JP2004198377A - Moving object monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To precisely monitor a moving object over a wide range. <P>SOLUTION: A position detecting means 102 of a positional information transmitter 100 detects a position of the moving object. A route change detecting means 106 detects a route change of the moving object using the position detecting means 102 and an electronic map data reference means 104. A transmission means 108 transmits position information to a moving object monitor 300 when detecting the route change of the moving object by the route change detecting means 106. The moving object monitor 300 estimates the present position of the moving object based on the position information and an electronic map data to display it on a map. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a mobile monitoring system that monitors the position of a mobile.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a mobile body monitoring system that constantly transmits position information (hereinafter, referred to as a first system) is known. According to the first system, the position of the moving body can be always grasped, and the moving body can be monitored with high accuracy (for example, Patent Document 1).
[0003]
Further, a mobile body monitoring system that transmits position information at a constant interval (hereinafter, referred to as a second system) is also known (for example, Patent Document 2). According to the second system, the amount of information transmitted from the position information transmitting device can be suppressed.
[0004]
[Patent Document 1]
JP 05-080141 A
[Patent Document 2]
JP 08-180286 A
[0005]
[Problems to be solved by the invention]
However, the first system has a drawback that the communication cost increases in a communication environment of a system that is charged according to the amount of information.
[0006]
In the second system, although the communication cost can be suppressed, there is a problem that the position of the moving body cannot be always grasped and the accuracy of grasping the position of the moving body is lowered. For example, when moving over a wide area using an expressway, the position of the moving object changes considerably in a short time. Also, when moving in a narrow range such as an urban area where many roads intersect, the position of the moving body changes considerably in a short time by changing the course relatively frequently. In such a case, the second system could not accurately determine the position of the moving body.
[0007]
The present invention has been made in view of such a situation, and an object of the present invention is to provide a moving object monitoring system capable of accurately monitoring the position of a moving object while suppressing the amount of information transmitted from the moving object. And
[0008]
[Means for Solving the Problems and Their Functions and Effects]
In order to solve at least a part of the above-described problems, a position information transmitting device mounted on a moving body and transmitting position information related to the position of the moving body, and a moving body monitor that receives the information and monitors the position of the moving body A mobile monitoring system was constructed using the device.
[0009]
The position information transmitting device of the present invention,
Position detection means for acquiring position information representing the position of the moving object,
Moving state change detecting means for detecting a change in the moving state of the moving body,
And transmitting means for transmitting position information to the mobile monitoring device when a change in the moving state is detected.
[0010]
The change in the moving state includes, for example, a change in the traveling direction and a change in the moving speed. Generally, when estimating the position of a moving object based on position information acquired at intervals, the estimation accuracy often decreases due to the inability to accurately grasp changes in the moving state. According to the present invention, the position information is transmitted with the change in the moving state as a trigger, so that the influence of the change in the moving state can be suppressed, and the position can be grasped accurately. At the same time, by using a change in the movement state as a trigger, the present invention can also reduce the frequency of transmitting position information.
[0011]
In the present invention, the moving object corresponds to, for example, a truck, a taxi, other vehicles, a ship, an aircraft, a train, and the like. Also, a device carried by a person such as a mobile phone or a PDA is included. The number of moving objects to be monitored is not limited to one, but may be a plurality.
[0012]
The position information transmitting device of the present invention includes electronic map data reference means for referring to electronic map data, and detects a course change of the moving body as a change in moving state using the position detection means and the electronic map data reference means. You may make it.
[0013]
Here, the course change refers to a change in the traveling road due to a right or left turn. By referring to the electronic map data, for example, road data, the presence or absence of a course change can be accurately grasped.
[0014]
In the present invention, various methods can be applied to the position detection as long as the accuracy of detecting the change in the course of the moving object can be secured. For example, a method of detecting using a GPS (Global Positioning System) is used. Can be applied. In this case, the GPS is DGPS (Differential GPS), RTK-GPS (Real Time Kinetic-GPS), VRS (Virtual Reference Station), and VRS-RTK-GPS (Virtual Reference Station-Real Time KinPSK). Is also possible. In addition, an autonomous navigation device such as a gyro sensor can be used together.
[0015]
Various timings can be applied to the detection of the position as long as the frequency of the detection of the change in the course of the moving object is not overlooked. The timing may be constantly determined, and may be determined at predetermined time intervals. Also, it may be performed every predetermined time. Further, in combination with these, it may be performed when there is a command from the monitoring person of the moving body. Although the position is typically represented using latitude and longitude coordinates, the present invention is not limited to this, and planar orthogonal coordinates may be used. Preferably, the detected position information is stored in association with the time at which the position was detected.
[0016]
In the present invention, it is preferable that the electronic map data referred to is defined as so-called road network data in which an intersection is defined as a node and a link between intersections is defined as a link with respect to a road through which a moving object can pass. Further, even if the roads through which the moving object can pass are not defined as road network data, the road name, road type (expressway, national highway, prefectural road, etc.), up / down line type, and position are recorded for each road. Is preferred. Although the position is typically represented using latitude and longitude coordinates, the present invention is not limited to this, and planar orthogonal coordinates may be used. In addition, the electronic map data may be configured integrally with the position information transmitting device or may be configured separately. In the case of separate configuration, it is possible to adopt a configuration in which transmission and reception of both information are connected via a network. The network is typically the Internet, but is not limited to the Internet, and may be a limited network such as a LAN (Local Area Network) or a dedicated line network.
[0017]
In the present invention, the detection of the course change, various configurations can be applied, but for a road through which the mobile body can pass, if it is defined as road network data, if the mobile body passes through a node, Alternatively, a configuration may be adopted in which, when the link being moved by the moving body changes, the course is changed.
[0018]
In addition, even when a road through which a moving object can pass is not defined as a road network, for example, a course change can be determined by the following method. When the road name, road type (expressway, national highway, prefectural road, etc.), up / down line type, and position are recorded on each road, the position (latitude, longitude) detected by the position detection means is converted to electronic map data. The road is continuously identified by lighting. Then, when two consecutive specified results are different, that is, when at least one of the road name, the road type, and the road vertical line type changes, it is possible to adopt a configuration in which it is determined that the moving body has changed course. It is.
[0019]
When the road is specified, the traveling direction of the moving body is analyzed based on the history of the position (latitude, longitude) of the moving body in addition to the comparison with the electronic map data described above, and the analysis result is considered. Alternatively, the type of the up / down line may be specified. For example, when the collation result with the electronic map data and the analysis result based on the history of the position match, the configuration of the road is ended. If they do not match, repeat until both match. If the two do not match even after being repeated a predetermined number of times, it is preferable to define a priority relationship as to which of the results is adopted. By doing so, the accuracy of specifying the road can be improved.
[0020]
The location information is transmitted to a base station via a wireless communication line such as a PHS line or a mobile phone line, and the position information transmitted to the base station is transmitted to a mobile monitoring device via a wired communication line. Can be adopted.
[0021]
In the position information transmitting device of the present invention, the course change may be, for example, a change of a road on which a moving object passes.
[0022]
Regardless of whether or not to refer to the electronic map data, a significant change in at least one of the moving speed and the moving direction of the moving object may be detected as a change in the moving state. The change in the moving speed includes acceleration, deceleration, stop, start, and the like. The change in the moving direction includes a right / left turn, a U-turn, and the like. These changes can be determined, for example, based on the history of the position information. When the moving body moves, the speed and direction usually change slightly. Therefore, it is preferable to detect a significant change sufficient to notify the position information. The criterion for determining whether the notification is significant can be set in advance, for example, to the extent that the notification frequency does not become excessively high.
[0023]
In the position information transmitting device of the present invention, the position detecting means may detect the time at which the position of the moving object is detected, and the transmitting means may transmit the time information on the time in association with the position information.
[0024]
By doing so, even when a time lag due to the communication environment occurs between the detection of the position and the transmission of the position information, the time at which the position information transmitting device has detected the position of the moving object can be accurately transmitted. it can.
[0025]
The method of obtaining the current time may be either a method of providing a clock in the device or a method of obtaining the current time based on an external signal. When acquiring based on an external signal, any of a signal from a GPS satellite, a standard time radio wave used for a radio clock, and a method using a time server existing on the Internet may be used. When the position detecting means includes a GPS receiver, a configuration in which the current time is obtained using the GPS receiver can be adopted.
[0026]
In the position information transmitting device of the present invention, the position information may be transmitted when there is a transmission instruction of the position information from the mobile monitoring device.
[0027]
In this way, even if it becomes difficult to estimate the current position of the mobile object for some reason or if it is necessary to monitor the position with high accuracy, the mobile object monitoring device Position can be grasped.
[0028]
Here, the command for transmitting the position information to the moving body may be a command for all the moving bodies or a part of the command when there are a plurality of monitored moving bodies. In some cases, the amount of information to be transmitted can be reduced. In any case, the current position of the moving body that has issued the transmission command can be accurately grasped.
[0029]
Further, in the position information transmitting device of the present invention, the transmitting unit may include a timed transmitting unit that transmits the position information when the position information has not been transmitted for a certain period of time.
[0030]
In this way, even when the moving state of the moving object has not been changed for a certain period, the monitoring accuracy of the moving object can be maintained at a certain level or more. In addition, the monitoring load of the mobile monitoring device can be reduced. The “constant period” may be a fixed value set in advance, or may be variable according to the moving speed of the moving body, the type of road on which the moving body is passing, and the like.
[0031]
The first mobile object monitoring device of the present invention comprises:
Position information acquisition means for acquiring the position information transmitted from the position information transmission device mounted on the moving body in time series,
Electronic map data reference means for referring to the electronic map data;
Position estimating means for estimating the position of the moving object at a predetermined time after the latest position information is obtained, based on the position information obtained in time series,
Display control means for displaying the estimated position on a map represented by the electronic map data.
[0032]
By doing so, the subsequent position can be estimated from the history of the position information of the moving object. The “predetermined timing” includes a constant time (very short time span), a predetermined time after the acquisition of the position information, and a predetermined time. When the predetermined time is set, typically, the time at which the guessing is performed can be set, but the operator may be able to appropriately specify the time. The position information is preferably obtained from the position information transmitting device of the present invention described above, but does not necessarily have to have the features of the present invention. A position information transmitting device may be used.
[0033]
A second mobile object monitoring device according to the present invention includes:
Position information acquisition means for acquiring position information transmitted from a position information transmission device mounted on a moving object, electronic map data reference means for referring to electronic map data, the position information acquisition means and the electronic map data reference means And a road specifying unit for specifying the position of the moving body and a moving road, and obtaining the latest position information in consideration of a predetermined moving condition associated with the road specified by the road specifying unit. A gist comprising: position estimating means for estimating the current position of the moving body at a predetermined time later; and display control means for displaying the estimated position on a map represented by the electronic map data. I do.
[0034]
Since it cannot be assumed when the position information is transmitted, it is preferable that the position information acquisition unit always be on standby.
[0035]
The estimation of the current position of the moving object is performed, for example, on the condition that the moving object moves from the specified position along the specified road at a predetermined speed at the time when the position information is acquired. In this case, "predetermined speed" corresponds to the moving condition associated with the road. The moving condition can be set according to the type of road and the like. The movement conditions may include, for example, restrictions on the direction of travel due to traffic regulations.
[0036]
In the above-described conditions, the moving object moves along the specified road from the specified position because the position information is transmitted from the position information transmitting device when the moving object changes course. This is because while the position information is not transmitted, the moving object can be regarded as moving along the specified road.
[0037]
In any of the first and second mobile monitoring apparatuses, the position of the mobile may be displayed on a display or printed on paper. In the output of the position, it is preferable to output a predetermined time which is a reference for estimation. It is preferable that the displayed map can be enlarged / reduced or moved / rotated as desired by the observer. The method of expressing the displayed map may be either two-dimensional or three-dimensional. In addition, a bird's eye view may be used. Further, based on the difference between the acquisition time of the latest position information and a predetermined time used as a reference for estimation, a display indicating estimation accuracy may be output together.
[0038]
The display of the current position of the moving object by the display control means can be performed at various timings depending on the purpose of monitoring the moving object. For example, the display may be always performed or may be performed at predetermined time intervals. Also, it may be performed every predetermined time. Alternatively, it may be performed when there is an instruction from the supervisor.
[0039]
The display control unit may be configured to display the position information transmitted from the position information transmitting device together with the current position estimated by the current position estimation unit. In this case, it is preferable that both are displayed so that the observer can identify them.
[0040]
According to the moving object monitoring device of the present invention, the position information transmitted from the position information transmitting device is acquired, the current position of the moving object is estimated based on the acquired position information, and the position is displayed on a map. . Therefore, the observer of the moving body can monitor the current position of the moving body with high accuracy.
[0041]
In the moving object monitoring device of the present invention, the position information obtaining means obtains time information on the time at which the position of the moving object was detected from the position information transmitting device, and stores the time information in association with the position information. You may comprise so that a time storage part may be provided.
[0042]
By doing so, even when a time lag due to the communication environment occurs between the position information transmitting device and the moving object monitoring device, it is possible to accurately obtain the time at which the position information transmitting device detected the position of the moving object. Thus, the current position of the moving object can be accurately estimated and displayed.
[0043]
In the moving object monitoring device of the present invention, the current position estimating means may be configured to include an intermittent estimating unit that intermittently estimates the current position of the moving object.
[0044]
By doing so, it is possible to reduce the load of monitoring the moving object by the computer. Note that a configuration in which the intermittent cycle is appropriately set according to the monitoring purpose can be employed.
[0045]
Further, the mobile monitoring device of the present invention may be configured to include a transmission command unit that commands the position information transmitting device to transmit the position information when a predetermined condition is satisfied.
[0046]
By doing so, even if it is difficult to estimate the position and time of the moving object for some reason or if it is necessary to monitor the position with high accuracy, the position of the moving object is immediately grasped. be able to. For example, if you are monitoring a commercial vehicle such as a truck or taxi, and you have a request to collect or distribute your luggage, you may be asked to provide a truck or taxi that is likely to be located at the location of the customer who requested it. By sending the position information transmission command, the current position can be accurately grasped.
[0047]
The present invention may be configured as a mobile monitoring system combining the two, in addition to the configuration as the position information transmitting device and the mobile monitoring device described above. Further, the present invention can be configured as an invention of a position information transmitting method and a moving object monitoring method using a computer. Further, the present invention can be realized in various forms, such as a computer program for controlling these, a recording medium on which the program is recorded, and a data signal including the program and embodied in a carrier wave. In each aspect, the various additional elements described above can be applied.
[0048]
When the present invention is configured as a computer program or a recording medium on which the program is recorded, the present invention may be configured as an entire program for driving a position information transmitting device and a moving body monitoring device, or may fulfill the functions of the present invention. It may be configured as a part. Examples of the recording medium include a flexible disk, a CD-ROM, a DVD-ROM, a magneto-optical disk, an IC card, a ROM cartridge, a punched card, a printed matter on which a code such as a barcode is printed, and a computer internal storage device (RAM, Various computer-readable media such as a memory such as a ROM) and an external storage device can be used.
[0049]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiments of the present invention will be described in the following sections.
A. Example
A1. Configuration of mobile monitoring system
A2. Location information transmission processing
A3. Mobile monitoring process
B. Modified example
[0050]
A. Example
A1. Configuration of mobile monitoring system
FIG. 1 is a conceptual diagram illustrating a mobile monitoring system 1000 as an embodiment. The mobile monitoring system 1000 includes a position information transmitting device 100 and a mobile monitoring device 300. The position information transmitting device 100 is mounted on a moving body that moves on the upper lane of the road 1 so that the course can be changed. The position information transmitting apparatus 100 detects the position of the moving body by radio waves from the GPS satellites SAT1 to SAT3, and transmits the position information to the moving body. The information is transmitted to the monitoring device 300. The mobile monitoring device 300 receives the position information transmitted from the position information transmitting device 100 via a base station or a communication line, and monitors the position of the mobile.
[0051]
FIG. 2 is a configuration diagram showing a configuration of the position information transmitting device 100. The position information transmission device 100 is a computer, and includes a position detection unit 102, an electronic map data reference unit 104, a course change detection unit 106, a transmission unit 108, and a storage unit 110, which are configured as software in the inside. In addition, these can also be comprised by hardware.
[0052]
The position detecting means 102 detects the position of the moving body. For position detection, a method of detecting the position using a GPS (Global Positioning System) receiver is applied. Although the position detection timing can be set arbitrarily, in this embodiment, it is always performed. The position can be expressed in various coordinate systems, and in this embodiment, latitude and longitude coordinates are used. The detected position information is stored in the storage unit 110 in association with the detection time. Here, the detection of the time is performed using a GPS receiver.
[0053]
The electronic map data reference unit 104 refers to the electronic map data 200. In the electronic map data 200 to be referred to, a road name, a road type (expressway, national road, prefectural road, etc.), an up / down line type, and a position are recorded for each road through which a moving object can pass. In the present embodiment, the electronic map data 200 is configured integrally in the position information transmitting device 100, but may be configured separately. In the case of separate configuration, it is possible to adopt a configuration in which transmission and reception of both information are connected via a network. The network is typically the Internet, but is not limited to the Internet, and may be a limited network such as a LAN (Local Area Network) or a dedicated line network.
[0054]
The course change detecting means 106 detects the course change of the moving object by using the position detecting means 102 and the electronic map data referring means 104 by the following method. The course change detecting means 106 illuminates the position (latitude, longitude) detected by the position detecting means 102 with the electronic map data 200 and continuously specifies the road. Then, when two consecutive specified results are different, that is, when at least one of the road name, the road type, and the road vertical line type is changed, it is determined that the route change of the moving body has been performed. The course change detected here is a change in the traveling road of the moving body and a reversal of the traveling direction of the moving body. The course change detecting means 106 may also be capable of detecting a change in the moving speed and moving direction of the moving body.
[0055]
The transmission unit 108 transmits the position information when the route change detection unit 106 detects a change in the route of the moving object. The location information is transmitted to a base station via a wireless communication line such as a PHS line or a mobile phone line, and the position information transmitted to the base station is transmitted to a mobile monitoring device via a wired communication line. Is adopted.
[0056]
The time transmitting unit 108a transmits the time information detected by the time detecting unit 102a in association with the position information. The command transmission unit 108b transmits the position information when there is a command to transmit the position information from the mobile monitoring device 300. The time transmission unit 108c transmits the position information when the position information has not been transmitted for a certain period of time.
[0057]
The storage unit 110 stores the detected position information and the time information in association with each other.
[0058]
FIG. 3 is a configuration diagram showing a configuration of the mobile monitoring apparatus 300. The moving body monitoring device 300 is a computer, and includes a position information acquisition unit 302, an electronic map data reference unit 304, a road identification unit 306, a current position estimation unit 308, a display control unit 310, and a synchronization control, which are configured as software in the inside. It has a unit 312, a transmission command unit 314, and an input device (not shown) such as an operation panel and a mouse for inputting an instruction from a monitor. In addition, these can also be comprised by hardware.
[0059]
The position information acquiring unit 302 acquires the position information transmitted from the position information transmitting device 100 mounted on the moving body. Since it cannot be assumed when the position information is transmitted, it is always on standby.
[0060]
The time storage unit 302a acquires time information regarding the time at which the position of the moving object is detected, transmitted from the position information transmitting device 100, and stores the time information in association with the position information.
[0061]
The electronic map data reference means 304 refers to the electronic map data 400. In the electronic map data 400 to be referred to, a road name, a road type (expressway, national road, prefectural road, etc.), an up / down line type, and a position are recorded for each road through which a moving object can pass. The electronic map data 400 is assumed to be consistent with the data referred to by the position information transmitting device 100. The electronic map data 400 is integrally formed in the mobile monitoring apparatus 300, but may be formed separately.
[0062]
The road specifying unit 306 specifies the position of the moving object and the moving road using the position information obtaining unit 302 and the electronic map data reference unit 304. The position of the moving object is specified by illuminating the position (latitude and longitude) detected by the position information acquisition unit 302 with the electronic map data 400.
[0063]
The current position estimating means 308 estimates the current position of the moving object using the road specifying means 306 and the electronic map data referring means 304. The estimation of the current position of the moving object is performed on the condition that the moving object moves from the specified position along the specified road at a predetermined speed at the time when the position is detected. In this embodiment, it is assumed that the predetermined speed is associated in advance according to the type of road.
[0064]
The display control means 310 displays the current position of the moving object together with the map on the display of the moving object monitoring device 300 at a predetermined timing by using the current position estimating means 308 and the electronic map data referring means 304.
[0065]
The display control unit 310 also displays the position information transmitted from the position information transmitting device together with the current position estimated by the current position estimation unit. In a modification of the present embodiment, both are displayed with different symbols.
[0066]
The synchronization control unit 312 causes the road identification unit 306, the current position estimation unit 308, and the display control unit 310 to operate in synchronization.
[0067]
The transmission command unit 314 instructs the position information transmission device 100 to transmit position information when there is a position information transmission command from the mobile monitoring device 300.
[0068]
A2. Location information transmission processing
FIG. 4 is a flowchart of the position information transmission process. The position information transmission process is a process that is always performed by the position information transmission device 100.
[0069]
When the present position information transmission process is started, the position of the moving object is detected by the position detecting means 102 (step S100). Next, time detection is performed by the time detection unit 102a (step S102). FIG. 6 is an explanatory diagram illustrating a detection state of the position of the moving body. In the present embodiment, as shown in FIG. 6, the position at each time is detected such that point A is 8:40, point B is 8:45... L point is 9:30. The reason why the detection interval is described as every 5 minutes is for the convenience of explanation and illustration, and the detection is always performed.
[0070]
Next, the electronic map data reference means 104 refers to the electronic map data 200 (step S104), and specifies the traveling road of the moving body. In the present embodiment, the road name, the road type, and the road vertical line type are specified.
[0071]
The position information transmitting device 100 compares the specified result with the past history to determine whether or not the traveling road of the moving body has been changed (Step S106). If at least one of the road name, the road type, and the road vertical line type specified in step S104 is different from the immediately preceding specific content, it is determined that the moving body has changed course. For example, in the example shown in FIG. 6, the moving object is on the upper lane of road 1 at 8:50 (point C), but is on the upper lane of road 2 at 8:55 (point E). It is determined that the course change has been made based on the change in.
[0072]
The position information transmitting apparatus 100 determines whether or not the traveling road of the moving body has been reversed by the same method (step S108). For example, when the road vertical line types are different even though the road name is the same, it can be determined that the road name is reversed.
[0073]
Next, the command transmission section 108b determines whether or not there has been a command to transmit position information from the mobile monitoring device 300 (step S110). Subsequently, the timed transmission unit 108c determines whether the transmission of the position information has been performed for a certain period of time.
[0074]
When any one of the positive determinations is made in steps S106 to S112, the position information and the time information are transmitted (steps S114 and S116). Thereafter, the position information and the time information are stored in the storage unit 110 (Step S118).
[0075]
The data structure of the storage unit 110 is illustrated in FIG. As illustrated, information such as detection time, position, road name, road type, and up / down line type is stored in chronological order. In this embodiment, even after transmitting such information to the mobile monitoring device 300, the information is stored and retained in the storage unit 110. However, in order to save memory capacity, the previous record is deleted at the time of transmission. It may be.
[0076]
A3. Mobile monitoring process
FIG. 5 is a flowchart of the moving object monitoring process. The mobile monitoring process is a process that is constantly performed by the mobile monitoring device 300.
[0077]
When the mobile object monitoring process is started, the position information acquisition unit 302 determines whether or not position information has been transmitted from the position information transmitting device 100 (step S200). When the position information has been transmitted, the position information is obtained by the position information obtaining means 302 (step S202). Subsequently, the time information is acquired by the time storage unit 302a and stored in association with the position information.
[0078]
Next, the position information and the time information stored in the time storage unit 302a are read (step S208). Here, of the information stored in the time storage unit 302a, the latest information is read.
[0079]
Subsequently, the position of the moving object and the moving road are specified by the road specifying means 306 using the read position information and time information and the electronic map data reference means 304 (steps S210 and S212). Specifically, when the position information is (OO, △△), the mobile device refers to the electronic map data 400 and specifies that the moving object is located at the point B (see FIG. 6). Further, the moving road is specified as the upper lane of the national road 1.
[0080]
Next, the current position estimating means 308 estimates the current position of the moving object using the specified position, road, and electronic map data reference means 304. Specifically, as shown in FIG. 6, at 8:45, which is the acquired time, from the point B, which is the specified position, the moving object moves at 60 km / h along the upper lane of the national road 1. It is estimated that the user has moved and has moved to the point C 10 km ahead at 8:50 minutes after 5 minutes.
[0081]
In this embodiment, as shown in FIG. 5, it is assumed that the point C is estimated at 8:50, the point F at 9:00, and the point L at 9:30. The reason why the interval of the estimation is described as every 10 minutes is for convenience of explanation and illustration, and the estimation is always performed.
[0082]
Next, the display control unit 310 displays the current position estimated by the current position estimation unit 308 on the display screen 316. FIGS. 7A to 7E show display examples of the current position at 8:50, 9:00, 9:10, 9:20, and 9:30. In the figure, a white triangle indicates the current position of the moving object.
[0083]
As described above, according to the moving object monitoring system 1000 of the present invention, the position information transmitting device 100 transmits the position information when the moving object changes the course. Therefore, when the moving body moves on a road where a straight line continues over a long distance, the amount of information to be transmitted can be suppressed.
[0084]
Further, the mobile unit monitoring device 300 acquires the position information transmitted from the position information transmitting device 100, estimates the current position of the mobile unit based on the acquired position information, and displays the position on a map. Therefore, the observer of the moving body can monitor the current position of the moving body with high accuracy.
[0085]
B. Modified example
(1) In the moving object monitoring process of the above embodiment, the current position estimation performed by the current position estimation unit 308 may be either fixed or variable in moving speed. In the case of a variable configuration, the configuration may be further changed according to the type of the road on which the moving body is moving. For example, it is possible to set such as 40 km / h when the road type is a general road, 60 km / h when the road type is a national road, and 80 km / h when the road type is an expressway.
[0086]
(2) As another example variably configured, the average speed of the moving object may be analyzed based on the past history, and the analyzed average speed may be set as the moving speed. For example, the position and the time acquired by the position information acquiring means 302 are stored as a set. It is also possible to perform the storage continuously and analyze the average speed of the moving body from two or more sets of positions and times on the same road. In this case, it is also permitted that the average speed becomes zero. This is because the moving object may stop.
[0087]
(3) In the moving object monitoring process of the above embodiment, the current position is always estimated by the current position estimating means 308. However, the present invention is not limited to this, and the intermittent estimating unit that intermittently estimates the current position of the moving object. 308a may be provided. By doing so, it is possible to reduce the load of monitoring the moving object by the computer. Note that a configuration in which the intermittent cycle is appropriately set according to the monitoring purpose can be employed.
[0088]
(4) In the moving object monitoring process of the above-described embodiment, the display control means 310 is configured to display the current position estimated by the current position estimation means 308. However, the present invention is not limited to this. At the same time, the position information transmitted from the position information transmitting apparatus 100 may be displayed. In this case, both are displayed with different symbols.
[0089]
8 (a) to 8 (e), display screens at 8:50, 9:00, 9:10, 9:20, 9:30 when the processing of the present modified example is added to the above embodiment. Here is an example. In the figure, a “solid triangle” indicates the position transmitted from the position information transmitting device 100, and a “white triangle” indicates the current position of the moving object. By doing so, the observer can easily distinguish the two.
[0090]
(5) In the above embodiment, the number of moving objects to be monitored has been described as one, but the present invention is not limited to this, and a plurality of moving objects may be used.
[0091]
Although various embodiments of the present invention have been described above, it is needless to say that the present invention is not limited thereto, and various configurations can be adopted without departing from the gist of the present invention.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram for explaining a mobile monitoring system.
FIG. 2 is a configuration diagram illustrating a configuration of a position information transmitting device.
FIG. 3 is a configuration diagram illustrating a configuration of a mobile monitoring apparatus.
FIG. 4 is a flowchart of a position information transmission process.
FIG. 5 is a flowchart of a moving object monitoring process.
FIG. 6 is an explanatory diagram illustrating a detection state of a position of a moving body.
FIG. 7 is a display example of a current position of a moving object.
FIG. 8 is a modified example of the display example of the current position of the moving object.
[Explanation of symbols]
2. Road
100 position information transmitting device
102 position detecting means
102a: time detection unit
104: Electronic map data reference means
106: Track change detecting means
108 transmission means
108a: time transmission unit
108b: Command transmission unit
108c: Timed transmission unit
110 ... storage unit
200 ... Electronic map data
300: Moving object monitoring device
302a: time storage unit
302 ... Position information acquisition means
304: Electronic map data reference means
306 ... Road identification means
308 ... Current position estimating means
308a: intermittent estimation unit
310 display control means
312 ... Synchronization control means
314 ... transmission command means
316 ... Display screen
400 ... Electronic map data
1000: Mobile monitoring system

Claims (15)

A position information transmitting device mounted on a moving body and transmitting position information on the position of the moving body to a moving body monitoring device that monitors the moving body,
Position detection means for acquiring position information representing the position of the moving body,
Moving state change detecting means for detecting a change in the moving state of the moving body,
When the change in the moving state is detected, transmitting means for transmitting the position information to the mobile monitoring device,
A position information transmitting device comprising: The position information transmitting device according to claim 1,
Electronic map data reference means for referring to the electronic map data,
The position information transmitting device, wherein the moving state change detecting means detects a change in the course of the moving object as a change in the moving state using the position detecting means and the electronic map data reference means. The position information transmitting device according to claim 2,
The position information transmitting device, wherein the course change is a change of a road on which the moving object passes. The position information transmitting device according to claim 1 or 2,
The position information transmitting device, wherein the moving state change detecting means detects a significant change in at least one of a moving speed and a moving direction of the moving body as a change in the moving state. The position information transmitting device according to any one of claims 1 to 4,
The position detecting means detects a time at which the position of the moving body is detected,
The position information transmitting device, wherein the transmitting unit transmits time information relating to the time in association with the position information. The position information transmitting device according to any one of claims 1 to 5,
Having a command receiving means for receiving a transmission command of position information from the mobile monitoring device,
The position information transmitting device, wherein the transmitting means performs the transmission when the transmission command is issued. 7. The position information transmitting device according to claim 1, wherein said transmitting means transmits said position information when said position information has not been transmitted for a certain period of time. A moving object monitoring device that monitors a position of a moving object,
Position information acquisition means for acquiring in a time series position information transmitted from a position information transmission device mounted on the moving body,
Electronic map data reference means for referring to the electronic map data;
Position estimating means for estimating the position of the moving body at a predetermined timing after the latest position information is obtained, based on the position information obtained in time series,
Display control means for displaying the estimated position on a map represented by the electronic map data,
A mobile monitoring device comprising: A moving object monitoring device that monitors a position of a moving object,
Position information acquisition means for acquiring position information transmitted from a position information transmission device mounted on the moving body,
Electronic map data reference means for referring to the electronic map data;
Using the position information acquisition means and the electronic map data reference means, road identification means for identifying the position of the moving body and a moving road,
Position estimating means for estimating the position of the moving body at a predetermined timing after obtaining the latest position information, in consideration of a predetermined moving condition associated with the road specified by the road specifying means;
Display control means for displaying the estimated position on a map represented by the electronic map data;
A moving object monitoring device comprising: The mobile monitoring device according to claim 8 or 9,
The mobile object monitoring device, wherein the position information obtaining means obtains time information on a time at which the position of the mobile object is detected from the position information transmitting device. The moving object monitoring device according to any one of claims 8 to 10,
The position estimating means is a moving object monitoring device that performs the estimation intermittently. The mobile monitoring device according to any one of claims 8 to 11,
A moving object monitoring device, comprising: transmission command means for commanding the position information transmission device to transmit the position information when a predetermined condition is satisfied. A computer program for controlling the operation of a position information transmitting device that is mounted on a moving object and transmits position information on the position of the moving object to a moving object monitoring device that monitors the moving object,
A position detection function for acquiring position information representing the position of the moving body,
A moving state change detection function for detecting a change in the moving state of the moving body,
When the change in the moving state is detected, a transmission function of transmitting the position information to the mobile monitoring device,
Computer program to make a computer realize. A computer program for monitoring the position of the moving object by a computer constituting the moving object monitoring device,
A position information acquisition function for acquiring position information transmitted in time series from a position information transmission device mounted on the moving body,
An electronic map data reference function for referring to electronic map data,
A position estimating function for estimating the position of the moving body at a predetermined timing after the latest position information is obtained, based on the position information obtained in time series,
A display control function of displaying the estimated position on a map represented by the electronic map data,
Computer program to make a computer realize. A computer program for monitoring the position of the moving object by a computer constituting the moving object monitoring device,
A position information acquisition function for acquiring position information transmitted from a position information transmission device mounted on the moving body,
An electronic map data reference function for referring to electronic map data,
Using the position information acquisition function and the electronic map data reference function, a road identification function to identify the position of the moving object and a moving road,
A position estimating function for estimating the position of the moving object at a predetermined timing after the latest position information acquisition, in consideration of a predetermined moving condition associated with the road specified by the road specifying function;
A display control function of displaying the estimated position on a map represented by the electronic map data;
Computer program to make a computer realize.

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