JP6103980B2 - Passage detection system, passage detection method, passage detection device, program, and recording medium - Google Patents

Description

  The present invention relates to a passage detection system, a passage detection method, a passage detection device, a program, and a recording medium. In particular, the present invention relates to a passage detection system, a passage detection method, a passage detection device, a program for causing a computer to function as the passage detection device when a vehicle passes a predetermined position, and a recording medium storing the program About.

  At present, the position of a vehicle is mainly determined by a system using both a GPS (Global Positioning System) method and an autonomous navigation using a gyro.

  GPS is a system that measures the absolute position of an object by receiving radio waves from a plurality of GPS satellites. However, the position of the vehicle cannot be determined by this system in a building or tunnel where GPS radio waves do not reach.

  Autonomous navigation is used for the purpose of specifying the position of a vehicle in a place where radio waves do not reach. In autonomous navigation, first, an initial position is determined, and then a moving distance and direction from the initial position are calculated by an on-vehicle travel distance sensor and a direction sensor, thereby obtaining the vehicle position. As the travel distance sensor, a vehicle speed sensor that measures a travel distance from the number of rotations of a tire is mainly used. And the gyro which detects turning direction and quantity is mainly used for the direction sensor.

  At present, by using these two technologies in combination, the vehicle position can be specified with an accuracy of several tens of meters. Recently, techniques for improving accuracy have been studied. For example, a technology called DGPS (Differential GPS) is already in practical use. This technology grasps the error until the radio wave reaches the ground by measuring the arrival state of the radio wave from the GPS satellite at the reference station where the accurate position is measured in advance, and the differential correction radio wave indicating this is near By transmitting to the user, an accuracy of about 10 meters is realized.

  Various techniques related to such a background are known (see, for example, Patent Document 1).

  For example, in Patent Document 1, when a vehicle travels in a preset charging area mounted on the vehicle, the vehicle is charged according to the charging rate determined for the charging area and the travel distance in the charging area. An apparatus is described. More specifically, this apparatus obtains vehicle position data by obtaining the position of the vehicle in accordance with radio waves from GPS satellites. This device is given charging area information indicating the position of the charging area, and whether or not the vehicle has approached the charging area according to the position of the vehicle indicated by the vehicle position data and the position of the charging area indicated by the charging area information. If it is determined that the vehicle has approached the billing area, the position correction data according to the error between the position of the base station obtained according to the radio wave from the GPS satellite and the reference point where the base station is placed is used. Activate base station support positioning to support positioning. And this apparatus correct | amends vehicle position data according to position correction data. Then, this device determines whether or not the vehicle is positioned in the charging area according to the vehicle position data, and determines the charging amount according to the travel distance and the charging rate when the vehicle is positioned in the charging area. In this way, depending on this device, it is possible to charge the vehicle passing through the charging area at an inexpensive cost.

JP 2004-192349 A

  A positioning method using an in-vehicle DGPS such as the device described in Patent Document 1 is an effective means for efficiently and efficiently positioning the position of a vehicle. However, the position of the vehicle cannot always be measured with a guaranteed accuracy at a position where the sky view is not sufficiently secured or at a position where it is difficult to receive the differential correction radio wave.

  By the way, in road pricing in which charging processing is performed when a vehicle passes a toll road charging point, the vehicle-mounted device that performs the charging processing needs to accurately detect whether the vehicle has passed the toll road charging point. There is.

  However, at positions such as those described above where sufficient aerial view cannot be secured, the vehicle position cannot be accurately measured. There is a possibility that the billing process may be performed even though the points have not been passed.

In order to solve the above-described problem, according to the first aspect of the present invention, there is provided a passage detection system for detecting when a vehicle passes a predetermined position, using both radio navigation and autonomous navigation. A positioning device that measures a position, and a passage detection device that detects when the vehicle passes a predetermined position, the passage detection device is prepared in advance for system error information related to a system error of a positioning result by the positioning device. And a position specifying unit for specifying the position of the vehicle by correcting the positioning result by the positioning device based on the traveling state of the vehicle, a map matching unit for map matching the position specified by the position specifying unit, and position specifying The coincidence error of the positioning result by the positioning device is calculated based on the amount of deviation between the first position specified by the unit and the second position indicated by the map matching result of the map matching unit A random error calculating unit that, based on the temporal change in the position of the position identifying unit has identified, the vehicle has a determining passage judgment section whether or not passed the predetermined position, passage determination unit, random error When the predetermined position is within the range of the accidental error calculated by the calculation unit, it is determined that the vehicle has not passed the predetermined position .

  The passage detection device further includes a traveling state identifying unit that identifies a traveling state of the vehicle based on a temporal change in the position identified by the position identifying unit up to the present time, and the position identifying unit is configured to obtain a positioning result of the positioning device. The position of the vehicle may be specified by correcting the positioning result by the positioning device based on the system error information prepared in advance regarding the system error and the driving state of the vehicle specified by the driving state specifying unit.

The passage detection device may further include a billing processing unit that performs billing processing when the vehicle passes a predetermined position.

  According to the second aspect of the present invention, when a vehicle passes a predetermined position, it is a passage detection system that detects the position by using both radio navigation and autonomous navigation. A passage detection device for detecting when the vehicle passes the predetermined position, the passage detection device map-matching a positioning result by the positioning device, and a positioning result by the positioning device A coincidence error calculation unit for calculating a coincidence error of a positioning result by the positioning device based on a deviation amount between the first position of the positioning unit and a second position indicated by a result of map matching performed by the map matching unit; A passage determining unit that determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculating unit. That.

According to the third aspect of the present invention, there is provided a passage detection method for detecting when a vehicle has passed a predetermined position, and positioning by a positioning device that uses both radio navigation and autonomous navigation to determine the position of the vehicle. results and systematic error information prepared in advance regarding systematic error, based on the running state of the vehicle, by correcting the positioning result by the positioning device, a position specifying step of specifying the position of the vehicle, identified in the localization stage A positioning device based on the amount of deviation between the map matching stage for map matching the first position, the first position specified in the position specifying stage, and the second position indicated by the map matching result in the map matching stage a random error calculation step of calculating the accidental error of the positioning result by, based on the change over time in the specified position in the localization step, the vehicle is predetermined And a determining passage judgment step whether passing through the location, in the passage determination step, if within the scope of the accident is calculated errors in the random error calculation step contains the predetermined position, the vehicle position Judge that it has not passed .

  According to a fourth aspect of the present invention, there is provided a passage detection method for detecting when a vehicle has passed a predetermined position, and positioning is performed by a positioning device that uses both radio navigation and autonomous navigation to position itself. The positioning based on a map matching stage for map matching results, a first position of a positioning result by the positioning device, and a second position indicated by a map matching result in the map matching stage. If the predetermined position is within the range of the coincidence error calculated in the coincidence error calculation stage for calculating the coincidence error of the positioning result by the device and the coincidence error calculation stage, the vehicle has passed the predetermined position. A passage determination step for determining that there is no.

According to the fifth aspect of the present invention, when a vehicle passes a predetermined position, it is a passage detection device that detects the position by using a positioning device that uses both radio navigation and autonomous navigation to position itself. Based on the systematic error information prepared in advance relating to the systematic error of the result and the driving state of the vehicle, the positioning result by the positioning device is corrected, and the position specifying unit for specifying the position of the vehicle and the position specifying unit specified A positioning result by the positioning device based on the amount of deviation between the map matching unit for map matching the position, the first position specified by the position specifying unit, and the second position indicated by the result of the map matching performed by the map matching unit Bei and accidental coincidence error calculator for calculating an error based on the temporal change in the position of the position identifying unit has identified, vehicle and determining passage judgment section whether or not passed the predetermined position , Passage determination unit, when the random error calculating unit is within a predetermined position within the chance was calculated error, it determines that the vehicle has not passed the predetermined position.

  According to a sixth aspect of the present invention, there is provided a program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position, and the computer uses both radio navigation and autonomous navigation. A map matching unit for map-matching a positioning result obtained by a positioning device that measures its own position, a first position of a positioning result obtained by the positioning device, and a second position indicated by a result of map matching performed by the map matching unit; A chance error calculation unit that calculates a coincidence error of a positioning result by the positioning device based on the amount of deviation, and when the predetermined position is within the range of the coincidence error calculated by the coincidence error calculation unit, the vehicle It is made to function as a passage determining unit that determines that the predetermined position has not been passed.

According to a seventh aspect of the present invention, there is provided a program for causing a computer to function as a passage detection device that detects when a vehicle has passed a predetermined position, wherein the computer is used in combination with radio navigation and autonomous navigation. A position for identifying the position of the vehicle by correcting the positioning result by the positioning device based on the system error information prepared in advance relating to the systematic error of the positioning result by the positioning device that measures the own position and the running state of the vehicle. The specific part, the map matching part for map matching the position specified by the position specifying part, the first position specified by the position specifying part, and the shift amount between the second position indicated by the result of map matching by the map matching part based on, random error calculation unit for calculating a random error of the positioning result by the positioning device, based on the temporal change in the position of the position identifying unit has identified, vehicle To function as a determining passage determination unit whether passed the predetermined position, passage determination unit, when the random error calculating unit is within a predetermined position within the chance was calculated error, the vehicle passed through a predetermined position Judge that it is not .

  According to an eighth aspect of the present invention, there is provided a program for causing a computer to function as a passage detection device that detects when a vehicle has passed a predetermined position, wherein the computer is used in combination with radio navigation and autonomous navigation. A map matching unit for map-matching a positioning result obtained by a positioning device that measures its own position, a first position of a positioning result obtained by the positioning device, and a second position indicated by a result of map matching performed by the map matching unit; A chance error calculation unit that calculates a coincidence error of a positioning result by the positioning device based on the amount of deviation, and when the predetermined position is within the range of the coincidence error calculated by the coincidence error calculation unit, the vehicle It is made to function as a passage determining unit that determines that the predetermined position has not been passed.

According to a ninth aspect of the present invention, there is provided a recording medium recording a program that causes a computer to function as a passage detection device that detects when a vehicle has passed a predetermined position. Based on the system error information prepared in advance for the systematic error of the positioning result by the positioning device that uses the navigation and the positioning device, and the driving state of the vehicle, the positioning result by the positioning device is corrected and the vehicle A position specifying unit for specifying a position, a map matching unit for map matching the position specified by the position specifying unit, a first position specified by the position specifying unit, and a second position indicated by the result of map matching by the map matching unit based on the shift amount between, random error calculation unit for calculating a random error of the positioning result by the positioning device, the position specifying unit over time-varying specified position Based on, if the vehicle is allowed to function as a passage determination unit determines whether or not passed the predetermined position, passage determination unit, the random error calculating unit is within a predetermined position within the chance was calculated error, It is determined that the vehicle has not passed the predetermined position .

  According to a tenth aspect of the present invention, there is provided a recording medium recording a program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position, the computer being a radio navigation system. A map matching unit that performs map matching on a positioning result obtained by a positioning device that uses autonomous navigation in combination with the positioning device, a first position of the positioning result obtained by the positioning device, and a map matching result of the map matching unit. Based on the amount of deviation from the second position, a coincidence error calculation unit for calculating a coincidence error of the positioning result by the positioning device, and the predetermined position is within the range of the coincidence error calculated by the coincidence error calculation unit. In this case, a program is recorded that causes the vehicle to function as a passage determining unit that determines that the vehicle has not passed the predetermined position.

  The above summary of the invention does not enumerate all necessary features of the present invention. Also, a sub-combination of these feature groups can also be an invention.

  As is apparent from the above description, according to the present invention, for example, even if the vehicle is traveling on a road where sufficient aerial view is not secured, the vehicle is not affected by the error in the positioning result by the positioning device. If it passes through the position, it can be detected.

It is a figure which shows an example of the utilization environment of the passage detection system 100 which concerns on one Embodiment. It is a figure which shows an example of the block configuration of the onboard equipment 110. FIG. It is a figure which shows an example of the information stored in the system | strain error information storage part 120 in a table format. It is a figure which shows an example of the information stored in the accounting point information storage part 121 in a table format. It is a figure which shows an example of the operation | movement flow of the onboard equipment. It is a figure which shows an example of the operation | movement flow of the onboard equipment. It is a figure which shows an example of the calculation method of the range of a chance error. It is a figure which shows an example of the operation | movement flow of the onboard equipment. It is a figure which shows an example of the hardware constitutions of the computer 800 which comprises the onboard equipment 110 which concerns on this embodiment.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the claimed invention, and all combinations of features described in the embodiments are described below. However, this is not always essential for the solution of the invention.

  FIG. 1 shows an example of a use environment of a passage detection system 100 according to an embodiment. The passage detection system 100 is a system that detects when a vehicle passes a charging point. Here, the billing point is a position where billing processing should be performed in road pricing. The billing point may be an example of “predetermined position” in the present invention.

  The passage detection system 100 includes an on-vehicle device 110, a GPS receiver 130, and a display 150. The vehicle-mounted device 110 may be an example of the “passage detection device” in the present invention. The GPS receiver 130 may be an example of the “positioning device” in the present invention.

  The GPS receiver 130 is a device that measures its own position by using both radio navigation and autonomous navigation. More specifically, the GPS receiver 130 includes a GPS antenna, an accelerometer, and an angular velocity meter. Here, the GPS antenna is an antenna that receives radio waves from GPS satellites. The accelerometer is a measuring instrument that measures a change in acceleration when the vehicle moves. The angular velocity meter is a measuring instrument that measures a change in angular velocity when the vehicle moves. The GPS receiver 130 is provided at a position where the GPS antenna is not shielded, such as on the dashboard D of the vehicle. The GPS receiver 130 is electrically connected to the vehicle-mounted device 110. Then, the GPS receiver 130 uses the GPS radio navigation and the autonomous navigation using the accelerometer and the angular velocity meter in combination to determine its own position. Then, the GPS receiver 130 outputs data indicating the positioning result to the vehicle-mounted device 110.

  The vehicle-mounted device 110 is a device that detects when a vehicle passes a charging point. More specifically, the vehicle-mounted device 110 is provided at a position that can be reached by the driver without disturbing driving, such as the side surface of the center console C of the vehicle. The vehicle-mounted device 110 is electrically connected to the GPS receiver 130 and the display 150. Then, an IC (Integrated Circuit) card is inserted into the card slot I of the vehicle-mounted device 110. Here, in the IC card, application data and the like for realizing a security function are mounted in addition to a nonvolatile memory for storing user information of the passage detection system 100, billing information including a usage history, and the like. Is done. And the onboard equipment 110 will determine whether the vehicle passed the charge point, if the input of the data output from the GPS receiver 130 is received. And the onboard equipment 110 performs a charge process, when it determines with the vehicle having passed the charge point. Then, the vehicle-mounted device 110 outputs data indicating the result of the billing process to the display 150.

  The display 150 is a device that displays characters and graphics. More specifically, the display 150 is provided at a position where the driver can visually recognize, such as the center console C of the vehicle. The display 150 is electrically connected to the vehicle-mounted device 110. Then, when receiving the input of data output from the vehicle-mounted device 110, the display 150 displays the result of the accounting process indicated by the data.

  In the present embodiment, a configuration in which the passage detection system 100 includes one GPS receiver 130 and a display 150 will be described for the purpose of preventing the description from becoming complicated. However, the passage detection system 100 may include a plurality of GPS receivers 130 and a display 150.

  FIG. 2 shows an example of a block configuration of the vehicle-mounted device 110. The vehicle-mounted device 110 includes a positioning result data input receiving unit 111, a position specifying unit 112, a map matching unit 113, a traveling state specifying unit 114, a chance error calculating unit 115, a passage determining unit 116, a charging processing unit 117, a data output unit 118, A map data storage unit 119, a systematic error information storage unit 120, and a charging point information storage unit 121 are included. In the following description, the function and operation of each component will be described in detail.

  The positioning result data input receiving unit 111 receives input of data indicating the positioning result output from the GPS receiver 130.

  The position specifying unit 112 corrects the positioning result by the GPS receiver 130 based on the system error information prepared in advance related to the system error of the positioning result by the GPS receiver 130 and the traveling state of the vehicle, and thereby determines the position of the vehicle. Is identified. More specifically, the position specifying unit 112 is based on the system error information prepared in advance regarding the system error of the positioning result by the GPS receiver 130 and the running state of the vehicle specified by the running state specifying unit 114. The position of the vehicle is specified by correcting the positioning result by the GPS receiver 130. Here, the traveling state of the vehicle roughly indicates either whether the vehicle is traveling or stopped. The traveling state of the traveling vehicle indicates any one of straight traveling, traveling while turning right, or traveling while turning left. Further, the systematic error is measured by systematically shifting the position coordinate of the positioning result by the GPS receiver 130 with respect to the true position coordinate of the position as long as positioning is performed at the same position in the same traveling state. It shall indicate an error. Here, the true position coordinates are position coordinates on a map, for example.

  The map matching unit 113 performs map matching on the position specified by the position specifying unit 112. Here, the map matching is a process for forcibly matching the position specified by the position specifying unit 112 within the road on the map even if the position specified by the position specifying unit 112 is outside the road on the map on the assumption that the vehicle is traveling on the road. is there.

  The traveling state specifying unit 114 specifies the traveling state of the vehicle based on the temporal change in the position specified by the position specifying unit 112 so far.

  The accidental error calculation unit 115 performs positioning by the GPS receiver 130 based on the amount of deviation between the first position specified by the position specifying unit 112 and the second position indicated by the map matching result obtained by the map matching unit 113. Calculate the accidental error of the result. Here, the accidental error refers to an error that varies for each positioning even if positioning is performed at the same position in the same traveling state.

  The passage determination unit 116 determines whether or not the vehicle has passed the charge point based on the change over time of the position specified by the position specifying unit 112. More specifically, the passage determination unit 116 determines that the vehicle has not passed the charging point when the charging point is within the range of the accidental error calculated by the accidental error calculation unit 115.

  The billing processing unit 117 performs billing processing when the vehicle passes the billing point.

  The data output unit 118 outputs data indicating the result of the charging process to the display 150.

  The map data storage unit 119 stores digital map data. Here, the digital map is a map that can be computerized and digitized.

  FIG. 3 shows an example of information stored in the systematic error information storage unit 120 in a table format. In the systematic error information storage unit 120, information on true position coordinates (longitude, latitude), a running state of the vehicle, and position coordinates (longitude, latitude) of the positioning result are stored in association with each other. In addition, the information stored in the systematic error information storage unit 120 may be an example of “systematic error information” in the present invention.

  The information of “true position coordinates (longitude, latitude)” is information indicating the longitude and latitude on the digital map. More specifically, the information of “true position coordinates (longitude, latitude)” indicates the longitude and latitude on the digital map of the position where a systematic error occurs in the positioning result of the GPS receiver 130 around the charging point. .

  The “vehicle running state” information is information indicating the vehicle running state at the position indicated by the “true position coordinates (longitude, latitude)” information.

  The information on the “position coordinates (longitude, latitude) of the positioning result” indicates that the driving state of the vehicle is indicated by the information of “vehicle driving state” at the position indicated by the information of “true position coordinates (longitude, latitude)”. It is the information which shows the positioning result of the GPS receiver 130 in the case of being in a state. More specifically, the amount of deviation between the position coordinates indicated by the information of “true position coordinates (longitude, latitude)” and the position coordinates indicated by the information of “position coordinates (longitude, latitude) of the positioning result” Is a systematic error when the traveling state of the vehicle is the state represented by the information “traveling state of the vehicle” at the position indicated by the information “true position coordinates (longitude, latitude)”.

  That is, in the case of the example shown in FIG. 3, for example, if the position coordinate of the positioning result by the GPS receiver 130 is “(Eb, Nb)” and the traveling state of the vehicle at that time is “straight”, The true position coordinate where the vehicle exists indicates “(Ea, Na)”. Even if the position coordinate of the positioning result by the GPS receiver 130 is “(Eb, Nb)”, if the running state of the vehicle at that time is “stop”, the true position where the vehicle exists The coordinates indicate “(Ed, Nd)”. In addition, even if the true position coordinate is “(Ea, Na)”, if the traveling state of the vehicle at that position is “traveling while turning right”, the positioning result by the GPS receiver 130 is “(Ec , Nc) ”.

  FIG. 4 shows an example of information stored in the charging point information storage unit 121 in a table format. The charging point information storage unit 121 stores charging point ID (identifier), position coordinates (longitude, latitude), and fee (yen) in association with each other.

  The information of “charging point ID” is an identification code for uniquely identifying each charging point among a plurality of charging points.

  The “position coordinates (longitude, latitude)” information is information indicating the longitude and latitude on the digital map of the charging point indicated by the information of “charging point ID”.

  The “charge (yen)” information is information indicating the amount of the charge to be charged when passing through the charge point indicated by the information of “charge point ID”.

  That is, in the case of the example shown in FIG. 4, for example, the charging point at the position “(Ef, Nf)” is a charging point for which “200 (yen)” is charged.

  FIG. 5 shows an example of the operation flow of the vehicle-mounted device 110. In the description of this operation flow, a process for map matching the position of the vehicle will be described in detail. In the description of this operation flow, both FIGS. 1 to 4 are referred to.

  The GPS receiver 130 measures its own position at predetermined intervals by using both GPS radio navigation and autonomous navigation using an accelerometer and an angular velocity meter. And the GPS receiver 130 outputs the data which show the positioning result to the onboard equipment 110 sequentially.

  When the positioning result data input receiving unit 111 of the in-vehicle device 110 receives the input of the data indicating the positioning result output from the GPS receiver 130 (S101), the positioning result data input receiving unit 111 sends the data to the position specifying unit 112.

  When the position specifying unit 112 of the vehicle-mounted device 110 receives the data sent from the positioning result data input receiving unit 111, the position specifying unit 112 uses the information stored in the systematic error information storage unit 120 and the data received from the traveling state specifying unit 114. Based on the traveling state of the vehicle shown, the positioning result indicated by the data received from the positioning result data input receiving unit 111 is corrected to identify the position of the vehicle (S102).

  For example, the position coordinate indicated by the data received from the positioning result data input receiving unit 111 is “(Ea, Na)”, and the vehicle driving state indicated by the latest data received from the driving state specifying unit 114 is “ In the case of “straightly traveling”, the position specifying unit 112 has information “position coordinates (longitude, latitude)” of “(Ea, Na)” among the information stored in the systematic error information storage unit 120, The information “(Eb, Nb)” of “true position coordinates (longitude, latitude)” stored in association with the information “traveling state of the vehicle” in correspondence with “straight ahead” is read. Then, the position specifying unit 112 specifies the position coordinates (Ea, Na) as the corrected vehicle position.

  Here, the same position coordinates as the positioning results indicated by the data sent from the positioning result data input receiving unit 111 are stored as information of “positional coordinates (longitude, latitude) of positioning results” in the systematic error information storage unit 120. If not, the position specifying unit 112 specifies the position coordinates of the positioning result indicated by the data received from the positioning result data input receiving unit 111 as the position of the vehicle. This is because when no corresponding information is stored in the systematic error information storage unit 120, it means that no systematic error has occurred at that position.

  Then, the position specifying unit 112 sends data indicating the position coordinates of the vehicle thus specified to the map matching unit 113, the traveling state specifying unit 114, and the accidental error calculating unit 115.

  When the map matching unit 113 of the vehicle-mounted device 110 receives the data sent from the position specifying unit 112, the map matching is performed on the position coordinates indicated by the data (S103). For example, the map matching unit 113 uses the road shape on the map, the running pattern history of the vehicle, and the like as data, and maps the position coordinates indicated by the data sent from the position specifying unit 112 using a heuristic algorithm. Match. Then, the map matching unit 113 sends data indicating the position coordinates after the map matching to the traveling state specifying unit 114, the accidental error calculating unit 115, and the passage determining unit 116.

  When the traveling state specifying unit 114 of the vehicle-mounted device 110 receives the data sent from the position specifying unit 112 and the map matching unit 113, respectively, the traveling state of the vehicle is determined based on the temporal change of the position coordinates indicated by these data. A state is specified (S104).

  First, the traveling state identification unit 114 identifies whether the vehicle is traveling or stopped based on the temporal change of the position coordinates indicated by the data received from the position identification unit 112. For example, when the amount of change over time of the position coordinates indicated by the plurality of data received from the position specifying unit 112 within a predetermined time is less than a predetermined value, the traveling state specifying unit 114 specifies that the vehicle is stopped. To do. Further, when the amount of change over time of the position coordinates indicated by the plurality of data received from the position specifying unit 112 within a predetermined time is greater than or equal to a predetermined value, the driving state specifying unit 114 specifies that the vehicle is driving To do.

  Then, when it is determined that the vehicle is traveling, the traveling state identifying unit 114 determines whether the vehicle is traveling straight or on the right based on the temporal change in the position coordinates indicated by the data received from the map matching unit 113. Identify whether you are making a turn or making a turn to the left. For example, when a change with time in position coordinates indicated by a plurality of data received from the map matching unit 113 within a predetermined time is linear, the traveling state specifying unit 114 specifies that the vehicle is traveling straight. In addition, when the temporal change of the position coordinates indicated by the plurality of data received from the map matching unit 113 within a predetermined time has changed to the northeast or southwest, the traveling state specifying unit 114 turns the vehicle to the right. While progressing, identify. In addition, when the time-dependent change in the position coordinates indicated by the plurality of data received from the map matching unit 113 within a predetermined time has changed to northwest or southeast, the driving state specifying unit 114 turns the vehicle to the left. While progressing, identify.

  Then, the traveling state identification unit 114 sends data indicating the identified traveling state of the vehicle to the position identification unit 112.

  As described above, when the position specifying unit 112 receives the data sent from the positioning result data input receiving unit 111, the information stored in the systematic error information storage unit 120 and the data received from the traveling state specifying unit 114 The position of the vehicle is specified by correcting the positioning result indicated by the data received from the positioning result data input receiving unit 111 based on the traveling state of the vehicle indicated by (S102).

  In this way, each time the vehicle-mounted device 110 receives input of data output from the GPS receiver 130, the vehicle-mounted device 110 repeats the processes of steps S101 to S104 to map-match the position of the vehicle.

  FIG. 6 shows an example of the operation flow of the vehicle-mounted device 110. In the description of this operation flow, the process for calculating the range of the chance error at the current position of the vehicle will be described in detail. In the description of this operation flow, both FIGS. 1 to 5 and 7 are referred to. FIG. 7 shows an example of a method for calculating the range of chance errors. Further, among the steps of the operation flow shown in FIG. 6, steps having the same reference numerals as those in the operation flow shown in FIG. 5 indicate similar operations.

  As described above, every time the position specifying unit 112 specifies the position coordinates of the vehicle, the position specifying unit 112 sends data indicating the position coordinates to the chance error calculating unit 115. Further, each time map matching is performed, the map matching unit 113 sends data indicating the position coordinates after map matching to the accidental error calculation unit 115.

  The accidental error calculation unit 115 of the vehicle-mounted device 110 receives the data sent from the position specifying unit 112 and the map matching unit 113, respectively, and the position coordinates indicated by the data received from the position specifying unit 112 and the map matching unit 113. Based on the amount of deviation from the position coordinates indicated by the data received from, the range of the accidental error of the positioning result by the GPS receiver 130 is sequentially calculated (S105). Here, the position coordinates indicated by the data received from the position specifying unit 112 may be an example of the “first position” in the present invention. Further, the position coordinates indicated by the data received from the map matching unit 113 may be an example of the “second position” in the present invention.

  For example, as shown in FIG. 7, when the accident error calculation unit 115 calculates the range Ec of the accident error at the position P71 specified by the position specifying unit 112, within a predetermined time until the vehicle reaches the position P71, About the shift amounts E1 to En between the position coordinates of the positions P1 to Pn specified by the position specifying unit 112 and the position coordinates of the positions M1 to Mn as a result of the map matching unit 113 map matching the positions P1 to Pn. The root mean square Err is calculated (formula (1)).

  Then, the chance error calculation unit 115 multiplies the value of the root mean square Err by N (N is a positive number) to calculate the range of the chance error. The range of the chance error becomes wider as the value of N is larger. Then, the coincidence error calculation unit 115 sends data indicating the calculated range of the coincidence error to the passage determination unit 116.

  In this way, the vehicle-mounted device 110 can perform processing with reference to the range of chance errors at the current position of the vehicle.

  FIG. 8 shows an example of the operation flow of the vehicle-mounted device 110. In the description of this operation flow, a process for detecting when a vehicle passes a charging point will be described in detail. In the description of this operation flow, both FIGS. 1 to 7 are referred to. Further, in the operation flow shown in FIG. 8, steps denoted by the same reference numerals as those in the operation flow shown in FIGS. 5 and 6 indicate the same operation.

  As described above, the map matching unit 113 sends data indicating the position coordinates after map matching to the passage determination unit 116 each time map matching is performed. In addition, every time the accidental error calculation unit 115 calculates the range of accidental miscalculation, the accidental error calculation unit 115 sends data indicating the range of the accidental error to the passage determination unit 116.

  When the passage determination unit 116 of the in-vehicle device 110 receives the data sent from the map matching unit 113 and the accidental error calculation unit 115, whether the vehicle has passed the charge point based on the information indicated by these data. It is sequentially determined whether or not (S106). For example, the passage determination unit 116 uses the position coordinates after map matching indicated by the data received from the map matching unit 113 and the information of “position coordinates (longitude, latitude)” stored in the charging point information storage unit 121. Compare the position coordinates shown. When the position coordinates after the map matching are within the threshold value of the position coordinates indicated by any of the “position coordinates (longitude, latitude)” information, the passage determination unit 116 determines that the “position coordinates ( The pass determination is started for the billing point at the position coordinate indicated by the information of “longitude, latitude)”. For example, the pass determination is performed while the position coordinates of the billing point to be passed are within the range of the chance error indicated by the data received from the chance error calculation unit 115 centered on the position coordinates after the map matching. The unit 116 determines that the vehicle has not passed the charging point (S106: No). Then, when the position coordinates of the charging point subject to passage determination deviate from the range of the chance error centered on the position coordinates after map matching, the passage determination unit 116 determines that the vehicle has passed the charging point. (S106: Yes). In this way, when the passage determination unit 116 determines that the vehicle has passed the charging point, it sends data indicating the information of the “charging point ID” of the charging point to the charging processing unit 117.

  Upon receiving the data sent from the passage determination unit 116, the billing processing unit 117 of the in-vehicle device 110 receives the data from the passage determination unit 116 among the “charge (yen)” information stored in the billing point information storage unit 121. The “charge (yen)” information stored in association with the “charge point ID” information indicated by the received data is read. Then, the billing processing unit 117 charges the toll by removing the electronic money having the same amount as the fee indicated by the information from the IC card inserted in the card slot I of the vehicle-mounted device 110 (S107). . Then, billing processing unit 117 sends data indicating the result of the billing process to data output unit 118.

  When the data output unit 118 of the vehicle-mounted device 110 receives the data sent from the charging processing unit 117, the data output unit 118 outputs data for displaying the result of the charging processing indicated by the data to the display 150 (S108).

  In this way, the result of the billing process is displayed on the display 150.

  In addition, the passage detection system 100 may include a speaker instead of the display 150 or together with the display 150. In that case, the data output unit 118 of the vehicle-mounted device outputs data for outputting the result of the charging process as a sound to the speaker.

  As described above, the passage detection system 100 includes the GPS receiver 130 that measures its own position by using both radio navigation and autonomous navigation. Moreover, the passage detection system 100 includes an in-vehicle device 110 that detects when a vehicle passes a charging point. Then, the vehicle-mounted device 110 corrects the positioning result by the positioning device based on the system error information prepared in advance regarding the system error of the positioning result by the GPS receiver 130 and the traveling state of the vehicle, and determines the position of the vehicle. Identify. And the onboard equipment 110 determines whether the vehicle passed the charge point based on the time-dependent change of the specified position.

  In this way, depending on the passage detection system 100, for example, even if the vehicle is traveling on a road where the sky view is not sufficiently secured, the vehicle is not affected by the system error of the positioning result by the GPS receiver 130. When the billing point is passed, it can be detected.

  Moreover, as above-mentioned, the onboard equipment 110 specifies the running state of a vehicle based on the time-dependent change of the position of the vehicle specified until now. And the onboard equipment 110 correct | amends the positioning result by the GPS receiver 130 based on the system | strain error information prepared beforehand regarding the system | strain error of the positioning result by the GPS receiver 130, and the driving | running | working state of the specified vehicle, Identify the position of the vehicle.

  In this way, depending on the passage detection system 100, every time the position of the vehicle is specified, the traveling state of the vehicle can be specified.

  Moreover, as above-mentioned, the onboard equipment 110 carries out map matching of the position of the specified vehicle. And the onboard equipment 110 calculates the accidental error of the positioning result by the GPS receiver 130 based on the deviation | shift amount of the position of the specified vehicle, and the position shown by the result of map matching. And the onboard equipment 110 determines with the vehicle not having passed the charge point, when the charge point is in the range of the calculated accidental error.

  In this way, depending on the passage detection system 100, an erroneous determination that the vehicle has passed the charging point even though the vehicle has not passed the charging point due to the influence of the accidental error is prevented. be able to.

  In the above-described embodiment, the vehicle-mounted device 110 performs positioning by the GPS receiver 130 based on the system error information prepared in advance regarding the system error of the positioning result by the GPS receiver 130 and the traveling state of the vehicle. The accidental error of the positioning result by the GPS receiver 130 based on the amount of deviation between the first position of the vehicle specified by correcting the result and the second position indicated by the map matching result of the first position An example of calculating the above has been described. However, the vehicle-mounted device 110 can calculate the accidental error of the positioning result by the GPS receiver 130 by another method. For example, the in-vehicle device 110 receives the GPS signal based on the amount of deviation between the first position of the positioning result by the GPS receiver 130 and the second position indicated by the map matching result of the positioning result by the GPS receiver 130. The accidental error of the positioning result by the machine 130 may be calculated.

  FIG. 9 shows an example of a hardware configuration of a computer 800 constituting the vehicle-mounted device 110 according to the present embodiment. A computer 800 according to the present embodiment includes a CPU peripheral unit having a CPU (Central Processing Unit) 802, a RAM (Random Access Memory) 803, a graphic controller 804, and a display 805, and an input / output unit connected to each other by a host controller 801. An input / output unit having a communication interface 807, a hard disk drive 808, and a CD-ROM (Compact Disk Read Only Memory) drive 809 connected to each other by a controller 806, and a ROM (Read Only Memory) connected to the input / output controller 806 810, a flexible disk drive 811 and a legacy input / output unit having an input / output chip 812. Obtain.

  The host controller 801 connects the RAM 803, the CPU 802 that accesses the RAM 803 at a high transfer rate, and the graphic controller 804. The CPU 802 operates based on programs stored in the ROM 810 and the RAM 803 and controls each unit. The graphic controller 804 acquires image data generated on a frame buffer provided in the RAM 803 by the CPU 802 and the like and displays the image data on the display 805. Instead of this, the graphic controller 804 may include a frame buffer for storing image data generated by the CPU 802 or the like.

  The input / output controller 806 connects the host controller 801 to the communication interface 807, the hard disk drive 808, and the CD-ROM drive 809, which are relatively high-speed input / output devices. The hard disk drive 808 stores programs and data used by the CPU 802 in the computer 800. The CD-ROM drive 809 reads a program or data from the CD-ROM 892 and provides it to the hard disk drive 808 via the RAM 803.

  In addition, the input / output controller 806 is connected to the ROM 810, the flexible disk drive 811, and the relatively low-speed input / output device of the input / output chip 812. The ROM 810 stores a boot program that is executed when the computer 800 is started and / or a program that depends on the hardware of the computer 800. The flexible disk drive 811 reads a program or data from the flexible disk 893 and provides it to the hard disk drive 808 via the RAM 803. The input / output chip 812 connects the flexible disk drive 811 to the input / output controller 806 and connects various input / output devices to the input / output controller 806 via, for example, a parallel port, serial port, keyboard port, mouse port, and the like. To do.

  A program provided to the hard disk drive 808 via the RAM 803 is stored in a recording medium such as a flexible disk 893, a CD-ROM 892, or an IC (Integrated Circuit) card and provided by the user. The program is read from the recording medium, installed in the hard disk drive 808 in the computer 800 via the RAM 803, and executed by the CPU 802.

  A program that is installed in the computer 800 and causes the computer 800 to function as the vehicle-mounted device 110 causes the computer 800 to have system error information prepared in advance relating to the system error of the positioning result by the GPS receiver 130 in step S102, and the running state of the vehicle. In step S106, the position specifying unit 112 that corrects the positioning result by the GPS receiver 130 to specify the position of the vehicle and the time-dependent change of the position specified by the position specifying unit 112 are Is made to function as a passage determination unit 116 that determines whether or not a billing point has passed.

  In addition, the program includes a computer 800, a driving state specifying unit 114 that specifies the driving state of the vehicle in step S104, and a GPS receiver based on the temporal change in the position specified by the position specifying unit 112 so far. In step S102, the positioning result by the GPS receiver 130 is corrected based on the system error information prepared in advance relating to the systematic error of the positioning result 130 and the traveling state of the vehicle identified by the traveling state identifying unit 114. You may make it function as the position specific | specification part 112 which specifies the position of a vehicle.

  The program further includes the map matching unit 113 that performs map matching in step S103 on the position specified by the position specifying unit 112, the position specified by the position specifying unit 112, and the map matching unit 113 performing map matching. Based on the amount of deviation from the position indicated by the result, in step S105, the random error calculation unit 115 that calculates the random error of the positioning result by the GPS receiver 130, and the range of the random error calculated by the random error calculation unit 115 If there is a charging point, the pass determination unit 116 may determine that the vehicle has not passed the charging point in step S106.

  The information processing described in these programs is read into the computer 800, whereby the positioning result data input receiving unit 111 and the position specifying unit 112, which are specific means in which the software and the various hardware resources described above cooperate. , Map matching unit 113, driving state specifying unit 114, chance error calculating unit 115, passage determining unit 116, charging processing unit 117, data output unit 118, map data storage unit 119, systematic error information storage unit 120, and charging point information It functions as the storage unit 121. And the specific vehicle equipment 110 according to the intended purpose is constructed | assembled by implement | achieving the calculation of the information according to the intended purpose of the computer 800 in this embodiment, or a process by these specific means.

  As an example, when communication is performed between the computer 800 and an external device or the like, the CPU 802 executes a communication program loaded on the RAM 803 and executes a communication interface based on the processing content described in the communication program. A communication process is instructed to 807. Under the control of the CPU 802, the communication interface 807 reads transmission data stored in a transmission buffer area or the like provided on a storage device such as the RAM 803, the hard disk drive 808, the flexible disk 893, or the CD-ROM 892, and sends it to the network. The reception data transmitted or received from the network is written into a reception buffer area or the like provided on the storage device. As described above, the communication interface 807 may transfer transmission / reception data to / from the storage device by the direct memory access method. Instead, the CPU 802 reads data from the transfer source storage device or the communication interface 807. The transmission / reception data may be transferred by writing the data to the transfer destination communication interface 807 or the storage device.

  In addition, the CPU 802 transfers all or a necessary part of the files or databases stored in the external storage device such as the hard disk drive 808, CD-ROM 892, and flexible disk 893 to the RAM 803 by direct memory access transfer or the like. The data is read and various processes are performed on the data on the RAM 803. Then, the CPU 802 writes the processed data back to the external storage device by direct memory access transfer or the like.

  In such processing, since the RAM 803 can be regarded as temporarily holding the contents of the external storage device, in the present embodiment, the RAM 803 and the external storage device are collectively referred to as a memory, a storage unit, or a storage device. . Various types of information such as various programs, data, tables, and databases in the present embodiment are stored on such a storage device and are subjected to information processing. In addition, the CPU 802 can hold a part of the RAM 803 in the cache memory and perform reading and writing on the cache memory. Even in such a form, the cache memory bears a part of the function of the RAM 803. Therefore, in the present embodiment, the cache memory is also included in the RAM 803, the memory, and / or the storage device unless otherwise indicated. To do.

  In addition, the CPU 802 performs various operations, such as various operations, information processing, condition determination, information retrieval, replacement, and the like described in the present embodiment for data read from the RAM 803 and specified by a command sequence of the program. Is written back to the RAM 803. For example, when performing the condition determination, the CPU 802 satisfies the conditions such that the various variables shown in the present embodiment are larger, smaller, above, below, or equal to other variables or constants. If the condition is satisfied or not satisfied, the program branches to a different instruction sequence or calls a subroutine.

  In addition, the CPU 802 can search for information stored in a file in a storage device, a database, or the like. For example, when a plurality of entries in which the attribute value of the second attribute is associated with the attribute value of the first attribute are stored in the storage device, the CPU 802 stores the plurality of entries stored in the storage device. The entry that matches the condition in which the attribute value of the first attribute is specified is retrieved, and the attribute value of the second attribute that is stored in the entry is read, thereby associating with the first attribute that satisfies the predetermined condition The attribute value of the specified second attribute can be obtained.

  The program or module described above may be stored in an external storage medium. As a storage medium, in addition to a flexible disk 893 and a CD-ROM 892, an optical recording medium such as a DVD (Digital Versatile Disk) or a CD (Compact Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), or a tape A medium, a semiconductor memory such as an IC card, or the like can be used. Further, a storage medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the computer 800 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various changes or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can also be included in the technical scope of the present invention.

  The execution order of each process such as operations, procedures, steps, and stages in the system, method, apparatus, program, and recording medium shown in the claims, the description, and the drawings is particularly “before”. It should be noted that “preceding” or the like is not specified, and that the output of the previous process can be realized in any order unless it is used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. It is not a thing.

DESCRIPTION OF SYMBOLS 100 Passage detection system 110 Onboard equipment 111 Positioning result data input reception part 112 Position specific | specification part 113 Map matching part 114 Running state specific | specification part 115 Coincidence error calculation part 116 Passage determination part 117 Charge processing part 118 Data output part 119 Map data storage part 120 System error information storage unit 121 Billing point information storage unit 130 GPS receiver 150 Display 800 Computer 801 Host controller 802 CPU
803 RAM
804 Graphic controller 805 Display 806 Input / output controller 807 Communication interface 808 Hard disk drive 809 CD-ROM drive 810 ROM
811 Flexible disk drive 812 I / O chip 891 Network communication device 892 CD-ROM
893 Flexible disk C Center console D Dashboard I Card slot

Claims (12)

A passing detection system that detects when a vehicle passes a predetermined position,
A positioning device that uses both radio navigation and autonomous navigation to position itself;
A passage detecting device for detecting when the vehicle has passed the predetermined position;
The passage detection device is
A position specifying unit that specifies the position of the vehicle by correcting the positioning result by the positioning device based on the system error information prepared in advance regarding the systematic error of the positioning result by the positioning device and the traveling state of the vehicle. When,
A map matching unit for map matching the position specified by the position specifying unit;
A coincidence of calculating a coincidence error of a positioning result by the positioning device based on a deviation amount between a first position specified by the position specifying unit and a second position indicated by a result of map matching performed by the map matching unit. An error calculator,
A passage determining unit that determines whether or not the vehicle has passed the predetermined position based on a change over time of the position specified by the position specifying unit ;
The passage determination unit determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculation unit.
A passage detection system characterized by that . The passage detection device is
A driving state specifying unit for specifying a driving state of the vehicle based on a change with time of the position specified by the position specifying unit until now;
The position specifying unit is configured to obtain a positioning result by the positioning device based on system error information prepared in advance relating to a systematic error of a positioning result by the positioning device and the running state of the vehicle specified by the running state specifying unit. Correct and identify the position of the vehicle
The passage detection system according to claim 1. The passage detection device is
A billing processing unit that performs billing processing when the vehicle passes the predetermined position
The passage detection system according to claim 1, further comprising: A passing detection system that detects when a vehicle passes a predetermined position,
A positioning device that uses both radio navigation and autonomous navigation to position itself;
A passage detecting device for detecting when the vehicle has passed the predetermined position;
The passage detection device is
A map matching unit for map matching the positioning result by the positioning device;
A chance to calculate a coincidence error of the positioning result by the positioning device based on the amount of deviation between the first position of the positioning result by the positioning device and the second position indicated by the result of map matching by the map matching unit An error calculator,
If the random error calculating unit is within said predetermined position within the chance was calculated error, passage detecting that the vehicle is characterized by having a said the determining pass determining unit does not pass through the predetermined position system. A passing detection method for detecting when a vehicle passes a predetermined position,
Based on the system error information prepared in advance regarding the system error of the positioning result by the positioning device that uses both radio navigation and autonomous navigation to determine the position of the vehicle, the positioning result by the positioning device is obtained based on the running state of the vehicle. A position identifying step for correcting and identifying the position of the vehicle;
A map matching step for map matching the position specified in the position specifying step;
A chance error of the positioning result by the positioning device is calculated based on the amount of deviation between the first position specified in the position specifying step and the second position indicated by the map matching result in the map matching step. Accidental error calculation stage,
A pass determination step of determining whether the vehicle has passed the predetermined position based on a change over time of the position specified in the position specifying step ;
In the passage determination step, if the predetermined position is within the range of the accidental error calculated in the accidental error calculation step, it is determined that the vehicle has not passed the predetermined position.
A passing detection method characterized by that . A passing detection method for detecting when a vehicle passes a predetermined position,
A map matching stage for map-matching positioning results from a positioning device that uses both radio navigation and autonomous navigation to position itself;
A coincidence error of the positioning result by the positioning device is calculated based on a deviation amount between the first position of the positioning result by the positioning device and the second position indicated by the map matching result in the map matching stage. Accidental error calculation stage,
When the predetermined position is within the range of accidental error calculated in the random error calculation step, pass, characterized in that the vehicle comprises a determining passage judgment step and not passed the predetermined position Detection method. A passage detection device that detects when a vehicle has passed a predetermined position,
Based on the system error information prepared in advance regarding the system error of the positioning result by the positioning device that uses both radio navigation and autonomous navigation to determine the position of the vehicle, the positioning result by the positioning device is obtained based on the running state of the vehicle. A position specifying unit for correcting and specifying the position of the vehicle;
A map matching unit for map matching the position specified by the position specifying unit;
A coincidence of calculating a coincidence error of a positioning result by the positioning device based on a deviation amount between a first position specified by the position specifying unit and a second position indicated by a result of map matching performed by the map matching unit. An error calculator,
A passage determining unit that determines whether or not the vehicle has passed the predetermined position based on a change over time of the position specified by the position specifying unit ;
The passage determination unit determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculation unit.
A passage detection device characterized by that . A passage detection device that detects when a vehicle has passed a predetermined position,
A map matching unit for map-matching positioning results from a positioning device that uses both radio navigation and autonomous navigation to position itself;
A chance to calculate a coincidence error of the positioning result by the positioning device based on the amount of deviation between the first position of the positioning result by the positioning device and the second position indicated by the result of map matching by the map matching unit An error calculator,
If the random error calculating unit is within said predetermined position within the chance was calculated error, passage detecting that the vehicle is characterized by comprising said and determining passage determining portion does not pass through the predetermined position apparatus. A program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position,
The computer,
Based on the system error information prepared in advance regarding the system error of the positioning result by the positioning device that uses both radio navigation and autonomous navigation to determine the position of the vehicle, the positioning result by the positioning device is obtained based on the running state of the vehicle. A position specifying unit for correcting and specifying the position of the vehicle;
A map matching unit for map matching the position specified by the position specifying unit;
A coincidence of calculating a coincidence error of a positioning result by the positioning device based on a deviation amount between a first position specified by the position specifying unit and a second position indicated by a result of map matching performed by the map matching unit. Error calculator,
Based on the change over time of the position specified by the position specifying unit, function as a passage determining unit that determines whether the vehicle has passed the predetermined position ,
The passage determination unit determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculation unit.
A program characterized by that . A program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position,
The computer,
A map matching unit that maps the positioning results of a positioning device that uses both radio navigation and autonomous navigation
A chance to calculate a coincidence error of the positioning result by the positioning device based on the amount of deviation between the first position of the positioning result by the positioning device and the second position indicated by the result of map matching by the map matching unit Error calculator,
A program for causing a vehicle to function as a passage determination unit that determines that the vehicle has not passed through the predetermined position when the predetermined position is within a range of the accidental error calculated by the accidental error calculation unit. A recording medium that records a program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position,
The computer,
Based on the system error information prepared in advance regarding the system error of the positioning result by the positioning device that uses both radio navigation and autonomous navigation to determine the position of the vehicle, the positioning result by the positioning device is obtained based on the running state of the vehicle. A position specifying unit for correcting and specifying the position of the vehicle;
A map matching unit for map matching the position specified by the position specifying unit;
A coincidence of calculating a coincidence error of a positioning result by the positioning device based on a deviation amount between a first position specified by the position specifying unit and a second position indicated by a result of map matching performed by the map matching unit. Error calculator,
Based on the change over time of the position specified by the position specifying unit, function as a passage determining unit that determines whether the vehicle has passed the predetermined position ,
The passage determination unit determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculation unit.
The recording medium which recorded the program characterized by the above-mentioned. A recording medium that records a program that causes a computer to function as a passage detection device that detects when a vehicle passes a predetermined position,
The computer,
A map matching unit that maps the positioning results of a positioning device that uses both radio navigation and autonomous navigation
A chance to calculate a coincidence error of the positioning result by the positioning device based on the amount of deviation between the first position of the positioning result by the positioning device and the second position indicated by the result of map matching by the map matching unit Error calculator,
A program for causing the vehicle to function as a passage determining unit that determines that the vehicle has not passed the predetermined position when the predetermined position is within the range of the accidental error calculated by the accidental error calculating unit. Recorded recording medium.

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