Vehicle positioning system and own vehicle support information providing program

Abstract

A vehicular positioning system (1) comprises: an other-vehicle support information receiving unit (6a) for receiving other-vehicle support information transmitted from an other vehicle at the periphery of a subject vehicle; a peripheral information analyzing unit (7) for acquiring a positioning performance of the other vehicle by analyzing the other-vehicle support information; a positioning unit (3) for performing positioning on the basis of satellite information acquired by the subject vehicle and the positioning performance of the other vehicle; a positioning accuracy determining unit (4) for determining a positioning accuracy of the subject vehicle on the basis of a positioning performance of the subject vehicle and the positioning performance of the other vehicle; a subject vehicle support information generating unit (5) for generating subject vehicle support information on the basis of the determination result obtained by the positioning accuracy determining unit; and a subject vehicle support information transmitting unit (6b) for transmitting the subject vehicle support information to the other vehicle.

Description

Cross - reference to related applications

[0001] This disclosure is based on Japanese Application No. 2022 - 116478 filed on July 21, 2022, the contents of which are incorporated herein by reference.

Technical Field

[0002] This disclosure relates to a vehicle positioning system and a self - vehicle support information providing program.

Background Art

[0003] In an infrastructure cooperation system, it is important to share the self - vehicle position indicating the current position of the self - vehicle with other vehicles around the self - vehicle. However, there are differences in the positioning performance of each vehicle due to factors such as the performance of the GNSS receiver mounted on the vehicle and the positioning algorithm. Therefore, even if the positioning performance of the self - vehicle is excellent, if the positioning performance of other vehicles is poor, there is a risk that sufficient services cannot be provided. For example, Patent Document 1 discloses a technique for comparing the positioning performance of the self - vehicle and other vehicles.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] In Patent Document 1, when the positioning performance of other vehicles is inferior to that of the self - vehicle, it is not a configuration for providing support information effective for improving the positioning accuracy from the self - vehicle to other vehicles, and the positioning accuracy of the entire system including other vehicles cannot be improved.

[0006] An object of this disclosure is to improve the positioning accuracy of the entire system including other vehicles around the self - vehicle.

[0007] According to one aspect of this disclosure, the other - vehicle support information receiving unit receives other - vehicle support information transmitted from other vehicles around the self - vehicle. The surrounding information analysis unit analyzes the other - vehicle support information and the, based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation Obtain the positioning performance. The positioning unit performs positioning based on the satellite information acquired in the host vehicle and the positioning performance of other vehicles. The positioning accuracy determination unit determines the positioning accuracy of the host vehicle based on the , based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation positioning performance of the host vehicle and 、 the positioning performance of other vehicles. The host vehicle support information generation unit generates host vehicle support information including at least any one of information on which satellites were used or not used for positioning, ephemeris information, and pseudo range correction information, based on the determination result of the positioning accuracy determination unit. The host vehicle support information transmission unit transmits the host vehicle support information to other vehicles. , capable of identifying points where the positioning performance of the host vehicle is superior to that of other vehicles and points where the positioning performance of other vehicles is superior to that of the host vehicle The positioning was performed based on the satellite information acquired in the host vehicle and the positioning performance of other vehicles by analyzing the other vehicle support information transmitted from other vehicles around the host vehicle and obtaining the positioning performance of other vehicles. The positioning accuracy of the host vehicle is determined based on the positioning performance of the host vehicle and the positioning performance of other vehicles, and based on the determination result,

[0008] host vehicle support information is generated and the generated host vehicle support information is transmitted to other vehicles. When the positioning performance of other vehicles is inferior to that of the host vehicle, by transmitting the host vehicle support information to other vehicles, it is possible to provide support information effective for improving the positioning accuracy from the host vehicle to other vehicles, and to improve the positioning accuracy of the entire system including other vehicles. , including at least any one of information on which satellites were used or not used for positioning, ephemeris information, and pseudo-range correction information

Brief Description of the Drawings

[0009] Figure 1 is a functional block diagram showing one embodiment,

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment will be described with reference to the drawings. Note that the global navigation satellite system (GNSS (Global Navigation Satellite System)) described in this embodiment means the general name of satellite positioning systems such as the US GPS (Global Positioning System), the Japanese quasi-zenith satellite (QZSS (Quasi-Zenith Satellite System)), the Russian GLONASS, the European Union's Galileo, and the Chinese BDS (BeiDou Navigation Satellite System).

[0011] As shown in FIG. 1, a vehicle positioning system 1 mounted on a vehicle includes a GNSS antenna 2, a positioning unit 3, a positioning accuracy determination unit 4, a host vehicle support information generation unit 5, an RF transceiver 6, a surrounding information analysis unit 7, a host vehicle support information database (DB) 8, and an other vehicle support information database (DB) 9. Each of these functional blocks 3 to 9 is mainly configured by a microcomputer (hereinafter referred to as a microcontroller) having a CPU, a RAM, a ROM, an I / O port, etc. The microcontroller executes control by software processing in which a computer program stored in a non-transitory tangible storage medium is executed by the CPU and hardware processing by a dedicated electronic circuit, and controls the operation of the vehicle positioning system 1. The computer program executed by the CPU includes a host vehicle support information providing program.

[0012] The GNSS antenna 2 receives GNSS satellite signals transmitted from GNSS satellites orbiting the sky. The RF transceiver 6 includes an other vehicle support information receiving unit 6a and a host vehicle support information transmitting unit 6b. The other vehicle support information receiving unit 6a monitors, at a predetermined period, the reception of other vehicle support information transmitted from other vehicles around the host vehicle in a vehicle drivable state when the ignition is on. When the other vehicle support information receiving unit 6a detects the reception of other vehicle support information transmitted from another vehicle, it stores the received other vehicle support information in the other vehicle support information DB 9. The other vehicle support information transmitted from another vehicle includes the positioning performance of the vehicle positioning system mounted on the other vehicle. The positioning performance of the vehicle positioning system mounted on another vehicle is referred to as the positioning performance of the other vehicle.

[0013] The surrounding information analysis unit 7 refers to the other vehicle support information DB 9 at a predetermined period in a vehicle drivable state when the ignition is on, for example. When unanalyzed other vehicle support information is stored in the other vehicle support information DB 9, the surrounding information analysis unit 7 acquires and analyzes the unanalyzed other vehicle support information to obtain the positioning performance of the other vehicle. When the surrounding information analysis unit 7 obtains the positioning performance of the other vehicle, it outputs the obtained positioning performance of the other vehicle to the positioning unit 3 and the positioning accuracy determination unit 4.

[0014] The positioning unit 3 acquires GNSS information (corresponding to satellite information) as a parameter from the GNSS signals received by the GNSS antenna 2, and performs positioning based on the acquired GNSS information and the positioning performance of other vehicles input from the surrounding information analysis unit 7.

[0015] The positioning accuracy determination unit 4 determines the positioning accuracy of the host vehicle based on the positioning performance of the host vehicle and the positioning performance of other vehicles input from the surrounding information analysis unit 7. As shown in FIG. 2, the information used by the positioning accuracy determination unit 4 to determine the positioning accuracy includes information calculated according to the positioning situation and vehicle-specific information. Vehicle-specific information is information that is not calculated according to the positioning situation and does not depend on the positioning situation.

[0016] The information calculated according to the positioning situation is information such as the information of the satellites used for positioning, reliability, etc. The information of the satellites used for positioning is the carrier-to-noise density ratio (CN (Carrier to Noise Density Ratio)), reduction rate, satellite system information, etc. The reduction rate is the value obtained by dividing the number of satellites not used for positioning by the total number of captured satellites. If the reliability is high, the evaluation of the information calculated according to the positioning situation is high, and if the reliability is low, the evaluation of the information calculated according to the positioning situation is low.

[0017] Vehicle-specific information is antenna information, positioning algorithm and chip performance, satellite systems available for positioning, inertial sensor information, etc. Antenna information is the antenna mounting position and antenna type. The antenna mounting position is the height and antenna type. The antenna type may be in categories such as roof and in-panel. The positioning algorithm and chip performance are information related to RTK (Real Time Kinematic), DGPS (Differential Global Positioning System), two-frequency positioning, etc. Inertial sensor information is information related to the observation axis and resolution, etc. When the positioning accuracy determination unit 4 determines the positioning accuracy of the host vehicle, it outputs the determination result to the host vehicle support information generation unit 5.

[0018] When the own-vehicle support information generation unit 5 receives the determination result from the positioning accuracy determination unit 4, it generates own-vehicle support information based on the input determination result and stores the generated own-vehicle support information in the own-vehicle support information DB 8. The own-vehicle support information transmission unit 6b refers to the own-vehicle support information DB 8 at a predetermined cycle, for example, when the vehicle is in a drivable state with the ignition on. When there is untransmitted own-vehicle support information stored in the own-vehicle support information DB 8, the untransmitted own-vehicle support information is transmitted to the positioning system for other vehicles. In this case, the own-vehicle support information transmission unit 6b may transmit, together with the own-vehicle support information, the determination materials of the measurement accuracy in the measurement accuracy determination unit 4 to the positioning system for other vehicles.

[0019] As shown in FIG. 2, the own-vehicle support information and the other-vehicle support information are information such as which satellites were used or not used for positioning, ephemeris information, and pseudo-range correction information. The pseudo-range correction information is information received from a module corresponding to a two-frequency positioning-capable module, RTK, or DGPS.

[0020] Here, the determination result of the positioning accuracy of the own vehicle by the positioning accuracy determination unit 4 will be described with reference to FIGS. 3 to 7. As shown in FIG. 3, four patterns are assumed as the determination result of the positioning accuracy of the own vehicle by the positioning accuracy determination unit 4. Each pattern will be described below. Note that the classification of whether the positioning accuracy of the own vehicle is good or bad is a classification by comparison with the positioning accuracy of other vehicles. The classification of whether the number of satellites used for positioning (the number of used satellites) is large or small is a relative classification.

[0021] (1) When the positioning accuracy of the own vehicle is poor and the number of used satellites is large (see FIG. 4) When the positioning accuracy of the vehicle is poor and the number of satellites used is large, it is assumed that many of the satellites used for positioning in the vehicle positioning system 1 of the vehicle are likely to be multipath. In this case, the vehicle positioning system 1 of the vehicle can expect to eliminate multipath and improve the positioning accuracy of the vehicle by reducing the satellites used for positioning. The vehicle positioning system 1 of the vehicle determines the satellites used for positioning by a majority vote and transmits information about the satellites used for positioning to the vehicle positioning systems of other vehicles. The vehicle positioning system of other vehicles can share the satellites used for positioning with the vehicle positioning system 1 of the vehicle by receiving information about the satellites used for positioning from the vehicle positioning system 1 of the vehicle.

[0022] (2) When the positioning accuracy of the vehicle is poor and the number of satellites used is small (see Fig. 5) When the positioning accuracy of the vehicle is poor and the number of satellites used is small, if the surrounding environment information of the vehicle is different from the surrounding environment information of other vehicles, it is assumed that the parameters used in the vehicle positioning system 1 of the vehicle are likely to be inappropriate. In this case, the vehicle positioning system 1 of the vehicle can expect to optimize the parameters and improve the positioning accuracy of the vehicle by dynamically changing the parameters of the vehicle.

[0023] (3) When the positioning accuracy of the vehicle is good and the number of satellites used is large (see Fig. 6) When the positioning accuracy of the vehicle is good and the number of satellites used is large, it is assumed that the vehicle positioning system 1 of the vehicle is likely to be superior to others. In this case, the vehicle positioning system 1 of the vehicle maintains the status quo and transmits a notification signal indicating the maintenance of the status quo to the vehicle positioning systems of other vehicles.

[0024] (4) When the positioning accuracy of the vehicle is good and the number of satellites used is small (see Fig. 7) When the positioning accuracy of the host vehicle is good and the number of satellites used is small, it is assumed that many of the satellites used for positioning in the vehicle positioning system of other vehicles are likely to be multipath. In this case, the vehicle positioning system 1 of the host vehicle can share the satellites used for positioning with the vehicle positioning system of other vehicles by transmitting information about the deleted satellites to the vehicle positioning system of other vehicles. The vehicle positioning system of other vehicles can expect to eliminate multipath by reducing the satellites used for positioning, and can expect to improve the positioning accuracy of other vehicles.

[0025] Next, the operation of the above-described configuration will be described with reference to FIGS. 8 to 10. The vehicle positioning system 1 performs other-vehicle support information reception processing, positioning processing, and host-vehicle support information transmission processing. Hereinafter, each processing will be described.

[0026] (1) Other-vehicle support information reception processing (see FIG. 8) The vehicle positioning system 1 performs other-vehicle support information reception processing at a predetermined cycle. When the start condition of the other-vehicle support information reception processing for each predetermined cycle is satisfied, the vehicle positioning system 1 starts the other-vehicle support information reception processing, and determines whether or not other-vehicle support information transmitted from the vehicle positioning system of other vehicles has been received during the period from the end point of the previous other-vehicle support information reception processing to the start point of the current other-vehicle support information reception processing (S1). When the vehicle positioning system 1 determines that no other-vehicle support information has been received (S1: NO), the vehicle positioning system 1 ends the other-vehicle support information reception processing and waits for the start condition of the next other-vehicle support information reception processing to be satisfied. When the vehicle positioning system 1 determines that other-vehicle support information has been received (S1: YES, corresponding to the other-vehicle support information reception procedure), the received other-vehicle support information is stored in the other-vehicle support information DB9 (S2), the other-vehicle support information reception processing is ended, and the vehicle positioning system 1 waits for the start condition of the next other-vehicle support information reception processing to be satisfied.

[0027] (2) Positioning processing (see FIG. 9) The vehicle positioning system 1 performs positioning processing at a predetermined cycle. When the start condition of the positioning processing for each predetermined cycle is satisfied, the vehicle positioning system 1 starts the positioning processing and acquires GNSS information as a parameter from the GNSS signals received by the GNSS antenna 2 (S11). The vehicle positioning system 1 refers to the other vehicle support information DB9 and determines whether there is unanalyzed other vehicle support information stored in the other vehicle support information DB9 (S12). When the vehicle positioning system 1 determines that there is no unanalyzed other vehicle support information stored in the other vehicle support information DB9 (S12: NO), it performs positioning based on the GNSS information (S13).

[0028] When the vehicle positioning system 1 determines that there is unanalyzed other vehicle support information stored in the other vehicle support information DB9 (S12: YES), it analyzes the unanalyzed other vehicle support information, acquires the positioning performance of the other vehicle (corresponding to the surrounding information analysis procedure) (S14), and performs positioning based on the GNSS information and the positioning performance of the other vehicle (S13, corresponding to the positioning procedure). In this case, the vehicle positioning system 1 compares the positioning performance of its own vehicle with that of the other vehicle, and when it determines that the positioning performance of its own vehicle is superior to that of the other vehicle, it performs positioning without using the other vehicle support information. When the vehicle positioning system 1 determines that the positioning performance of the other vehicle is superior to that of its own vehicle, it performs positioning based on the GNSS information using the other vehicle support information.

[0029] When the vehicle positioning system 1 performs positioning, it determines the positioning accuracy of the host vehicle (corresponding to the positioning accuracy determination procedure in S15), and generates host vehicle support information based on the determination result of the positioning accuracy (corresponding to the host vehicle support information generation procedure in S16). In this case, the vehicle positioning system 1 generates host vehicle support information that can identify points where the positioning performance of the host vehicle is superior to that of other vehicles and points where the positioning performance of other vehicles is superior to that of the host vehicle. That is, for example, if the positioning performance of the host vehicle is superior to that of other vehicles regarding the positioning performance related to the antenna mounting position, the vehicle positioning system 1 generates host vehicle support information that can identify the point where the host vehicle is superior to other vehicles regarding the antenna mounting position. If the positioning performance of the host vehicle is superior to that of other vehicles regarding the positioning performance related to the positioning algorithm, the vehicle positioning system 1 generates host vehicle support information that can identify the point where the host vehicle is superior to other vehicles regarding the positioning algorithm. When the vehicle positioning system 1 generates host vehicle support information, it stores the generated host vehicle support information in the host vehicle support information DB10 (S17) and ends the positioning process.

[0030] (3) Host Vehicle Support Information Transmission Process (see FIG. 10) The vehicle positioning system 1 performs the host vehicle support information transmission process at a predetermined cycle. When the start condition of the host vehicle support information transmission process for each predetermined cycle is satisfied, the vehicle positioning system 1 starts the host vehicle support information transmission process, refers to the host vehicle support information DB10 (S21), and determines whether there is untransmitted host vehicle support information stored in the host vehicle support information DB10 (S22). If the vehicle positioning system 1 determines that there is no untransmitted host vehicle support information stored in the host vehicle support information DB10 (S22: NO), it ends the host vehicle support information transmission process and waits for the start condition of the next host and other vehicle support information transmission process to be satisfied. If the vehicle positioning system 1 determines that there is untransmitted host vehicle support information stored in the host vehicle support information DB10 (S22: YES), it causes the untransmitted host vehicle support information to be transmitted from the host vehicle support information transmission unit 6b to the vehicle positioning systems of other vehicles (S23, corresponding to the host vehicle support information transmission procedure), ends the host vehicle support information transmission process, and waits for the start condition of the next host and other vehicle support information transmission process to be satisfied.

[0031] According to the embodiment as described above, the following operational effects can be obtained. In the vehicle positioning system 1, the other vehicle support information transmitted from other vehicles around the host vehicle is analyzed to obtain the positioning performance of the other vehicles, and positioning is performed based on the GNSS information obtained in the host vehicle and the positioning performance of the other vehicles. The positioning accuracy of the host vehicle is determined based on the positioning performance of the host vehicle and the positioning performance of the other vehicles, and host vehicle support information is generated based on the determination result, and the generated host vehicle support information is transmitted to the other vehicles. When the positioning performance of the other vehicles is inferior to that of the host vehicle, by transmitting the host vehicle support information to the other vehicles, it is possible to provide support information effective for improving the positioning accuracy from the host vehicle to the other vehicles, and improve the positioning accuracy of the entire system including the other vehicles.

[0032] As a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicles, information depending on the positioning situation is compared. Information depending on the positioning situation can be reflected in the positioning accuracy of the host vehicle.

[0033] As information depending on the positioning situation, information on the satellites used for positioning and reliability are compared. The host vehicle support information reflecting the information on the satellites used for positioning and the reliability can be reflected in the positioning accuracy of the host vehicle.

[0034] As a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicles, information independent of the positioning situation is compared. Information independent of the positioning situation can be reflected in the positioning accuracy of the host vehicle.

[0035] As information independent of the positioning situation, antenna information, the performance of the positioning algorithm and the chip, the satellite system available for positioning, and inertial sensor information are compared. Antenna information, the performance of the positioning algorithm and the chip, the satellite system available for positioning, and inertial sensor information can be reflected.

[0036] As vehicle support information, information on which satellites were used or not used for positioning, ephemeris information, and pseudo range correction information are transmitted to other vehicles. Information on which satellites were used or not used for positioning, ephemeris information, and pseudo range correction information can be transmitted from the host vehicle to other vehicles.

[0037] Although the present disclosure has been described based on embodiments, it is understood that the present disclosure is not limited to such embodiments and structures. The present disclosure also includes various modifications and modifications within the equivalent scope. In addition, various combinations and forms, and further other combinations and forms including only one, more, or less than one element thereof, fall within the scope and spirit of the present disclosure.

[0038] The control unit and its method described in the present disclosure may be realized by a dedicated computer configured by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the control unit and its method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor programmed to execute one or more functions and a memory and a processor configured by one or more hardware logic circuits. Also, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executable by a computer.

[0039] The present disclosure includes the following inventions in addition to the description of the claims. [1] An other-vehicle support information receiving unit (6a) that receives other-vehicle support information transmitted from other vehicles around the host vehicle; Analyze the other-vehicle support information to obtain the , based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation Peripheral information analysis unit (7) for obtaining the positioning performance of other vehicles; A positioning unit (3) that performs positioning based on satellite information acquired by the host vehicle and the positioning performance of the other vehicle, of the host vehicle , based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation positioning performance and 、 of the other vehicle the a positioning accuracy determination unit (4) that determines the positioning accuracy of the host vehicle based on the positioning performance of the host vehicle and the positioning performance of the other vehicle, Based on the determination result of the positioning accuracy determination unit, including at least any one of information on which satellites were used or not used for positioning, ephemeris information, and pseudorange correction information, , capable of identifying points where the positioning performance of the host vehicle is superior to that of other vehicles and points where the positioning performance of other vehicles is superior to that of the host vehicle a host vehicle support information generation unit (5) that generates host vehicle support information, and a host vehicle support information transmission unit (6b) that transmits the host vehicle support information to other vehicles. A vehicle positioning system comprising:

[0040] [2] The positioning accuracy determination unit compares information depending on the positioning situation as a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicle. The vehicle positioning system described in [1].

[0041] [3] The positioning accuracy determination unit compares at least any one of information on the satellites used for positioning and the reliability as information depending on the positioning situation. The vehicle positioning system described in [2].

[0042] [4] The positioning accuracy determination unit compares information not depending on the positioning situation as a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicle. The vehicle positioning system described in any one of [1] to [3].

[0043] [5] The positioning accuracy determination unit compares at least any one of antenna information, positioning algorithm and chip performance, satellite systems available for positioning, and inertial sensor information as information not depending on the positioning situation. The vehicle positioning system described in [4].

Claims

1. An other-vehicle support information receiving unit (6a) that receives other-vehicle support information transmitted from other vehicles around the host vehicle, a peripheral information analysis unit (7) that analyzes the other-vehicle support information and acquires the positioning performance of other vehicles based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation, a positioning unit (3) that performs positioning based on satellite information acquired in the host vehicle and the positioning performance of the other vehicle, a positioning accuracy determination unit (4) that determines the positioning accuracy of the host vehicle based on the positioning performance of the host vehicle based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation, and the positioning performance of the other vehicle, a host-vehicle support information generation unit (5) that generates host-vehicle support information including at least any one of information on which satellites were used or not used for positioning, ephemeris information, and pseudorange correction information based on the determination result of the positioning accuracy determination unit, and capable of specifying points where the positioning performance of the host vehicle is superior to that of the other vehicle and points where the positioning performance of the other vehicle is superior to that of the host vehicle, a host-vehicle support information transmission unit (6b) that transmits the host-vehicle support information to other vehicles, a vehicle positioning system.

2. The vehicle positioning system according to claim 1, wherein the positioning accuracy determination unit compares information that depends on the positioning situation as a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicle.

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

4. The vehicle positioning system according to claim 1, wherein the positioning accuracy determination unit compares information that does not depend on the positioning situation as a comparison between the positioning performance of the host vehicle and the positioning performance of the other vehicle.

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

6. In the vehicle positioning system (1), an other-vehicle support information receiving procedure for receiving other-vehicle support information transmitted from other vehicles around the host vehicle, a peripheral information analysis procedure for analyzing the other-vehicle support information and acquiring the positioning performance of other vehicles based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation, A positioning procedure for performing positioning based on satellite information acquired by the host vehicle and the positioning performance of the other vehicle, A positioning performance of the host vehicle based on information calculated according to the positioning situation and vehicle-specific information not calculated according to the positioning situation, and a positioning accuracy determination procedure for determining the positioning accuracy of the host vehicle based on the positioning performance of the other vehicle, Based on the determination result of the positioning accuracy determination procedure, including at least any one of information on which satellites were used or not used for positioning, ephemeris information, and pseudorange correction information, and a host vehicle support information generation procedure for generating host vehicle support information capable of specifying points where the positioning performance of the host vehicle is superior to that of the other vehicle and points where the positioning performance of the other vehicle is superior to that of the host vehicle, A host vehicle support information transmission procedure for transmitting the host vehicle support information to the other vehicle, and a host vehicle support information providing program for executing the above.

Images