where the mobile object V is presumed to be traveling is adjacent to another route. If it determines that this presumed area is not adjacent to another route, the proximity determination unit 214 determines that the mobile object V is actually traveling on the route where the mobile object V is presumed to be traveling, and communicates this to the warning unit 216.
[0057] At this time, the warning unit 216 instructs the in-vehicle terminal 1 via the interface 23 to issue a warning to the mobile body V. Therefore, this route determination device 2 is an example of a route determination device that issues a warning to a mobile body if the permitted route information of the mobile body, which has been determined to be traveling along a predetermined route, does not include this predetermined route.
[0058] If the proximity determination unit 214 determines that the area through which the moving object V is estimated to be passing is in close proximity to another path, it communicates this to the history determination unit 215.
[0059] As described above, when the permission determination unit 213 determines that a predetermined route estimated to be traveled by the mobile body V based on location information is a route that the mobile body V is not permitted to travel on, and the proximity determination unit 214 determines that the section estimated to be traveled by the mobile body V is close to another route, the history determination unit 215 refers to the history DB 222 and determines the route that the mobile body V is actually traveling on.
[0060] The history determination unit 215 refers to the travel history recorded for the mobile object V and determines that the mobile object V is actually traveling along the estimated route and in the area if there is no inconsistency in this. The history determination unit 215 then communicates this to the warning unit 216. In this case as well, since it has been determined that the mobile object V is actually traveling along an unauthorized route, the warning unit 216 instructs the in-vehicle terminal 1 via the interface 23 to issue a warning to the mobile object V.
[0061] Here, there are various possible scenarios in which there is a contradiction regarding the estimated path and section for mobile object V, and whether mobile object V is actually traveling through this section. For example, if mobile object V has not previously passed through the entrance to the estimated path for mobile object V, then the aforementioned contradiction exists.
[0062] For example, when referring to the history DB222 shown in Figure 6, the history determination unit 215 confirms that mobile object V, identified by mobile object ID "V01", passed through the section with section ID "B1" that constitutes the route with route ID "R1" at the date and time of the date and time information "t1". The section identified by section ID "B1" is, for example, an entrance section because the entrance section determination is "y" according to the section DB221 shown in Figure 4.
[0063] Therefore, in this case, the history determination unit 215 determines that there is no inconsistency in estimating that the mobile body V is traveling along this route, given that the mobile body V has a history of having been in the entrance section of the route with route ID "R1" in the past. At this point, the history determination unit 215 determines that the mobile body V is actually traveling along this estimated route and section. In other words, this route determination device 2 is an example of a route determination device that determines that the mobile body is traveling along this predetermined route even when the mobile body's position is in a section of the predetermined route that is in close proximity to another route, and this predetermined route is not included in the permitted route information, provided that the mobile body has a history of having been in an entrance section of the predetermined route that is adjacent to an entrance from the outside.
[0064] On the other hand, if a contradiction is found in the history, the history determination unit 215 determines that the aforementioned route / section, which was presumed to have been traveled, was not actually traveled by the mobile body V.
[0065] Note that the processor 21 does not necessarily have to function as a history determination unit 215. In this case, when the permission determination unit 213 determines that a predetermined route estimated to be traveled by the mobile body V based on location information is a route that the mobile body V is not permitted to travel on, and the proximity determination unit 214 determines that the section estimated to be traveled by the mobile body V is close to another route, the processor 21 determines that the mobile body V is not actually traveling on the aforementioned route / section without referring to the travel history of the mobile body V stored in the history DB 222. In this case, the route determination device 2 is an example of a route determination device that determines that the mobile body is not traveling on the predetermined route when the position of the mobile body is included in a section of the predetermined route that is close to another route, and this predetermined route is not included in the permitted route information of the mobile body.
[0066] <Operation of in-vehicle terminals> Figure 8 is a flowchart showing an example of the operation of the in-vehicle terminal 1. The processor 11 of the in-vehicle terminal 1 obtains date and time information indicating the current date and time by referring to a real-time clock composed of a crystal oscillator and its oscillation circuit built into it (step S101), and obtains location information indicating its own position measured by the position sensor 16 (step S102). Then, the processor 11 associates the mobile body ID read from the mobile body ID 121 in the memory 12 with the permitted route information read from the travel permit 122, and transmits the above-mentioned date and time information and location information to the route determination device 2 (step S103).
[0067] Then, the processor 11 determines whether or not a predetermined update cycle (called the update cycle) has arrived (step S104). If it determines that the update cycle has arrived (step S104; YES), the processor 11 returns to step S101.
[0068] On the other hand, if it is determined that the update cycle has not yet arrived (step S104; NO), the processor 11 determines whether or not a predetermined termination condition (referred to as the termination condition) has been met (step S105). Here, the termination condition is, for example, when a switch (not shown) on the in-vehicle terminal 1 is pressed by the user, instructing the termination of processing.
[0069] If it is determined that the termination condition has been met (step S105; YES), the processor 11 terminates the process. On the other hand, if it is determined that the termination condition has not been met (step S105; NO), the processor 11 returns the process to step S104. As a result, the in-vehicle terminal 1 transmits the location information of the mobile body V, etc., to the route determination device 2 at regular intervals. In other words, this in-vehicle terminal 1 is an example of a terminal device that transmits the location of the mobile body and authorized route information indicating the route on which the mobile body is permitted to travel to the route determination device.
[0070] <Operation of the route determination device> Figure 9 is a flowchart showing an example of the operation of the route determination device 2. The processor 21 of the route determination device 2 executes the processes from step S201 to step S210 shown in Figure 9, for example, when predetermined conditions are met or at regular intervals.
[0071] The processor 21 of the route determination device 2 determines whether or not it has acquired information from the in-vehicle terminal 1 (step S201), and while it determines that it has not acquired information (step S201; NO) The determination process continues. On the other hand, if it is determined that information has been acquired from the in-vehicle terminal 1 (step S201; YES), the processor 21 estimates the route and section that the mobile body V is traveling through based on the current position of the mobile body V included in the acquired information (step S202).
[0072] Next, the processor 21 determines whether the estimated section (also called the estimated section) is within the permitted route (step S203). If it determines that the estimated section is within the permitted route (step S203; YES), the processor 21 determines that the mobile vehicle V is "traveling legally" along the route estimated in step S202 (also called the estimated route) (step S204), stores the travel information of the mobile vehicle V in the history DB 222 (step S205), and terminates the process. Note that "traveling legally" along a route means that the vehicle is traveling along that route with official permission.
[0073] On the other hand, if it is determined that the estimated partition is not within the permitted route (step S203; NO), the processor 21 determines whether the estimated partition is adjacent to another route (step S206). If it is determined that the estimated partition is not adjacent to another route (step S206; NO), the processor 21 proceeds to step S209.
[0074] On the other hand, if it is determined that the estimated section is close to another route (step S206; YES), the processor 21 refers to the history DB 222 to determine from the history whether it is possible for the mobile body V to travel through the estimated section (step S207).
[0075] If the processor determines from the history that it is not possible for mobile object V to travel through the estimated area (step S207; NO), the processor determines that mobile object V is not traveling along the estimated path (step S208) and terminates the process.
[0076] On the other hand, if it is determined from the history that it is possible for the mobile object V to travel through the estimated area (step S207; YES), the processor 21 determines that the mobile object V is traveling along the estimated route without permission (step S209), instructs the in-vehicle terminal 1 to issue a warning to the mobile object V (step S210), and terminates the process.
[0077] By performing the processes described above, the route determination system 9 can cause the route determination device 2 to determine the route the mobile body V is traveling on, simply by placing the in-vehicle terminal 1 on the mobile body V as a simple operating terminal. The route determination device 2 then verifies the estimation of the route the mobile body V is traveling on by considering whether there are other routes different from the route to which the section to which the section to which the mobile body V currently belongs is adjacent, and can detect estimation errors. In other words, this route determination system 9 can prevent errors in identifying the route the mobile body V is traveling on in sections where other routes are in close proximity.
[0078] The configurations, shapes, sizes, and arrangements described in the above embodiments are merely schematic representations to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments and can be modified in various forms as long as it does not deviate from the scope of the technical idea set forth in the claims.
[0079] <Variation> The above describes the embodiment, but the contents of this embodiment can be modified as follows. Furthermore, the following modifications may be combined.
[0080] <1> In the embodiment described above, memory 12 stored the travel permit 122, but the information for each authorized route of the mobile body V does not necessarily have to be stored in memory 12. The authorized route information may be stored, for example, in memory 22 of the route determination device 2. In this case, the authorized route information only needs to be stored in association with each mobile body ID that identifies each mobile body V. The route determination device 2 can obtain the authorized route information associated with this mobile body ID based on the mobile body ID obtained from the in-vehicle terminal 1.
[0081] <2> In the embodiments described above, the operation of the processor 21 may not be performed by a single processor 21, but may be performed by multiple processors located in physically separate locations working together. That is, the route determination device 2 may be implemented, for example, by a virtual machine constructed by multiple interconnected computers on the cloud. Furthermore, the order of each operation of the processor 21 is not limited to the order described above, and may be changed as appropriate.
[0082] <3> In the embodiment described above, the route determination system 9 comprises a terminal device and a route determination device, wherein the terminal device transmits the location of the moving object and authorized route information indicating the route to which the moving object is permitted to travel to the route determination device, the route determination device stores whether or not there is proximity to other routes different from the route for each of the multiple sections that constitute the route, obtains the location and authorized route information from the terminal device, and determines that the moving object is not traveling along the predetermined route if the location of the moving object is included in a section of the predetermined route that is in proximity to other routes, and this predetermined route is not included in the authorized route information.
[0083] <4> In the embodiment described above, the program executed by the processor 21 of the route determination device 2 may be provided stored on a recording medium readable by a computer device, such as a magnetic recording medium such as a magnetic tape or magnetic disk, an optical recording medium such as an optical disk, a magneto-optical recording medium, or a semiconductor memory. Alternatively, this program may be downloaded via a communication line such as the Internet.
[0084] The program executed by the processor 21 described above is an example of a program that causes the computer to perform the following steps: storing whether or not each of the multiple sections constituting the route is in proximity to other routes different from the route; obtaining the location of the moving object and authorized route information indicating the route that is permitted to be traveled; and determining that the moving object is not traveling along the predetermined route if the location of the moving object is included in a section of the predetermined route that is in proximity to other routes, and this predetermined route is not included in the authorized route information. [Explanation of symbols]
[0085] 1...In-vehicle terminal, 11...Processor, 12...Memory, 121...Mobile ID, 122...Pass permit, 16...Position sensor, 17...Transmitter, 2...Route determination device, 21...Processor, 211...Acquisition unit, 212...Area estimation unit, 213...Permit determination unit, 214...Proximity determination unit, 215...History determination unit, 216...Warning unit, 22...Memory, 221...Area DB, 2211...Route list, 2212...Area table, 222...History DB, 2221...Mobile list, 2222...History table, 23...Interface, 3...Communication line, 9...Route determination system.
Claims
1. For each of the multiple sections that make up the route, the presence or absence of proximity to other routes different from the aforementioned route is stored. The location of the moving object and authorized route information indicating the permitted route it is allowed to travel are obtained. If the aforementioned location is included in a section of the predetermined route that is in close proximity to another route, and the predetermined route is not included in the permitted route information, then it is determined that the moving object is not traveling along the predetermined route. Route determination device.
2. Even if the position of the moving body is included in a section of the predetermined route that is in close proximity to another route, and the predetermined route is not included in the permitted route information, if the moving body has a history of being in an entrance section of the predetermined route that is adjacent to an entrance from the outside, it is determined that the moving body is traveling along the predetermined route. The route determination device according to claim 1.
3. The aforementioned section includes a physical area within the aforementioned path where the moving object can physically move, and an extended area obtained by expanding the physical area according to the positioning error. The route determination device according to claim 1.
4. If the predetermined route information of the mobile body, which has been determined to be traveling along the predetermined route, does not include the predetermined route, the mobile body is warned. The route determination device according to claim 1.
5. It has a terminal device and a route determination device, The aforementioned terminal device is The location of the moving object and authorized route information indicating the route on which the moving object is permitted to travel are transmitted to the route determination device. The route determination device is For each of the multiple sections that make up the route, the presence or absence of proximity to other routes different from the aforementioned route is stored. The terminal device acquires the location and the authorized route information, If the aforementioned location is included in a section of the predetermined route that is in close proximity to another route, and the predetermined route is not included in the permitted route information, then it is determined that the moving object is not traveling along the predetermined route. Route determination system.
6. On the computer, A step of storing whether each of the multiple sections constituting the route is adjacent to another route different from the said route, The steps include obtaining the location of the moving object and authorized route information indicating the route it is permitted to travel, The step of determining that the moving object is not traveling along the predetermined route if the location is within a section of the predetermined route that is in close proximity to another route, and the predetermined route is not included in the permitted route information, A program to execute.