JP6942414B2 - In-vehicle device - Google Patents

Description

The present invention relates to an in-vehicle device using position information obtained by using GNSS (Global Navigation Satellite System).

Conventionally, when performing billing processing using vehicle position information, the first position information indicating the current position of the vehicle obtained based on the positioning signal received from the artificial satellite and the roadside system via the DSRC antenna Compare with the second position information indicating the current position of the vehicle obtained based on the transmitted radio signal, and if the difference between these positions is greater than or equal to a predetermined reference value, it is determined that spuffing has occurred. There is a known in-vehicle device (see, for example, Patent Document 1). When the occurrence of spoofing (spoofing) is detected by disguising the positioning signal received from the artificial satellite in this way, the normal billing process is stopped.

Japanese Unexamined Patent Publication No. 2015-14475

By the way, in the in-vehicle device disclosed in Patent Document 1 described above, since the second position information is acquired by using the radio signal sent from the roadside system via the DSRC antenna, the roadside system including the DSRC antenna in advance. There is a problem that there are many restrictions on the place of use because it is necessary to install the equipment, the scale of the infrastructure such as the roadside system becomes large, and it is necessary to pass in the vicinity of the DSRC antenna. For example, considering the case of charging a vehicle entering a predetermined area through many roads, it is necessary to install a DSRC antenna for each road, which requires labor and cost for equipment installation and maintenance. It will be huge.

The above-mentioned Patent Document 1 also describes a case where the second position information is acquired by using a radio signal sent from the cellular base station, but the same applies to a place where the cellular base station is not installed. There is a problem, and it is not a fundamental solution.

The present invention was created in view of these points, and an object of the present invention is to prevent spoofing by disguising a positioning signal received from an artificial satellite, while expanding the scale of infrastructure equipment and the place of use. An object of the present invention is to provide an in-vehicle device capable of suppressing restrictions.

In order to solve the above-mentioned problems, the in-vehicle device of the present invention includes a vehicle position calculation means for calculating the position of the vehicle based on a positioning signal received from an artificial satellite, and peripheral vehicles located in the vicinity of the vehicle. A first communication means for communicating between the two, a peripheral vehicle information acquisition means for acquiring peripheral vehicle information including the position of a peripheral vehicle using the first communication means, and a peripheral vehicle acquired by the peripheral vehicle information acquisition means. The position of the surrounding vehicle included in the information is compared with the position of the own vehicle calculated by the own vehicle position calculation means, and when the difference between them is larger than a predetermined threshold value, the position is calculated by the own vehicle position calculation means. It is provided with a camouflage determination means for determining that the position of the own vehicle is based on the camouflaged positioning signal.

If the positioning signal received from the artificial satellite is not disguised, the difference between the position of the own vehicle calculated based on this positioning signal and the position of the surrounding vehicle is the actual difference between the own vehicle and this peripheral vehicle. It will match the distance. However, if the positioning signal is disguised, this difference will not match the actual distance. On the other hand, the actual distance between the own vehicle and the peripheral vehicles is not so long because the communication between the own vehicle and the peripheral vehicles requires that the own vehicle and the peripheral vehicles are located within a communicable range with each other. .. Therefore, if the difference between the calculated position of the own vehicle and the position of the surrounding vehicle is too large (when it is larger than a predetermined threshold value), it is determined that the positioning signal received from the artificial satellite is disguised. Therefore, it is possible to prevent spoofing due to spoofing of the positioning signal. Moreover, since it is possible to determine the presence or absence of spoofing by camouflage simply by adding a function for communicating with surrounding vehicles, it is not necessary to develop infrastructure such as a roadside system including a DSRC antenna, and infrastructure equipment. It is possible to suppress the expansion of scale and restrictions on the place of use.

Further, it is desirable to further provide a charging processing means that performs charging processing corresponding to the position of the own vehicle based on the position of the own vehicle calculated by the above-mentioned own vehicle position calculating means. By using the determination result indicating the presence or absence of spoofing, it is possible to effectively prevent billing avoidance or erroneous billing during billing processing.

Further, it is desirable to further provide a camouflage determination result output means for outputting the determination result of the above-mentioned camouflage determination means. As a result, it is possible to notify whether or not spoofing has occurred.

Further, the above-mentioned billing processing means and a second communication means for communicating with an external device that performs billing processing are further provided, and it is determined that the camouflage determination result output means is based on the camouflaged positioning signal. It is desirable to transmit the camouflage detection information to the external device when is performed by the camouflage determination means. This makes it possible to notify the outside that spoofing has occurred in a specific vehicle.

Further, the above-mentioned camouflage determination result output means notifies the passengers of the own vehicle of the occurrence of camouflage as a determination result when the camouflage determination means determines that it is based on the camouflaged positioning signal. It is desirable to output a warning. This makes it possible to notify the passengers of the own vehicle that a fraudulent product that causes spoofing is being used in the own vehicle.

Further, vehicle-to-vehicle communication is performed by wirelessly transmitting and receiving information to and from peripheral vehicles on a one-to-one basis by the first communication means described above, and the peripheral vehicle information acquisition means obtains peripheral vehicle information from one or a plurality of peripheral vehicles. get. In one-to-one vehicle-to-vehicle communication, for example, information is transmitted and received using the wireless LAN standard IEEE802.11p, but in this case, the communication range is about 300 m, and from peripheral vehicles existing in this communication range. By acquiring information on surrounding vehicles, it is possible to prevent spoofing due to spoofing of positioning signals without improving the infrastructure.

Further, in the above-mentioned camouflage determination means, when there are a plurality of peripheral vehicles, the position of the peripheral vehicle included in the peripheral vehicle information acquired from at least one peripheral vehicle and the position of the own vehicle calculated by the own vehicle position calculation means. When the difference from the threshold value is larger than the threshold value, it is determined that the information is based on the disguised positioning signal . This makes it possible to prevent spoofing due to camouflage of the positioning signal regardless of the direction in which the position of the own vehicle calculated based on the camouflaged positioning signal deviates.

Further, it is desirable that the above-mentioned threshold value is set to a value equal to or larger than the communicable distance in the inter-vehicle communication. If the vehicle position calculated based on the positioning signal does not deviate from the correct position due to spoofing of the positioning signal, the difference from the position of the surrounding vehicle should be smaller than the communicable distance in vehicle-to-vehicle communication, which is the opposite. If it is larger than the communicable distance, it can be determined that spoofing due to spoofing of the positioning signal has occurred.

It is a figure which shows the structure of the whole system including the vehicle-mounted device of one Embodiment. It is a figure which shows the structure of the in-vehicle device mounted on a vehicle. It is a flow chart which shows the operation procedure which determines the presence or absence of spoofing occurrence by spoofing of a positioning signal.

Hereinafter, an in-vehicle device according to an embodiment to which the present invention is applied will be described with reference to the drawings.

The in-vehicle device of the present embodiment uses the position of the own vehicle calculated based on the positioning signal received from the artificial satellite to perform billing processing when the own vehicle enters a toll road or other toll area. .. Further, the in-vehicle device of the present embodiment has a function of determining when the above-mentioned positioning signal is disguised.

FIG. 1 is a diagram showing a configuration of an entire system including an in-vehicle device of one embodiment. In FIG. 1, a vehicle-mounted device 100a is mounted on a vehicle A, and a vehicle-mounted device 100b is mounted on a vehicle B. The in-vehicle device 100a calculates the position pa of the own vehicle (vehicle A) based on the positioning signal received from the artificial satellite, and the peripheral vehicle information transmitted from the in-vehicle device 100b mounted on the vehicle B traveling in the vicinity. Is acquired, and the position pb of the peripheral vehicle (vehicle B) included in the peripheral vehicle information is acquired. Further, the in-vehicle device 100a determines whether or not the positioning signal is spoofed (whether spoofing has occurred) by comparing these two positions pa and pb, and responds to this determination result. Perform processing. For example, when spoofing has occurred, a warning to that effect is given to the passenger of vehicle A by display or audio output. If spoofing has not occurred, the billing process is performed for the vehicle A that has entered the billing area.

FIG. 2 is a diagram showing a configuration of an in-vehicle device 100a mounted on the vehicle A. The in-vehicle device 100b mounted on the vehicle B basically has the same configuration.

As shown in FIG. 2, the in-vehicle device 100a of the present embodiment includes a GNSS receiving unit 10, communication units 20, 30, a control unit 40, a display unit 60, and an audio output unit 62.

The GNSS receiving unit 10 receives positioning signals transmitted from a plurality of artificial satellites (GNSS satellites), repeatedly calculates and outputs the position pa of the own vehicle (vehicle A) on which the in-vehicle device 100a is mounted, and outputs the positioning signals.

On the other hand, the communication unit 20 performs vehicle-to-vehicle communication with a peripheral vehicle (vehicle B in the example shown in FIG. 1) located around the vehicle A. For example, one-to-one vehicle-to-vehicle communication is performed using the wireless LAN standard IEEE802.11p or the like, and peripheral vehicle information including the position pb of the vehicle B on which the in-vehicle device 100b of the communication partner is mounted is transmitted and received. In the case of the above-mentioned IEEE802.11p, the communication range is about 300 m, and the vehicle B needs to be included in this communication range. The vehicle B to be the communication partner does not have to be a specific vehicle, and if it has a function of transmitting the position of the own vehicle toward the vehicle A, it is an unspecified vehicle that happens to exist within the communication range. It may be a vehicle. Further, the number of vehicles B is not limited to one, and may be a plurality of vehicles B.

The other communication unit 30 is for transmitting and receiving information (billing information) necessary for billing to and from the external billing server 200. For example, the communication unit 30 can connect to the billing server 200 via the mobile phone network, and receives billing information from the billing server 200 via an external mobile phone (not shown) and a peripheral base station. Send and receive.

The control unit 40 is for controlling the entire in-vehicle device 100a, and is realized by executing a predetermined program stored in a ROM, RAM, or the like on the CPU. Further, the control unit 40 determines whether or not the positioning signal is spoofed (spoofing), and in order to perform processing related to billing in cooperation with the billing server 200, the peripheral vehicle information acquisition unit 42, the vehicle information creation unit 44, and the camouflage determination are performed. A unit 46, a camouflage determination result output processing unit 48, and a billing processing unit 50 are provided.

The peripheral vehicle information acquisition unit 42 acquires peripheral vehicle information received by the communication unit 20. The vehicle information creation unit 44 creates vehicle information that the vehicle A transmits to neighboring vehicles. This vehicle information includes the position pa of the vehicle A, and the created vehicle information is transmitted to neighboring vehicles via the communication unit 20. For example, the in-vehicle device 100b of the vehicle B receives and acquires the vehicle information transmitted from the vehicle A as the peripheral vehicle information sent from the peripheral vehicle.

The camouflage determination unit 46 compares the position pb of the vehicle B included in the peripheral vehicle information acquired by the peripheral vehicle information acquisition unit 42 with the position pa of the vehicle A calculated by the GNSS receiving unit 10, and the difference between them is found. When it is larger than a predetermined threshold value, it is determined that the position pa of the vehicle A calculated by the GNSS receiving unit 10 is based on the disguised positioning signal.

The camouflage determination result output processing unit 48 performs a process of outputting the determination result by the camouflage determination unit 46. Specifically, when the camouflage determination result output processing unit 48 determines that the position pa is based on the camouflaged positioning signal, the camouflage determination unit 46 determines that the passenger of the own vehicle is the result of the determination. A warning is given to the display unit 60 by displaying a predetermined screen on the display unit 60 and / or by outputting a predetermined voice from the voice output unit 62. Further, the camouflage determination result output processing unit 48 provides the camouflage detection information for notifying the occurrence of spoofing when the camouflage determination unit 46 determines that the position pa is based on the camouflaged positioning signal. It is transmitted to the external billing server 200 via. The camouflage detection information includes information indicating that spoofing has occurred, as well as information identifying the vehicle A (vehicle-mounted device 100a) in which the spoofing has occurred, the driver driving the vehicle A, and the like.

The billing processing unit 50 performs billing processing corresponding to this position pa based on the position pa of the vehicle A calculated by the GNSS receiving unit 10. Actually, this billing process is performed in cooperation with the billing server 200. For example, when the determination result of the camouflage determination unit 46 is input to the charge processing unit 50, the vehicle A enters the charge area (FIG. 1), and spoofing has not occurred at this point, the communication unit 30 is used. Then, along with the information that identifies the vehicle A (vehicle-mounted device 100a), the driver who drives the vehicle A, and the like, information that the billing process is requested is transmitted to the billing server 200. The billing server 200 performs a billing process for the vehicle A and the like based on this information.

The GNSS receiving unit 10 described above charges the own vehicle position calculation means, the communication unit 20 charges the first communication means, the peripheral vehicle information acquisition unit 42 charges the peripheral vehicle information acquisition means, and the camouflage determination unit 46 charges the camouflage determination means. The processing unit 50 corresponds to the billing processing means, the camouflage determination result output processing unit 48 corresponds to the camouflage determination result output means, the communication unit 30 corresponds to the second communication means, and the billing server 200 corresponds to the external device.

The in-vehicle device 100a of the present embodiment has such a configuration, and next, an operation of determining the presence or absence of spoofing due to spoofing of a positioning signal received from an artificial satellite will be described.

FIG. 3 is a flow chart showing an operation procedure for determining the presence or absence of spoofing due to spoofing of a positioning signal.

The GNSS receiving unit 10 receives the positioning signal transmitted from the GNSS satellite and calculates the position pa of the vehicle A (step 100). Further, the peripheral vehicle information acquisition unit 42 performs vehicle-to-vehicle communication with the vehicle B that is traveling within the communicable range or stopped within the communicable range, and the position pb of the vehicle B included in the peripheral vehicle information. (Step 102).

Next, the camouflage determination unit 46 compares the position pa of the own vehicle (vehicle A) calculated by the GNSS receiving unit 10 with the position pb of the vehicle B acquired by the peripheral vehicle information acquisition unit 42 (step 104). .. For example, by this comparison process, the distance L between the two positions pa and pb is calculated as the difference Δp between these positions pa and pb.

Next, the camouflage determination unit 46 determines whether or not the difference Δp (= L) calculated by the comparison process is equal to or greater than a predetermined threshold value (step 106). For example, it is desirable to use a value that is the same as or slightly larger (for example, 10%) than the maximum value of the communicable distance in vehicle-to-vehicle communication as this threshold value.

If the difference Δp is less than or equal to the threshold value, a negative judgment is made. In this case, the camouflage determination unit 46 determines that spoofing based on the camouflaged positioning signal has not occurred (step 108). If the difference Δp is larger than the threshold value, an affirmative judgment is made. In this case, the camouflage determination unit 46 determines that spoofing has occurred based on the camouflaged positioning signal (step 110).

Next, the camouflage determination result output processing unit 48 performs a process of outputting the determination result without spoofing performed in step 108 or the determination result with spoofing performed in step 110 (step 112). As described above, specific examples of the output include a case where a warning for the occurrence of camouflage is displayed or voiced to the passengers of the own vehicle, and a case where the occurrence of spoofing is notified to the billing server 200 via the communication unit 30. Conceivable.

In this way, a series of operations for determining the presence or absence of spoofing are completed. If necessary, this determination result can be reflected in the billing process in the billing processing unit 50 or the billing server 200.

Generally, when the positioning signal received from the artificial satellite is not disguised, the difference between the position of the own vehicle calculated based on this positioning signal and the position of the surrounding vehicle is the difference between the own vehicle and this peripheral vehicle. It will match the actual distance. However, if the positioning signal is disguised, this difference will not match the actual distance. On the other hand, the actual distance between the own vehicle and the peripheral vehicles is not so long because the communication between the own vehicle and the peripheral vehicles requires that the own vehicle and the peripheral vehicles are located within a communicable range with each other. .. In the in-vehicle device 100a of the present embodiment, when the difference between the position of the vehicle and the position of the surrounding vehicle is too large (when it is larger than a predetermined threshold value), the positioning signal received from the artificial satellite is disguised. It is possible to prevent spoofing due to spoofing of the positioning signal. Moreover, since it is possible to determine the presence or absence of spoofing by camouflage simply by adding a function for communicating with surrounding vehicles, it is not necessary to develop infrastructure such as a roadside system including a DSRC antenna, and infrastructure equipment. It is possible to suppress the expansion of scale and restrictions on the place of use.

Further, by performing the billing process reflecting the determination result indicating the presence or absence of spoofing by the billing processing unit 50, it is possible to effectively prevent billing avoidance or erroneous billing when spoofing occurs.

Further, by outputting the camouflage determination result by the camouflage determination result output processing unit 48, it is possible to notify the presence or absence of spoofing. In particular, when the camouflage determination unit 46 determines that the information is based on the camouflaged positioning signal, spoofing occurs in a specific vehicle by transmitting the camouflage detection information to the billing server 200. It is possible to notify the billing server 200 of the fact. Further, when the camouflage determination unit 46 determines that the grounding is based on the camouflaged positioning signal, the spoofing is performed by outputting a warning to notify the passengers of the own vehicle that the camouflage has occurred as the determination result. It is possible to notify the passengers of the own vehicle that the fraudulent product is being used in the own vehicle.

Further, in the present embodiment, vehicle-to-vehicle communication is performed in which information is transmitted and received wirelessly on a one-to-one basis with a peripheral vehicle, and peripheral vehicle information is acquired from the peripheral vehicle. In one-to-one vehicle-to-vehicle communication, for example, information is transmitted and received using the wireless LAN standard IEEE802.11p, but in this case, the communication range is about 300 m, and from peripheral vehicles existing in this communication range. By acquiring information on surrounding vehicles, it is possible to prevent spoofing due to spoofing of positioning signals without improving the infrastructure.

In addition, a threshold value that serves as a reference for determining whether or not the positioning signal is disguised is set to a value equal to or greater than the communicable distance in vehicle-to-vehicle communication (for example, a value equal to or slightly larger than the maximum value of the communicable distance). If the vehicle position calculated based on the positioning signal does not deviate from the correct position due to spoofing of the positioning signal, the difference from the position of the surrounding vehicle should be smaller than the communicable distance in vehicle-to-vehicle communication, which is the opposite. If it is larger than the communicable distance, it can be determined that spoofing due to spoofing of the positioning signal has occurred.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, in the example shown in FIG. 1, vehicle-to-vehicle communication was performed with one peripheral vehicle (vehicle B) when determining the presence or absence of spoofing in vehicle A, but there were a plurality of peripheral vehicles. You may. In this case, the camouflage determination unit 46 is based on the camouflaged positioning signal when the difference between the position of at least one peripheral vehicle and the position of the own vehicle is larger than the threshold value. Make a judgment to that effect. This makes it possible to prevent spoofing due to camouflage of the positioning signal regardless of the direction in which the position of the own vehicle calculated based on the camouflaged positioning signal deviates.

As described above, according to the present invention, when the difference between the calculated position of the own vehicle and the position of the surrounding vehicle is too large (when it is larger than a predetermined threshold value), the positioning signal received from the artificial satellite is transmitted. Since it can be determined that the positioning signal is disguised, it is possible to prevent spoofing due to disguise of the positioning signal. Moreover, since it is possible to determine the presence or absence of spoofing by camouflage simply by adding a function for communicating with surrounding vehicles, it is not necessary to develop infrastructure such as a roadside system including a DSRC antenna, and infrastructure equipment. It is possible to suppress the expansion of scale and restrictions on the place of use.

10 GNSS receiver 20, 30 communication unit 40 control unit 42 peripheral vehicle information acquisition unit 44 vehicle information creation unit 46 camouflage judgment unit 48 camouflage judgment result output processing unit 50 billing processing unit 60 display unit 62 voice output unit 100a, 100b in-vehicle device

Claims (6)

Own vehicle position calculation means that calculates the position of the own vehicle based on the positioning signal received from the artificial satellite,
The first communication means for communicating with the surrounding vehicles located around the own vehicle, and
Peripheral vehicle information acquisition means for acquiring peripheral vehicle information including the position of the peripheral vehicle using the first communication means, and
The position of the peripheral vehicle included in the peripheral vehicle information acquired by the peripheral vehicle information acquisition means is compared with the position of the own vehicle calculated by the own vehicle position calculation means, and the difference between them is more than a predetermined threshold value. When the size is also large, the camouflage determination means for determining that the position of the own vehicle calculated by the own vehicle position calculation means is based on the camouflaged positioning signal, and
By the first communication means, vehicle-to-vehicle communication is performed by wirelessly transmitting and receiving information to and from the surrounding vehicles on a one-to-one basis.
The peripheral vehicle information acquisition means acquires the peripheral vehicle information from one or a plurality of the peripheral vehicles, and obtains the peripheral vehicle information.
When there are a plurality of the peripheral vehicles, the camouflage determining means includes the positions of the peripheral vehicles included in the peripheral vehicle information acquired from at least one of the peripheral vehicles, and the own vehicle calculated by the own vehicle position calculation means. An in-vehicle device, characterized in that, when the difference from the position of is larger than the threshold value, it is determined that the information is based on the disguised positioning signal. The in-vehicle device according to claim 1, further comprising a billing processing means that performs a billing process corresponding to the position of the own vehicle based on the position of the own vehicle calculated by the own vehicle position calculating means. The vehicle-mounted device according to claim 2, further comprising a camouflage determination result output means for outputting the determination result of the camouflage determination means. A second communication means for communicating with the external device that performs the charge processing together with the charge processing means is further provided.
The camouflage determination result output means transmits camouflage detection information to the external device when it is determined by the camouflage determination means that it is based on the camouflaged positioning signal. The in-vehicle device according to claim 3. When the camouflage determination result output means determines that it is based on the camouflaged positioning signal, the camouflage determination result output means notifies the passengers of the own vehicle of the occurrence of camouflage as the determination result. The vehicle-mounted device according to claim 3 or 4, wherein a warning is output. The vehicle-mounted device according to any one of claims 1 to 5, wherein the threshold value is set to a value equal to or greater than a communicable distance in the inter-vehicle communication.

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