Vehicle-mounted device, passage determination device, passage determination method, and program

Abstract

To provide an onboard apparatus capable of acquiring position information which makes it possible to determine passage of a vehicle through a predetermined area, even when the vehicle is traveling in an area where a positioning radio wave cannot be received.SOLUTION: An onboard apparatus includes: a radio wave determination unit that determines whether a positioning radio wave is being received; a first position acquisition unit that acquires first position information representing a positioning position based on the positioning radio wave; a second position acquisition unit that, when the positioning radio wave is not received, acquires second position information through wireless communication with another vehicle existing in the vicinity; and a transmission unit that transmits the first position information or second position information to a passage determination device in a distinguishable manner.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an in-vehicle device, a passage determination device, a passage determination method, and a program.

Background Art

[0002] In recent years, GNSS (Global Positioning System) that measures the position of a vehicle based on radio waves received from satellites has been widely used. Further, a technique for specifying the route of a vehicle from a time history showing the change over time of the position measured at each time is known.

[0003] When a vehicle is moving in an area where satellite radio waves cannot be received, such as inside a tunnel, positioning by GNSS may become difficult. For this reason, Patent Document 1 describes a technique for specifying, as the route traveled by the vehicle during the period when satellite radio waves were not received, the route connecting the point measured immediately before satellite radio waves could no longer be received and the point measured after satellite radio waves were received again.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the conventional technology, in a system for specifying the position of a vehicle based on positioning radio waves such as satellite radio waves, it has been difficult to determine the area through which the vehicle has passed during the period when the vehicle cannot receive the positioning radio waves.

[0006] The present disclosure has been made in view of such problems, and provides an in-vehicle device, a passage determination device, a passage determination method, and a program that can acquire position information that enables determination of an area through which a vehicle is passing even when the vehicle is traveling in an area where positioning radio waves cannot be received.

Means for Solving the Problems

[0007] According to one aspect of the present disclosure, an in-vehicle device includes a radio wave determination unit that determines whether or not positioning radio waves are being received, a first position acquisition unit that acquires first position information indicating a positioning position based on the positioning radio waves when the positioning radio waves are received, a second position acquisition unit that acquires second position information via wireless communication with other vehicles existing in the vicinity when the positioning radio waves are not being received, and a transmission unit that transmits the first position information or the second position information to a passage determination device in a distinguishable manner.

[0008] According to one aspect of the present disclosure, an in-vehicle device is mounted on a vehicle and performs passage determination of a predetermined area based on the time history of the position information of the vehicle. The in-vehicle device includes a radio wave determination unit that determines whether or not positioning radio waves are being received, a first position acquisition unit that acquires first position information indicating a positioning position based on the positioning radio waves when the positioning radio waves are received, a second position acquisition unit that acquires second position information via wireless communication with other vehicles existing in the vicinity when the positioning radio waves are not being received, and a passage determination unit that performs passage determination of the predetermined area based on the first position information and the second position information.

[0009] According to one aspect of the present disclosure, a passing determination device is a passing determination device that sequentially receives position information from a target vehicle and determines whether the target vehicle has passed through a predetermined area based on the time history of the position information. The passing determination device includes a reception determination unit that determines whether the first position information indicating the positioning position based on the positioning radio wave is received from the target vehicle, and an area determination unit that determines whether the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable area when the reception of the first position information from the target vehicle stops. When the positioning position indicated by the last received first position information is near the non-positionable area, a waiting unit waits for the reception of second position information indicating the positioning position acquired by the target vehicle through wireless communication with other vehicles, and a passing determination unit determines whether the target vehicle has passed through the predetermined area based on the last received first position information and the second position information.

[0010] According to one aspect of the present disclosure, a passing determination method includes a step of determining whether the positioning radio wave is being received, a step of obtaining first position information indicating the positioning position based on the positioning radio wave when the positioning radio wave is received, a step of obtaining second position information through wireless communication with other vehicles existing in the vicinity when the positioning radio wave is not being received, and a step of determining whether the target vehicle has passed through a predetermined area based on the first position information and the second position information.

[0011] According to one aspect of the present disclosure, a program causes an in-vehicle device to execute a step of determining whether the positioning radio wave is being received, a step of obtaining first position information indicating the positioning position based on the positioning radio wave when the positioning radio wave is received, a step of obtaining second position information through wireless communication with other vehicles existing in the vicinity when the positioning radio wave is not being received, and a step of transmitting the first position information or the second position information to the passing determination device in a distinguishable manner.

[0012] According to one aspect of the present disclosure, a program causes an in-vehicle device to execute steps of determining whether positioning radio waves are being received, obtaining first position information indicating a positioning position based on the positioning radio waves when the positioning radio waves are received, obtaining second position information via wireless communication with other vehicles in the vicinity when the positioning radio waves are not being received, and determining whether to pass through a predetermined area based on the first position information and the second position information.

[0013] According to one aspect of the present disclosure, a program causes a passing determination device to execute steps of determining whether first position information indicating a positioning position based on positioning radio waves is being received from a target vehicle, determining whether the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable area when reception of the first position information from the target vehicle has stopped, waiting to receive second position information indicating a positioning position obtained by the target vehicle through wireless communication with other vehicles when the positioning position indicated by the last received first position information is near the non-positionable area, and determining whether to pass through a predetermined area based on the last received first position information and the second position information.

Advantages of the Invention

[0014] According to the in-vehicle device, passing determination device, passing determination method, and program according to the present disclosure, it is possible to obtain position information that enables determination of whether a vehicle passes through a predetermined area even when the vehicle is traveling in an area where positioning radio waves cannot be received.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Mode for Carrying Out the Invention

[0016] <First Embodiment> Hereinafter, the passage determination system 1 according to the first embodiment of the present disclosure will be described with reference to FIGS. 1 to 8.

[0017] (Overall Configuration) FIG. 1 is a schematic diagram showing the overall configuration of the passage determination system according to the first embodiment of the present disclosure. As shown in FIG. 1, the passage determination system 1 includes an in-vehicle device 10 mounted on a vehicle V and a passage determination device 20.

[0018] The vehicle-mounted device 10 receives positioning radio waves to identify the position of the vehicle V (hereinafter also referred to as "own vehicle") on which it is mounted. The positioning radio waves are radio waves containing information for identifying (positioning) the position of the vehicle V, and include, for example, radio waves of GNSS satellites 50 (hereinafter also referred to as "satellite radio waves"), and radio waves such as beacons and Wi-Fi (registered trademark) radiated by roadside devices. Further, the vehicle-mounted device 10 sequentially transmits the identified position information of the own vehicle to the passing determination device 20 via a communication network such as a mobile phone communication network, for example.

[0019] The passing determination device 20 sequentially receives position information from the vehicle V (hereinafter also referred to as "target vehicle") on which the vehicle-mounted device 10 is mounted, and determines whether the target vehicle V has passed through a predetermined area (road, section) based on the time history of this position information.

[0020] The passing determination system 1 is used, for example, in a charging system such as a toll road or a charging area, to determine whether the target vehicle V has passed through a predetermined area (road, section, etc.) where a charging point is provided. Note that the use of the passing determination system 1 is not limited to this, and it may be used in various other systems. For example, the passing determination system 1 can be used in various systems such as a route recording system for recording the driving routes of taxis, etc., an operation management system for buses, etc., and an information collection system for collecting probe information from vehicles in each area, to determine whether the target vehicle V has passed through a predetermined area (for example, an area where positioning errors and map matching errors are likely to occur, an area where bus stops are provided, a probe information collection area, etc.).

[0021] In the example of Fig. 1, vehicle VA1 is traveling in an area where satellite radio waves cannot be received due to a shield such as a tunnel (hereinafter also referred to as a "positioning impossible area"). At this time, in-vehicle device 10 of vehicle VA1 cannot perform real-time positioning of the position of vehicle VA1 until it reaches a point where satellite radio waves can be received again (the point after exiting the tunnel) after passing through the point (the point before entering the tunnel) that was positioned immediately before satellite radio waves could no longer be received. Then, in the conventional system, it is impossible to determine the passage of this vehicle while the vehicle is located in the positioning impossible area. For this reason, passage determination system 1 according to the present embodiment enables determination of passage of a predetermined area of vehicle V even during a period when in-vehicle device 10 of vehicle V cannot receive satellite radio waves, by the configuration described below. Note that the positioning impossible area includes an area where, although satellite radio waves can be received, the accuracy of the radio waves is less than a threshold value (satellite radio waves cannot be used for position calculation). For example, the accuracy threshold is determined based on the reliability (DOP (Dilution of Precision) value) included in the satellite radio waves, the horizontal error radius (the radius of a circle in which the positioning result is included with X% accuracy), and the like.

[0022] (Functional Configuration of In-Vehicle Device) Fig. 2 is a diagram showing the functional configuration of an in-vehicle device according to the first embodiment of the present disclosure. As shown in Fig. 2, in-vehicle device 10 includes a processor 11, a main memory 12, a storage 13, and a communication interface 14.

[0023] Processor 11 is, for example, a CPU, and executes each process of in-vehicle device 10. The functions of processor 11 will be described later.

[0024] Main memory 12 has a memory area necessary for the operation of processor 11.

[0025] Storage 13 is a so-called auxiliary storage device, and is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

[0026] The communication interface 14 is an interface for transmitting and receiving information with external devices (the passing determination device 20, the in-vehicle device 10 of another vehicle).

[0027] Next, the functions of the processor 11 will be described. By operating according to a predetermined program, the processor 11 exhibits functions as a radio wave determination unit 110, a first position acquisition unit 111, a second position acquisition unit 112, a transmission unit 113, and a position information return unit 114.

[0028] The radio wave determination unit 110 determines whether or not positioning radio waves are being received. The positioning radio waves include satellite radio waves of GNSS satellites 50 and radio waves of roadside devices. In the present embodiment, a mode using satellite radio waves as the positioning radio waves will be described as an example. Note that in other embodiments, radio waves of roadside devices may be used as the positioning radio waves, or both satellite radio waves and radio waves of roadside devices may be used in combination.

[0029] When the first position acquisition unit 111 receives satellite radio waves (positioning radio waves), it acquires first position information indicating a positioning position based on the satellite radio waves. That is, the first position information is the current positioning position of the host vehicle.

[0030] When the second position acquisition unit 112 is not receiving satellite radio waves (positioning radio waves), it acquires second position information via wireless communication (vehicle-to-vehicle communication) with other vehicles existing in the vicinity. In the present embodiment, other vehicles existing in the vicinity are vehicles located ahead in the traveling direction of the host vehicle, including oncoming vehicles traveling in the oncoming lane and preceding vehicles traveling ahead of the host vehicle in the same lane as the host vehicle. The second position information is information indicating the current positioning position of an oncoming vehicle or a vehicle located behind the oncoming vehicle in the traveling direction of the oncoming vehicle (a following vehicle of the oncoming vehicle). Further, the second position information is information indicating the current positioning position of a preceding vehicle or a vehicle located ahead of the preceding vehicle in the traveling direction of the preceding vehicle (a preceding vehicle of the preceding vehicle). That is, when the host vehicle cannot be positioned, the second position acquisition unit 112 inquires about the position information of other vehicles located ahead in the traveling direction and acquires second position information indicating the point where the host vehicle will go next.

[0031] The transmission unit 113 transmits the first position information or the second position information to the passing determination device 20 in a distinguishable manner.

[0032] When the position information return unit 114 receives a position information inquiry from an oncoming vehicle (the second position acquisition unit 112 of the in-vehicle device 10 of the oncoming vehicle), it returns the position information of the host vehicle or a vehicle located behind the host vehicle in the traveling direction of the host vehicle (a following vehicle of the host vehicle) to the oncoming vehicle. Further, when the position information return unit 114 receives a position information inquiry from a following vehicle (the second position acquisition unit 112 of the in-vehicle device 10 of the following vehicle), it returns the position information of the host vehicle or a vehicle located in front of the host vehicle in the traveling direction of the host vehicle (a preceding vehicle of the host vehicle) to the following vehicle.

[0033] Note that the in-vehicle device 10 enables vehicle-to-vehicle communication with an oncoming vehicle in front of the host vehicle, a preceding vehicle and a following vehicle traveling in the same lane as the host vehicle, respectively, by changing the direction in which radio waves for vehicle-to-vehicle communication are radiated. Further, the in-vehicle device 10 may detect the positions of surrounding vehicles with a camera (not shown) and radiate radio waves toward a desired vehicle. As a method for the in-vehicle device 10 to perform vehicle-to-vehicle communication with a specific vehicle (such as an oncoming vehicle in front of the host vehicle, a following vehicle or a preceding vehicle traveling in the same lane as the host vehicle), various known technologies may be used.

[0034] (Functional configuration of the passing determination device) FIG. 3 is a diagram showing the functional configuration of a passing determination device according to the first embodiment of the present disclosure. As shown in FIG. 3, the passing determination device 20 includes a processor 21, a main memory 22, a storage 23, and a communication interface 24.

[0035] The processor 21 is, for example, a CPU and executes each process of the passing determination device 20. The functions of the processor 21 will be described later.

[0036] The main memory 22 has a memory area necessary for the operation of the processor 21.

[0037] The storage 23 is a so-called auxiliary storage device, such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

[0038] The communication interface 24 is an interface for transmitting and receiving information with an external device (in-vehicle device 10).

[0039] Next, the functions of the processor 21 will be described. By operating according to a predetermined program, the processor 21 exhibits functions as a reception determination unit 210, a region determination unit 211, a waiting unit 212, and a passing determination unit 213.

[0040] The reception determination unit 210 determines whether or not the first position information indicating the positioning position based on satellite radio waves (positioning radio waves) has been received from the target vehicle V (in-vehicle device 10).

[0041] When the region determination unit 211 stops receiving the first position information from the target vehicle V, it determines whether or not the positioning position indicated by the first position information last received from the target vehicle V is near a predetermined non-positionable region.

[0042] When the positioning position indicated by the first position information last received from the target vehicle V is near a non-positionable region, the waiting unit 212 waits for the reception of the second position information indicating the positioning position obtained by the target vehicle V through wireless communication with other vehicles.

[0043] The passing determination unit 213 performs a passing determination for a predetermined area based on the first position information last received from the target vehicle V and the second position information.

[0044] (Processing Flow of In-Vehicle Device) FIG. 4 is a first flowchart showing an example of the processing of the in-vehicle device according to the first embodiment of the present disclosure. Hereinafter, with reference to FIG. 4, the flow of the process in which the in-vehicle device 10 transmits the position information of the own vehicle V to the passing determination device 20 will be described.

[0045] First, the radio wave determination unit 110 determines whether it is receiving satellite radio waves capable of positioning the position of the host vehicle V (step S100).

[0046] For example, when the accuracy of the radio wave is equal to or greater than the threshold value, the radio wave determination unit 110 determines that it is receiving satellite radio waves (step S100; YES). In this case, the first position acquisition unit 111 acquires first position information indicating the current position of the host vehicle V based on the received satellite radio waves (step S101). Since the technique of acquiring (positioning) the current position of the host vehicle V from satellite radio waves is well-known, the description thereof is omitted.

[0047] On the other hand, when the radio wave determination unit 110 determines that the accuracy of the radio wave is less than the threshold value and it is not receiving satellite radio waves (step S100; NO), the second position acquisition unit 112 performs wireless communication with the in-vehicle device 10 of the oncoming vehicle to inquire about the position information of the oncoming vehicle (step S104). Further, the second position acquisition unit 112 acquires the position information returned from the in-vehicle device 10 of the oncoming vehicle in response to the inquiry as second position information (step S105). The position information returned by the in-vehicle device 10 of the oncoming vehicle is information indicating the current positioning position of the oncoming vehicle or a vehicle following the oncoming vehicle. The process of the in-vehicle device 10 of the oncoming vehicle returning the position information will be described later. Note that FIG. 4 shows an example in which the second position acquisition unit 112 inquires the in-vehicle device 10 of the oncoming vehicle about the position information, but the present invention is not limited thereto. In step S104, the second position acquisition unit 112 may inquire the in-vehicle device 10 of a preceding vehicle traveling ahead in the same lane as the host vehicle V about the position information. In this case, the second position information received in step S105 is information indicating the current positioning position of the preceding vehicle or a vehicle traveling further ahead of the preceding vehicle.

[0048] Next, the transmission unit 113 transmits the acquired first position information or second position information to the passage determination device 20 (step S103).

[0049] The in-vehicle device 10 repeatedly executes the series of processes in FIG. 4 to sequentially transmit the position information of the host vehicle V to the passage determination device 20.

[0050] FIG. 5 is a second flowchart showing an example of the processing of the in-vehicle device according to the first embodiment of the present disclosure. Hereinafter, with reference to FIG. 5, the flow of the process in which the in-vehicle device 10 returns position information to another vehicle will be described. Note that, in the example of FIG. 5, the other vehicle is an "oncoming vehicle".

[0051] When the position information return unit 114 receives a position information inquiry from another vehicle (oncoming vehicle) (step S110), the radio wave determination unit 110 determines whether it is receiving satellite radio waves capable of positioning the position of the own vehicle V (step S111).

[0052] When the radio wave determination unit 110 determines that it is receiving satellite radio waves (step S111; YES), the position information return unit 114 returns the position information indicating the current positioning position of the own vehicle, that is, the first position information acquired by the first position acquisition unit 111, to the oncoming vehicle that is the inquiry source (step S112).

[0053] On the other hand, when the radio wave determination unit 110 determines that it is not receiving satellite radio waves (step S111; NO), the position information return unit 114 inquires of the following vehicle of the own vehicle V about the position information (step S113). Further, when the position information return unit 114 acquires the position information from the following vehicle (step S114), it returns this position information to the oncoming vehicle that is the inquiry source (step S115). Note that, in step S110 of FIG. 5, the other vehicle may be a following vehicle located behind the own vehicle V in the traveling direction. In this case, in steps S113 to S114, the position information return unit 114 acquires the position information from the preceding vehicle of the own vehicle V. Further, in step S115, the position information return unit 114 returns the position information of the preceding vehicle to the following vehicle that is the inquiry source.

[0054] Each time the in-vehicle device 10 receives a position information inquiry from another vehicle, it executes the series of processes of FIG. 5.

[0055] FIG. 6 is a first diagram for explaining the functions of the in-vehicle device according to the first embodiment of the present disclosure. For example, as shown in FIG. 6, when the vehicle VA1 is located at a point X1 outside the non-positioning area, the in-vehicle device 10 of the vehicle VA1 receives satellite radio waves (step S100 in FIG. 4; YES). Therefore, the in-vehicle device 10 of the vehicle VA1 transmits the first position information indicating the current positioning position X1 of the vehicle VA1 to the passing determination device 20 (step S103 in FIG. 4).

[0056] Also, as in the example of FIG. 6, assume that the vehicle VA1 enters a non-positioning area such as a tunnel. At this time, assume that as the oncoming vehicles of the vehicle VA1, three vehicles, namely the first oncoming vehicle VB1, the second oncoming vehicle VB2, and the third oncoming vehicle VB3, are running in a row in the order closest to the vehicle VA1. The first oncoming vehicle VB1 and the second oncoming vehicle VB2 are located in the non-positioning area in the same way as the vehicle VA1, and the third oncoming vehicle VB3 is before entering the non-positioning area.

[0057] In the non-positioning area, since the satellite radio waves are blocked by a shielding object such as the roof of the tunnel, the in-vehicle device 10 of the vehicle VA1 cannot receive the satellite radio waves (step S100 in FIG. 4; NO). Therefore, the in-vehicle device 10 of the vehicle VA1 inquires the position information from the first oncoming vehicle VB1, which is the closest other vehicle among the vehicles located in front of the traveling direction of the vehicle VA1 (step S104 in FIG. 4).

[0058] When the in-vehicle device 10 of the first oncoming vehicle VB1 receives an inquiry from the vehicle VA1 (step S110 in FIG. 5), it determines whether it is receiving satellite radio waves (step S111 in FIG. 5). In the example of FIG. 6, since the first oncoming vehicle VB1 is located in the non-positioning area, it cannot receive the satellite radio waves (step S111 in FIG. 5; NO). Therefore, the in-vehicle device 10 of the first oncoming vehicle VB1 inquires the position information from the second oncoming vehicle VB2, which is the following vehicle (step S113 in FIG. 5).

[0059] Also, in the example of FIG. 6, when the in-vehicle device 10 of the second oncoming vehicle VB2 receives an inquiry from the first oncoming vehicle VB1 which is the preceding vehicle (step S110 in FIG. 5), it is not receiving satellite radio waves (step S111 in FIG. 5; NO). Therefore, the in-vehicle device 10 of the second oncoming vehicle VB2 inquires the third oncoming vehicle VB3 which is the following vehicle about the position information (step S113 in FIG. 5).

[0060] When the in-vehicle device 10 of the third oncoming vehicle VB3 receives an inquiry from the second oncoming vehicle VB2 which is the preceding vehicle (step S110 in FIG. 5), it is receiving satellite radio waves (step S111 in FIG. 5; YES). Therefore, the in-vehicle device 10 of the third oncoming vehicle VB3 returns the position information indicating the current positioning position X2 of its own vehicle (that is, the first position information) to the second oncoming vehicle VB2 which is the inquiry source (step S112 in FIG. 5).

[0061] When the in-vehicle device 10 of the second oncoming vehicle VB2 acquires the position information from the third oncoming vehicle VB3 which is the following vehicle (step S114 in FIG. 5), it returns this position information to the first oncoming vehicle VB1 which is the inquiry source (step S115 in FIG. 5). Similarly, when the in-vehicle device 10 of the first oncoming vehicle VB1 acquires the position information from the second oncoming vehicle VB2 which is the following vehicle (step S114 in FIG. 5), it returns this position information to the vehicle VA1 which is the inquiry source (step S115 in FIG. 5).

[0062] The in-vehicle device 10 of the vehicle VA1 acquires the position information (the current positioning position X2 of the third oncoming vehicle VB3) returned from the first oncoming vehicle VB1 as the second position information (step S105 in FIG. 4). The positioning position X2 of the third oncoming vehicle VB3 is the position where the vehicle VA1 will pass in the future. The in-vehicle device 10 of the vehicle VA1 transmits the acquired second position information to the passing determination device 20 as information indicating the future position information of the vehicle VA1 (step S103 in FIG. 4).

[0063] In addition, when the in-vehicle device 10 transmits position information to the passing determination device 20, it adds identification information (flag) to at least one of the position information so that the first position information and the second position information can be distinguished. For example, when the position information transmission unit 114 of the in-vehicle device 10 returns the current positioning position of the host vehicle in step S112 of FIG. 5, it attaches a flag indicating that it is information to be provided to other vehicles and returns the position information. Further, in another embodiment, when the second position acquisition unit 112 of the in-vehicle device 10 acquires the second position information from another vehicle, it may add a flag indicating that it is information provided from the other vehicle.

[0064] FIG. 7 is a second diagram for explaining the functions of the in-vehicle device according to the first embodiment of the present disclosure. Also, as in the example of FIG. 7, the in-vehicle device 10 of the vehicle VA1 may acquire second position information indicating the positioning position X2 of the oncoming vehicle VB3 via the preceding vehicle VA2 traveling in the same lane as the host vehicle VA1. In this case, some of the processes shown in the flowcharts of FIGS. 4 and 5 are replaced with the processes described below.

[0065] In the example of FIG. 7, after the vehicle VA1 enters the non-positioning area, there is no oncoming vehicle within the communication range of vehicle-to-vehicle communication, but there is a preceding vehicle VA2 traveling in the same lane as the vehicle VA1. Also, as oncoming vehicles, two vehicles, the first oncoming vehicle VB1 and the second oncoming vehicle VB2, are traveling in succession in order from the closest to the vehicle VA2. The first oncoming vehicle VB1 is traveling in the non-positioning area, and the second oncoming vehicle VB2 has not yet entered the non-positioning area.

[0066] At this time, the in-vehicle device 10 of the vehicle VA1 inquires of the vehicle VA2, which is the preceding vehicle closest to the vehicle VA1, about the position information (step S104 in FIG. 4).

[0067] Also, when the in-vehicle device 10 of the vehicle VA2 receives an inquiry from the subsequent vehicle VA1 (step S110 in FIG. 5) and is not receiving satellite radio waves (step S111 in FIG. 5; NO), it inquires of the vehicle in the traveling direction ahead, that is, the first oncoming vehicle VB1, about the position information (step S113 in FIG. 5).

[0068] Also, in the example of FIG. 7, when the in-vehicle device 10 of the first oncoming vehicle VB1 also receives an inquiry from the vehicle VA2 (step S110 in FIG. 5), it is not receiving satellite radio waves (step S111 in FIG. 5; NO). Therefore, the in-vehicle device 10 of the first oncoming vehicle VB1 inquires of the second oncoming vehicle VB2, which is the following vehicle, about the position information (step S113 in FIG. 5).

[0069] When the in-vehicle device 10 of the second oncoming vehicle VB2 receives an inquiry from the first oncoming vehicle VB1, which is the preceding vehicle (step S110 in FIG. 5), it is receiving satellite radio waves (step S111 in FIG. 5; YES). Therefore, the in-vehicle device 10 of the second oncoming vehicle VB2 returns position information indicating the current positioning position X2 of its own vehicle (i.e., the first position information) to the first oncoming vehicle VB1 that is the source of the inquiry (step S112 in FIG. 5).

[0070] When the in-vehicle device 10 of the first oncoming vehicle VB1 acquires position information from the second oncoming vehicle VB2, which is the following vehicle (step S114 in FIG. 5), it returns this position information to the vehicle VA2 that is the source of the inquiry (step S115 in FIG. 5). Similarly, when the in-vehicle device 10 of the vehicle VA2 acquires position information from the first oncoming vehicle VB1 (step S114 in FIG. 5), it returns this position information to the vehicle VA1 that is the source of the inquiry (step S115 in FIG. 5).

[0071] The in-vehicle device 10 of the vehicle VA1 acquires the position information (the current positioning position X2 of the second oncoming vehicle VB2) returned from the vehicle VA2, which is the preceding vehicle, as the second position information (step S105 in FIG. 4). The positioning position X2 of the third oncoming vehicle VB3 is the position where the vehicle VA1 will pass in the future. The in-vehicle device 10 of the vehicle VA1 transmits the acquired second position information to the passing determination device 20 as information indicating the future position information of the vehicle VA1 (step S103 in FIG. 4).

[0072] By doing so, even when there is no oncoming vehicle in the vicinity of the in-vehicle device 10 of the host vehicle VA1, the in-vehicle device 10 can acquire the second position information of the oncoming vehicle VB2 via the preceding vehicle VA2. Further, although FIG. 7 shows an example in which the in-vehicle device 10 of the vehicle VA1 acquires the position information of the oncoming vehicle via one preceding vehicle VA2, the present invention is not limited to this. The in-vehicle device 10 of the vehicle VA1 may acquire the position information of the oncoming vehicle via two or more preceding vehicles. Thereby, the in-vehicle device 10 can quickly acquire the second position information without waiting for the host vehicle VA1 and the oncoming vehicle to approach within a vehicle-to-vehicle communication range. Further, when there is another preceding vehicle that is receiving satellite radio waves in front of the traveling direction of the preceding vehicle VA2, the in-vehicle device 10 of the preceding vehicle VA2 may acquire the position information of this other preceding vehicle and return it to the vehicle VA1 that is the inquiry source.

[0073] (Processing flow of passing determination device) FIG. 8 is a flowchart showing an example of the processing of the passing determination device according to the first embodiment of the present disclosure. Hereinafter, with reference to FIG. 8, the flow of the passing determination process of the passing determination device 20 will be described.

[0074] For example, it is assumed that the passing determination device 20 performs passing determination on the vehicle VA1 in FIG. 6. The passing determination device 20 periodically acquires position information from the in-vehicle device 10 of the vehicle VA1 and determines whether the vehicle VA1 has passed through a predetermined area.

[0075] First, the reception determination unit 210 of the passing determination device 20 determines whether it has received the first position information from the vehicle VA1 (step S120).

[0076] When the in-vehicle device 10 of the vehicle VA1 is not traveling in a non-positioning area (for example, when the vehicle VA1 is traveling on the rear side in the traveling direction from the point X1 in FIG. 6), it performs positioning based on satellite radio waves and transmits the first position information to the passing determination device 20 (steps S101 and S103 in FIG. 4). In this case, the reception determination unit 210 of the passing determination device 20 determines that it has received the first position information from the vehicle VA1 (step S120; YES).

[0077] When receiving the first position information from the vehicle VA1 (step S120; YES), the passage determination unit 213 of the passage determination device 20 determines whether the vehicle VA1 has passed through a predetermined area based on the time history of the first position information of the vehicle VA1 (step S121). In the storage 23, area information indicating the position, range, etc. of the predetermined area is recorded in advance. The passage determination unit 213 collates the area information with the time history of the first position information of the vehicle VA1 to determine whether the vehicle VA1 has passed through the predetermined area.

[0078] Also, as in the example of FIG. 6, it is assumed that the vehicle VA1 performs positioning based on satellite radio waves at the point X1 and then enters a non-positioning area. Then, since the vehicle VA1 cannot acquire the first position information, it does not transmit the first position information to the passage determination device 20. When the reception determination unit 210 of the passage determination device 20 does not receive the first position information from the vehicle VA1 for a predetermined time or more (step S120; NO), the area determination unit 211 of the passage determination device 20 determines whether the first position information last received from the vehicle VA1 (position X1 in the example of FIG. 6) is near the non-positioning area (step S122).

[0079] In the storage 23, non-positioning area information indicating the position, range, etc. of the non-positioning area is recorded in advance. When the area determination unit 211 refers to the non-positioning area information and determines that the first position information last received is separated from the non-positioning area by a certain distance or more, it determines that it is not near the non-positioning area (step S122; NO). In this case, the passage determination device 20 returns to step S120.

[0080] Also, when the area determination unit 211 determines that the first position information last received is at a position less than a certain distance from the non-positioning area, it determines that it is near the non-positioning area (step S122; YES). In this case, the waiting unit 212 of the passage determination device 20 determines whether it has received the second position information from the vehicle VA1 (step S123).

[0081] After the in-vehicle device 10 of the vehicle VA1 enters a non-positioning area, there may be no oncoming vehicle or preceding vehicle within the communication range of vehicle-to-vehicle communication, and the second position information may not be obtained immediately. In this case, since the waiting unit 212 of the passage determination device 20 cannot receive the second position information from the vehicle VA1 (step S123; NO), it waits.

[0082] Also, in the example of FIG. 6, when the in-vehicle device 10 of the vehicle VA1 acquires the second position information indicating the positioning position X2 of the oncoming vehicle VB3 via the oncoming vehicles VB1 and VB2, it transmits the second position information to the passage determination device 20 (steps S105 and S103 in FIG. 4). When a flag indicating that the second position information (position information acquired from another vehicle) is added to the position information, the waiting unit 212 of the passage determination device 20 determines that the position information received from the vehicle VA1 is the second position information (step S123; YES). Then, the passage determination unit 213 of the passage determination device 20 determines whether the vehicle VA1 passes through a predetermined area based on the last received first position information (positioning position X1) and the second position information (positioning position X2) (step S124). The second position information is the current positioning position X2 of the oncoming vehicle VB3 of the vehicle VA1 and indicates the position that the vehicle VA1 will reach in the future. Therefore, the passage determination unit 213 determines that the road (or section) connecting the last received first position information and the second position information is the future driving route of the vehicle VA1. Further, the passage determination unit 213 collates the area information with the future driving route of the vehicle VA1 to determine whether the vehicle VA1 passes through a predetermined area.

[0083] The passage determination device 20 periodically executes the series of processes in FIG. 7 to perform a passage determination for the vehicle VA1 regarding a predetermined area. Also, the determination result of the passage determination device 20 is used for processes such as a charging system.

[0084] (Function and effect) As described above, the in-vehicle device 10 according to this embodiment includes a radio wave determination unit 110 that determines whether or not satellite radio waves (positioning radio waves) are being received, a first position acquisition unit 111 that acquires first position information indicating a positioning position based on the satellite radio waves when the satellite radio waves are received, a second position acquisition unit 112 that acquires second position information via wireless communication with other vehicles existing in the vicinity when the satellite radio waves are not being received, and a transmission unit 113 that transmits the first position information or the second position information to the passing determination device 20 in a distinguishable manner.

[0085] By doing so, the in-vehicle device 10 can provide the passing determination device 20 with second position information indicating the position where the vehicle will pass in the future even when the vehicle is traveling in a non-positionable area. As a result, the passing determination device 20 can execute the passing determination of the vehicle before the vehicle exits the non-positionable area.

[0086] In addition, the in-vehicle device 10 can quickly determine the correct position of the host vehicle using the second position information after exiting the non-positionable area by acquiring in advance from other vehicles the second position information that is the position where the host vehicle will pass in the future while traveling in the non-positionable area.

[0087] Also, the second position information is information indicating the current positioning position in front of the traveling direction of the host vehicle.

[0088] By doing so, the in-vehicle device 10 can acquire, as the second position information, highly accurate position information obtained by positioning based on satellite radio waves by a vehicle (oncoming vehicle or preceding vehicle traveling in the same lane as the host vehicle) located in front of the traveling direction of the host vehicle. The current positioning position of the vehicle located in front of the traveling direction of the host vehicle is likely to be the position where the host vehicle will pass in the future. Therefore, the in-vehicle device 10 can provide the passing determination device 20 with position information that can accurately specify the traveling route of the host vehicle.

[0089] In addition, the in-vehicle device 10 may acquire the second position information from a preceding vehicle traveling in the same lane as the host vehicle or an oncoming vehicle.

[0090] By doing so, when there is no oncoming vehicle near the host vehicle, the in-vehicle device 10 can acquire the second position information from the preceding vehicle, and when there is no preceding vehicle, it can acquire the second position information from the oncoming vehicle.

[0091] In addition, when the in-vehicle device 10 receives a query for position information from an oncoming vehicle located ahead in the traveling direction of the host vehicle, the in-vehicle device 10 further includes a position information transmission unit 114 that returns the position information of the host vehicle or a following vehicle of the host vehicle to the oncoming vehicle. Also, when the position information transmission unit 114 receives a query for position information from a following vehicle located behind the host vehicle in the traveling direction, the position information transmission unit 114 returns the position information of the host vehicle or a preceding vehicle of the host vehicle to the following vehicle.

[0092] By doing so, the in-vehicle device 10 can provide the position information of the host vehicle or a following vehicle of the host vehicle to an oncoming vehicle traveling in a non-positioning area. Also, the in-vehicle device 10 can provide the position information of the host vehicle or a preceding vehicle of the host vehicle to a following vehicle traveling in a non-positioning area.

[0093] In addition, when the position information transmission unit 114 of the in-vehicle device 10 is receiving satellite radio waves, the position information transmission unit 114 returns the first position information indicating the positioning position of the host vehicle to the oncoming vehicle or following vehicle that is the query source.

[0094] By doing so, the in-vehicle device 10 can provide highly accurate position information obtained by positioning based on satellite radio waves to an oncoming vehicle or a following vehicle.

[0095] In addition, when the position information transmission unit 114 of the in-vehicle device 10 is not receiving satellite radio waves, the position information transmission unit 114 returns the position information indicating the current positioning position of a following vehicle of the host vehicle to the oncoming vehicle that is the query source. When the query source is a following vehicle, the position information transmission unit 114 returns the information indicating the current positioning position of a preceding vehicle of the host vehicle.

[0096] By doing so, when in-vehicle device 10 receives an inquiry from an oncoming vehicle, even if the host vehicle is traveling in a non-positioning area, the in-vehicle device 10 can provide the oncoming vehicle with highly accurate position information obtained by subsequent vehicles of the host vehicle through satellite radio waves. Also, when in-vehicle device 10 receives an inquiry from a subsequent vehicle, even if the host vehicle is traveling in a non-positioning area, the in-vehicle device 10 can provide the subsequent vehicle with highly accurate position information obtained by the preceding vehicle of the host vehicle through satellite radio waves.

[0097] Also, the passage determination device 20 according to the present embodiment includes a reception determination unit 210 that determines whether or not it has received first position information indicating a positioning position based on satellite radio waves from a target vehicle, and when it stops receiving the first position information from the target vehicle, a region determination unit 211 that determines whether or not the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positioning area, and a waiting unit 212 that waits for reception of second position information indicating a positioning position obtained by the target vehicle through wireless communication with other vehicles when the positioning position indicated by the last received first position information is near the non-positioning area, and a passage determination unit 213 that performs passage determination for a predetermined area based on the last received first position information and the second position information.

[0098] By doing so, even if the target vehicle is traveling in a non-positioning area, the passage determination device 20 can identify the traveling route of this target vehicle and perform passage determination based on the first position information and the second position information indicating the future passage position of the vehicle.

[0099] Note that the first position information and the second position information may include the positioning time. In this case, the passage determination device 20 may obtain the traffic conditions (traffic volume, speed of each vehicle, etc.) of the lane in which the target vehicle travels and the oncoming lane based on the first position information and the second position information (positioning position and positioning time) collected from the target vehicle. For example, when the passage determination device 20 receives the second position information indicating the past positioning time of a target vehicle traveling at a certain point, it can know that there was no vehicle traveling at a position where positioning was possible in front of the traveling direction of this target vehicle during the period from the past positioning time to the current time.

[0100] <Second Embodiment> Next, the passing determination system 1 according to the second embodiment of the present disclosure will be described with reference to FIGS. 9 to 10. The same reference numerals are given to the components common to the first embodiment, and the detailed description thereof is omitted.

[0101] FIG. 9 is a flowchart showing an example of the processing of the in-vehicle device according to the second embodiment of the present disclosure. For example, as shown in FIG. 9, it is assumed that there is no preceding vehicle capable of receiving satellite radio waves in front of the vehicle VA1. Also, when the in-vehicle device 10 of the vehicle VA1 receives a position information inquiry, it is assumed that the oncoming vehicle VB1 is also located in a non-positioning area and there is no following vehicle of the oncoming vehicle VB1. In this case, the in-vehicle device 10 of the oncoming vehicle VB1 cannot return the current positioning position of its own vehicle or the following vehicle to the vehicle VA1. Therefore, in such a case, the in-vehicle device 10 of the oncoming vehicle VB1 returns the past positioning position of its own vehicle to the vehicle VA1 instead of the current positioning position. The specific flow of this process will be described with reference to the flowchart of FIG. 10. Also, the process of the in-vehicle device 10 of the vehicle VA1 making a position information inquiry to the oncoming vehicle VB1 is the same as that in the first embodiment (FIG. 4).

[0102] (Processing Flow of In-Vehicle Device) FIG. 10 is a flowchart showing an example of the processing of the in-vehicle device according to the second embodiment of the present disclosure. Hereinafter, with reference to FIGS. 9 and 10, the flow of the process in which the in-vehicle device 10 according to the present embodiment returns position information to other vehicles will be described. Note that the other vehicle in FIG. 10 is the "oncoming vehicle".

[0103] For example, as shown in FIG. 9, when the vehicle VA1 enters a non-positioning area and cannot receive satellite radio waves (step S100 in FIG. 4; NO), the in-vehicle device 10 of the vehicle VA1 makes a position information inquiry to the oncoming vehicle VB1 (step S104 in FIG. 4).

[0104] Also, as shown in FIG. 10, when the in-vehicle device 10 of the oncoming vehicle VB1 receives an inquiry from the vehicle VA1 (step S200), it determines whether it is receiving satellite radio waves (step S201). When the in-vehicle device 10 of the oncoming vehicle VB1 is receiving satellite radio waves (step S201; YES), it returns the positioning position (first position information) of its own vehicle to the vehicle VA1 (step S202). These processes are the same as those in the first embodiment (steps S110 to S112 in FIG. 5).

[0105] Also, as in the example of FIG. 9, when the oncoming vehicle VB1 is located in a non-positionable area, the in-vehicle device 10 of the oncoming vehicle VB1 cannot receive satellite radio waves (S201; NO). Therefore, the in-vehicle device 10 of the oncoming vehicle VB1 determines whether there is a following vehicle behind its own vehicle in the traveling direction (step S203).

[0106] When there are following vehicles (second oncoming vehicles VB2, VB3) as in the example of FIG. 6 (step S203; YES), an inquiry for position information is made to the following vehicles (step S204). When position information is obtained from the following vehicles (step S205), it is returned to the vehicle VA1 (step S206). The processes of steps S204 to S206 are the same as those in the first embodiment (steps S113 to S115 in FIG. 5).

[0107] On the other hand, as in the example of FIG. 9, when there is no following vehicle (step S203; NO), the in-vehicle device 10 (position information return unit 114) of the oncoming vehicle VB1 returns the past positioning position, which is the position last measured when satellite radio waves could be received (in the example of FIG. 9, the previous positioning position X2) to the vehicle VA1 (step S207). At this time, the in-vehicle device 10 of the oncoming vehicle VB1 may add a flag indicating that it is the past positioning position X2 of its own vehicle and return it to the vehicle VA1. Thereby, the in-vehicle device 10 of the vehicle VA1 can distinguish whether the second position information obtained from the oncoming vehicle VB1 is the current positioning position of the oncoming vehicle or a past positioning position.

[0108] When the vehicle-mounted device 10 of the vehicle VA1 acquires the second position information (the past positioning position X2 of the oncoming vehicle VB1) from the oncoming vehicle VB1 (step S105 in FIG. 4), it transmits this to the passing determination device 20 (step S103 in FIG. 4).

[0109] (Function and effect) As described above, in the vehicle-mounted device 10 according to the present embodiment, the second position information is the past positioning position of the oncoming vehicle, and is information indicating the position last positioned when the oncoming vehicle was able to receive radio waves.

[0110] By doing so, even when the traffic volume is relatively small and there is no vehicle capable of receiving satellite radio waves in front of the traveling direction of the host vehicle VA1, if there is only one oncoming vehicle traveling, the vehicle-mounted device 10 can acquire the past positioning position of this oncoming vehicle as the second position information with a high possibility that the host vehicle will pass through in the future.

[0111] <Third Embodiment> Next, the passing determination system 1 according to the second embodiment of the present disclosure will be described with reference to FIGS. 11 to 12. The same reference numerals are given to the components common to the first and second embodiments, and the detailed description thereof is omitted. In the passing determination system 1 according to the present embodiment, instead of the passing determination device 20, the vehicle-mounted device 10 executes the passing determination of the host vehicle. Therefore, the passing determination system 1 according to the present embodiment may omit the passing determination device 20.

[0112] (Functional configuration of the vehicle-mounted device) FIG. 11 is a diagram showing the functional configuration of the vehicle-mounted device according to the third embodiment of the present disclosure. As shown in FIG. 11, in the vehicle-mounted device 10 according to the present embodiment, the processor 11 further functions as an area determination unit 115 and a passing determination unit 116. The functions of the area determination unit 115 and the passing determination unit 116 are the same as the functions of the area determination unit 211 and the passing determination unit 213 of the passing determination device 20 according to the first embodiment.

[0113] (Processing flow of the vehicle-mounted device) FIG. 12 is a flowchart showing an example of the processing of the in-vehicle device according to the third embodiment of the present disclosure. Hereinafter, with reference to FIG. 12, the flow of the passing determination process in the in-vehicle device 10 of the present embodiment will be described.

[0114] First, the radio wave determination unit 110 determines whether it is receiving satellite radio waves capable of positioning the position of the host vehicle V (step S300). This process is the same as that in the first embodiment (step S100 in FIG. 4).

[0115] When the radio wave determination unit 110 determines that it is receiving satellite radio waves (step S100; YES), the first position acquisition unit 111 acquires first position information indicating the current position of the host vehicle V based on the received satellite radio waves (step S301). This process is the same as that in the first embodiment (step S101 in FIG. 4).

[0116] Also, the passing determination unit 116 determines whether the host vehicle V has passed through a predetermined area based on the time history of the first position information of the host vehicle V (step S302). This process is the same as the process of the passing determination device 20 according to the first embodiment (step S121 in FIG. 8).

[0117] On the other hand, when the radio wave determination unit 110 determines that it is not receiving satellite radio waves (step S300; NO), the area determination unit 115 determines whether the last acquired first position information is near a non-positionable area (step S303). This process is the same as the process of the passing determination device 20 according to the first embodiment (step S122 in FIG. 8).

[0118] When it is determined that the last acquired first position information is not near a non-positionable area (step S303; NO), the in-vehicle device 10 returns to step S300.

[0119] Also, when it is determined that the last acquired first position information is near a non-positionable area (step S303; YES), the second position acquisition unit 112 performs wireless communication with the in-vehicle device 10 of the oncoming vehicle and inquires about the position information of the oncoming vehicle (step S304). Further, the second position acquisition unit 112 acquires, as second position information, the position information returned from the in-vehicle device 10 of the oncoming vehicle in response to the inquiry (step S305). The processes of steps S304 to S306 are the same as those of the first embodiment (steps S104 to S105 in FIG. 4).

[0120] Next, the passage determination unit 116 determines whether the host vehicle V passes through a predetermined area based on the last acquired first position information and the second position information (position measurement X2) (step S124). This process is the same as the process of the passage determination device 20 according to the first embodiment (step S124 in FIG. 8).

[0121] The in-vehicle device 10 periodically executes the series of processes in FIG. 12 to determine whether the host vehicle V passes through a predetermined area. Also, the determination result of the in-vehicle device 10 is used for processes such as a charging system.

[0122] (Function and effect) As described above, the in-vehicle device according to the present embodiment includes a passage determination unit 116 that determines whether the host vehicle V passes through a predetermined area based on the first position information and the second position information.

[0123] By doing so, the in-vehicle device 10 mounted on each vehicle can determine by itself whether the host vehicle has passed through a predetermined area. Also, even when the host vehicle is traveling in a non-positionable area, it is possible to determine whether the host vehicle will pass through a predetermined area in the future by using the second position information acquired from the oncoming vehicle.

[0124] As described above, although some embodiments according to the present disclosure have been described, all of these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, as well as in the invention described in the claims and the equivalent scope thereof.

[0125] <Appendix> The in-vehicle device, passing determination device, passing determination method, and program described in the above embodiments are understood as follows, for example.

[0126] (1) According to the first aspect of the present disclosure, the in-vehicle device (10) includes a radio wave determination unit (110) that determines whether or not positioning radio waves are being received, a first position acquisition unit (111) that acquires first position information indicating a positioning position based on the positioning radio waves when the positioning radio waves are received, a second position acquisition unit (112) that acquires second position information via wireless communication with other vehicles existing in the vicinity when the positioning radio waves are not being received, and a transmission unit (113) that transmits the first position information or the second position information to the passing determination device in a distinguishable manner.

[0127] By doing so, the in-vehicle device can provide the passing determination device with second position information indicating the position where the vehicle will pass in the future even when the vehicle is traveling in a non-positionable area. Thereby, the passing determination device can execute the passing determination of the vehicle before the vehicle exits the non-positionable area.

[0128] (2) According to the second aspect of the present disclosure, in the in-vehicle device (10) according to the first aspect, the second position information is information indicating the current positioning position of a vehicle located ahead in the traveling direction of the own vehicle.

[0129] By doing so, the in-vehicle device can acquire, as second position information, highly accurate position information obtained by positioning a vehicle (oncoming vehicle or preceding vehicle traveling in the same lane as the host vehicle) located ahead of the host vehicle in the traveling direction based on positioning radio waves. The current positioning position of the vehicle located ahead of the host vehicle in the traveling direction is highly likely to be a position where the host vehicle will pass in the future. Therefore, the in-vehicle device can provide the passing determination device with position information that can accurately identify the traveling route of the host vehicle.

[0130] (3) According to a third aspect of the present disclosure, in the in-vehicle device (10) according to the first or second aspect, the second position information is information indicating a past positioning position of an oncoming vehicle, which is a positioning position obtained when the oncoming vehicle was capable of receiving positioning radio waves.

[0131] By doing so, even when there is little traffic and there is no vehicle capable of receiving positioning radio waves ahead of the host vehicle in the traveling direction, if there is only one oncoming vehicle traveling, the in-vehicle device can acquire the past positioning position of this oncoming vehicle as second position information with a high possibility that the host vehicle will pass in the future.

[0132] (4) According to a fourth aspect of the present disclosure, the in-vehicle device (10) according to any one of the first to third aspects further includes a position information return unit (114) that, when receiving a query for position information from a vehicle located ahead of the host vehicle in the traveling direction, returns the position information of the host vehicle or a vehicle located behind the host vehicle in the traveling direction to the querying vehicle, and when receiving a query for position information from a vehicle located behind the host vehicle in the traveling direction, returns the position information of the host vehicle or a vehicle located ahead of the host vehicle in the traveling direction to the querying vehicle.

[0133] By doing so, the in-vehicle device can provide the position information of the host vehicle or a following vehicle of the host vehicle to an oncoming vehicle traveling in a non-positioning area. Further, the in-vehicle device can provide the position information of the host vehicle or a preceding vehicle of the host vehicle to a following vehicle traveling in a non-positioning area.

[0134] (5) According to the fifth aspect of the present disclosure, in the vehicle-mounted device (10) according to the fourth aspect, when the position information sending unit (114) is receiving positioning radio waves, it returns the first position information indicating the positioning position of the host vehicle to the vehicle that is the inquiry source.

[0135] By doing so, the vehicle-mounted device can provide the vehicle that is the inquiry source with highly accurate position information obtained by positioning based on the positioning radio waves.

[0136] (6) According to the sixth aspect of the present disclosure, in the vehicle-mounted device (10) according to the fourth or fifth aspect, when the position information sending unit (114) is not receiving positioning radio waves, it returns the position information indicating the current positioning position of the vehicle located in front of or behind the traveling direction of the host vehicle to the vehicle that is the inquiry source.

[0137] By doing so, even when the host vehicle is traveling in a non-positioning area, the vehicle-mounted device can provide the vehicle that is the inquiry source with highly accurate position information obtained by positioning the following vehicle of the host vehicle based on the positioning radio waves.

[0138] (7) According to the seventh aspect of the present disclosure, in the vehicle-mounted device (10) according to any one of the fourth to sixth aspects, when the position information sending unit (114) is not receiving positioning radio waves, it returns the past positioning position of the host vehicle, which is the positioning position obtained when the host vehicle was able to receive the positioning radio waves, to the vehicle that is the inquiry source.

[0139] By doing so, even when the host vehicle is traveling in a non-positioning area and there is no vehicle that can receive the positioning radio waves among the following vehicles of the host vehicle, the vehicle-mounted device can provide the past positioning position of the host vehicle as position information with a high possibility of being passed by the oncoming vehicle in the future.

[0140] (8) According to an eighth aspect of the present disclosure, an in-vehicle device (10) is an in-vehicle device (10) mounted on a vehicle and configured to determine whether the vehicle has passed through a predetermined area based on the time history of the position information of the vehicle. The in-vehicle device (10) includes a radio wave determination unit (110) that determines whether it is receiving positioning radio waves, a first position acquisition unit (111) that acquires first position information indicating a positioning position based on the positioning radio waves when the positioning radio waves are received, a second position acquisition unit (112) that acquires second position information through wireless communication with other vehicles existing in the vicinity when the positioning radio waves are not being received, and a passage determination unit (116) that determines whether the vehicle has passed through the predetermined area based on the first position information and the second position information.

[0141] By doing so, the in-vehicle device mounted on each vehicle can determine on its own whether the host vehicle has passed through the predetermined area. Also, even when the host vehicle is traveling in a non-positionable area, it is possible to determine whether the host vehicle will pass through the predetermined area in the future using the second position information acquired from the oncoming vehicle.

[0142] (9) According to a ninth aspect of the present disclosure, a passage determination device (20) is a passage determination device (20) that sequentially receives position information from a target vehicle and determines whether the target vehicle has passed through a predetermined area based on the time history of the position information. The passage determination device (20) includes a reception determination unit (210) that determines whether it is receiving first position information indicating a positioning position based on positioning radio waves from the target vehicle, a region determination unit (211) that determines whether the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable region when the reception of the first position information from the target vehicle stops, a waiting unit (212) that waits for the reception of second position information indicating a positioning position acquired by the target vehicle through wireless communication with other vehicles when the positioning position indicated by the first position information last received is near the non-positionable region, and a passage determination unit (213) that determines whether the target vehicle has passed through the predetermined area based on the first position information last received and the second position information.

[0143] (10) According to the tenth aspect of the present disclosure, the passage determination method includes: determining whether positioning radio waves are being received; when positioning radio waves are received, obtaining first position information indicating a positioning position based on the positioning radio waves; when positioning radio waves are not being received, obtaining second position information via wireless communication with other vehicles present in the vicinity; and performing passage determination for a predetermined area based on the first position information and the second position information.

[0144] (11) According to the eleventh aspect of the present disclosure, the program causes the in-vehicle device (10) to execute: determining whether positioning radio waves are being received; when positioning radio waves are received, obtaining first position information indicating a positioning position based on the positioning radio waves; when positioning radio waves are not being received, obtaining second position information via wireless communication with other vehicles present in the vicinity; and transmitting the first position information or the second position information to the passage determination device in a distinguishable manner.

[0145] (12) According to the twelfth aspect of the present disclosure, the program causes the in-vehicle device (10) to execute: determining whether positioning radio waves are being received; when positioning radio waves are received, obtaining first position information indicating a positioning position based on the positioning radio waves; when positioning radio waves are not being received, obtaining second position information via wireless communication with other vehicles present in the vicinity; and performing passage determination for a predetermined area based on the first position information and the second position information.

[0146] (13) According to the 13th aspect of the present disclosure, the program includes steps of determining whether the program has received first position information indicating a positioning position based on positioning radio waves from a target vehicle, determining whether the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable area when the reception of the first position information from the target vehicle stops, waiting for reception of second position information indicating a positioning position acquired by the target vehicle through wireless communication with other vehicles when the positioning position indicated by the last received first position information is near the non-positionable area, and performing a passage determination for a predetermined area based on the last received first position information and the second position information, and causing a passage determination device (20) to execute these steps.

Explanation of Signs

[0147] 1 Passage determination system 10 Vehicle-mounted device 11 Processor 110 Radio wave determination unit 111 First position acquisition unit 112 Second position acquisition unit 113 Transmission unit 114 Position information return unit 115 Area determination unit 116 Passage determination unit 12 Main memory 13 Storage 14 Communication interface 20 Passage determination device 21 Processor 210 Reception determination unit 211 Area determination unit 212 Waiting unit 213 Passage determination unit 22 Main memory 23 Storage 24 Communication interface 50 GNSS satellite

Claims

1. A radio wave determination unit that determines whether or not positioning radio waves are being received, a first position acquisition unit that, when the positioning radio waves are received, acquires first position information indicating a positioning position based on the positioning radio waves, a second position acquisition unit that, when the positioning radio waves are not being received, acquires second position information via wireless communication with other vehicles existing in the vicinity, a transmission unit that transmits the first position information or the second position information to a passage determination device in a distinguishable manner, An in-vehicle device comprising the above.

2. The second position information is information indicating the current positioning position of a vehicle located in front of the traveling direction of the host vehicle, The in-vehicle device according to Claim 1.

3. The second position information is information indicating a past positioning position of an oncoming vehicle, which is a positioning position obtained when the oncoming vehicle was capable of receiving positioning radio waves, The in-vehicle device according to Claim 1 or 2.

4. When a request for position information is received from a vehicle located in front of the traveling direction of the host vehicle, the position information of the host vehicle or a vehicle located behind the traveling direction of the host vehicle is returned to the vehicle that made the inquiry. When a request for position information is received from a vehicle located behind the traveling direction of the host vehicle, the position information of the host vehicle or a vehicle located in front of the traveling direction of the host vehicle is returned to the vehicle that made the inquiry. Further comprising a position information return unit, The in-vehicle device according to any one of Claims 1 to 3.

5. When the positioning radio waves are being received, the position information return unit returns the first position information indicating the positioning position of the host vehicle to the vehicle that made the inquiry. The in-vehicle device according to Claim 4.

6. When the positioning radio waves are not being received, the position information return unit returns position information indicating the current positioning position of a vehicle located in front of or behind the traveling direction of the host vehicle to the other vehicle that made the inquiry. The in-vehicle device according to Claim 4 or 5.

7. When the positioning radio waves are not being received, the position information return unit returns a past positioning position of the host vehicle, which is a positioning position obtained when the host vehicle was capable of receiving positioning radio waves, to the vehicle that made the inquiry. The in-vehicle device according to any one of Claims 4 to 6.

8. An in-vehicle device mounted on a vehicle that performs passage determination of a predetermined area based on the time history of the position information of the vehicle, a radio wave determination unit that determines whether or not positioning radio waves are being received, a first position acquisition unit that, when the positioning radio waves are received, acquires first position information indicating a positioning position based on the positioning radio waves, When the positioning radio wave is not being received, a second position acquisition unit that acquires second position information via wireless communication with other vehicles present in the vicinity; A passage determination unit that determines passage through the predetermined area based on the first position information and the second position information; Comprising: When the passage determination unit acquires second position information, it determines the section connecting the acquired second position information and the first position information last acquired before acquiring the second position information as the future travel route of the vehicle. When the future travel route is included in the predetermined area, it determines that the vehicle will pass through the predetermined area. Vehicle-mounted device.

9. A passage determination device that sequentially receives position information from a target vehicle and determines passage through a predetermined area based on the time history of the position information, comprising: A reception determination unit that determines whether or not first position information indicating a positioning position based on a positioning radio wave is being received from the target vehicle; When the reception of the first position information from the target vehicle stops, an area determination unit that determines whether or not the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable area; When the positioning position indicated by the last received first position information is near the non-positionable area, a waiting unit that waits for reception of second position information indicating a positioning position acquired by the target vehicle through wireless communication with other vehicles; A passage determination unit that determines passage through the predetermined area based on the last received first position information and the second position information; A passage determination device comprising:

10. A step of determining whether or not a positioning radio wave is being received; When the positioning radio wave is received, a step of acquiring first position information indicating a positioning position based on the positioning radio wave; When the positioning radio wave is not being received, a step of acquiring second position information via wireless communication with other vehicles present in the vicinity; A step of determining passage through a predetermined area based on the first position information and the second position information; Having: In the step of performing the passage determination, when second position information is acquired, the section connecting the acquired second position information and the first position information last acquired before acquiring the second position information is determined as the future travel route of the vehicle. When the future travel route is included in the predetermined area, it is determined that the vehicle will pass through the predetermined area. Passage determination method.

11. A step of determining whether or not a positioning radio wave is being received; When receiving the positioning radio wave, a step of obtaining first position information indicating a positioning position based on the positioning radio wave; When not receiving the positioning radio wave, a step of obtaining second position information via wireless communication with other vehicles existing in the vicinity; A step of transmitting the first position information or the second position information to a passing determination device in a distinguishable manner; A program for causing an in-vehicle device to execute.

12. A step of determining whether or not the positioning radio wave is being received; When receiving the positioning radio wave, a step of obtaining first position information indicating a positioning position based on the positioning radio wave; When not receiving the positioning radio wave, a step of obtaining second position information via wireless communication with other vehicles existing in the vicinity; A step of performing passing determination for a predetermined area based on the first position information and the second position information; A program for causing an in-vehicle device to execute, In the step of performing the passing determination, when obtaining the second position information, a section connecting the obtained second position information and the first position information last obtained before obtaining the second position information is determined as the future driving route of the vehicle, and when the future driving route is included in the predetermined area, it is determined that the vehicle passes through the predetermined area. Program.

13. A step of determining whether or not first position information indicating a positioning position based on a positioning radio wave is being received from a target vehicle; When the reception of the first position information from the target vehicle stops, a step of determining whether or not the positioning position indicated by the first position information last received from the target vehicle is near a predetermined non-positionable area; When the positioning position indicated by the last received first position information is near the non-positionable area, a step of waiting to receive second position information indicating a positioning position obtained by the target vehicle through wireless communication with other vehicles; A step of performing passing determination for a predetermined area based on the last received first position information and the second position information; A program for causing a passing determination device to execute.

Images