WO2011135677A1 - 車載装置及び車載通信装置及び車載情報処理装置 - Google Patents
車載装置及び車載通信装置及び車載情報処理装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
Definitions
- the present invention has been made in view of such circumstances, and an object of the present invention is to provide an in-vehicle device capable of reducing the data amount of position information of other vehicles acquired by a communication device, and an in-vehicle device constituting the in-vehicle device.
- the object is to provide a communication device and an in-vehicle information processing device.
- the position information of the object acquired by the in-vehicle communication device corresponds to the screen resolution of the display device by the conversion coefficient calculated according to the screen resolution of the display device and the scale of the map information. Converted to coordinate information. Accordingly, the in-vehicle communication device can appropriately correspond the coordinate information of the object of the display device to the screen resolution of the display device, and can also appropriately correspond to the scale of the map information that changes variously. become.
- the communication load can be reduced by increasing the number of coordinate information of other vehicles that can be transferred, thereby increasing the number of vehicles that can be grasped by the in-vehicle information processing device and making driving support more sophisticated. Make it possible to do.
- the in-vehicle communication device further includes a function of calculating a movement amount for each communication destination vehicle identified by the identification information, and for the coordinate information converted by the coordinate conversion unit, the calculated movement amount for each vehicle. Corresponding information may be transferred to the in-vehicle information processing apparatus.
- coordinate information based on the amount of movement of the object is transferred from the in-vehicle communication device to the in-vehicle information processing device, so that the data amount can be reduced as compared with the case where the position information is transferred. .
- the movement amount if the cycle for calculating the movement amount is shortened, the movement amount of the object is reduced, so that the data amount can be further reduced.
- the in-vehicle communication device and the in-vehicle information processing device may be connected via an in-vehicle network, and the converted coordinate information may be exchanged through the in-vehicle network.
- the position information of the object acquired by the in-vehicle communication device and converted into coordinate information by the coordinate conversion unit may include at least one of a latitude value and a longitude value.
- the position information corresponding to the map information that specifies the position based on a wide-range coordinate system such as a geodetic system is the position information of the object outside the vehicle acquired by the in-vehicle communication device.
- the amount of data can be reduced by conversion into coordinate information of a coordinate system set to a finite resolution. As a result, the amount of data transferred from the in-vehicle communication device to the in-vehicle information processing device is reduced, and the communication load for data transfer is reduced.
- the in-vehicle communication device since the coordinate system set to a finite resolution is a coordinate system according to the screen resolution of the display device, the in-vehicle communication device is suitable for displaying the position information of the object on the display device. It can be converted into coordinate information which is a coordinate system. As a result, the amount of data transferred from the in-vehicle communication device to the in-vehicle information processing device is reduced, and the object can be easily displayed on the display device together with the map.
- the in-vehicle information processing apparatus processes the positional information of an object acquired by the in-vehicle communication apparatus as necessary to obtain a positional relationship with the object based on map information.
- a vehicle information processing apparatus for recognizing a conversion coefficient for converting position information of an object acquired by the vehicle communication apparatus into coordinate information of a coordinate system set to a finite resolution with respect to the map information.
- the gist is to provide a conversion coefficient calculation unit for calculating, and to transfer the calculated conversion coefficient to the in-vehicle communication device.
- the position information corresponding to the map information that specifies the position based on a wide-range coordinate system such as a geodetic system is the position information of the object outside the vehicle acquired by the in-vehicle communication device.
- the amount of data can be reduced by converting into coordinate information of a coordinate system set to a finite resolution used for the vehicle-mounted information processing apparatus to recognize the position of the object.
- the amount of data transferred from the in-vehicle communication device to the in-vehicle information processing device is reduced, and the communication load for data transfer is reduced.
- the conversion coefficient to the coordinate system set to a finite resolution is calculated as the conversion coefficient to the coordinate system according to the scale of the map information each time and the screen resolution of the display device,
- the in-vehicle communication device can convert the position information of the object into coordinate information in a coordinate system suitable for display on the display device. As a result, the amount of data transferred from the in-vehicle communication device to the in-vehicle information processing device is reduced, and the object can be easily displayed on the display device together with the map.
- the block diagram which shows typically the outline
- the schematic diagram which shows the image displayed on a screen based on the positional information processed with the apparatus of the embodiment.
- the top view which shows an example of the driving environment which processes a positional information with the apparatus of the embodiment. It is a figure which shows the information handled in the embodiment typically, Comprising: (a) is a conceptual diagram which shows the data structure of the positional information which consists of latitude and longitude, (b) is the data structure of the positional information which carried out coordinate conversion.
- FIG. The flowchart which shows the process sequence of the coordinate transformation process performed with the apparatus of the embodiment.
- the block diagram which shows typically the outline
- the schematic diagram which shows the image displayed on a screen based on the positional information processed with the apparatus of the embodiment.
- the top view which shows an example of the driving environment which processes a positional information with the apparatus of the embodiment. It is a figure which shows the information handled in the embodiment typically, Comprising: (a) is a conceptual diagram which shows the relationship between vehicle ID and position information, (b) is the relationship between vehicle ID and local ID of the apparatus. The conceptual diagram to show, (c) is a conceptual diagram which shows the relationship between local ID and a display relative value.
- the in-vehicle network N enables information transmission between a plurality of devices connected to the in-vehicle network N.
- the in-vehicle network N has a maximum communication capacity of 500 kilobits / second (time). It is configured by a local CAN (Controller Area Network).
- the information processing apparatus 20 provides information that can support the driving operation to the driver who drives the vehicle 10 through an image display.
- the communication device 30 acquires position information of other vehicles other than the vehicle 10, position information of ground facilities (such as a stop line), and the like by wireless communication with a communication device of another vehicle or a communication device provided on the road. Is.
- the information processing apparatus 20 is provided with a screen 21, a global positioning system (GPS) 22, and an arithmetic device 23 that performs various arithmetic processes.
- GPS global positioning system
- the screen 21 displays an image to be visually recognized by the driver, and has, for example, 800 dots in the horizontal direction (X direction) and 600 dots in the vertical direction (Y direction) as the resolution. It consists of a liquid crystal display panel. Therefore, a display coordinate system (display coordinate system) divided into 800 in the X direction and 600 in the Y direction is defined on the screen 21. Based on this display coordinate system, the lower left position P0 of the screen 21 is represented by display coordinates (0, 0) in the X direction “0” and the Y direction “0”.
- the GPS 22 detects the position of the vehicle 10 based on the latitude and longitude based on the reception of the GPS satellite signal, and outputs the detected position of the vehicle 10 to the arithmetic unit 23. .
- the GPS 22 detects an absolute position (Lx1, Ly1) having a latitude Lx1 and a longitude Ly1 as the position of the vehicle 10 traveling on the traveling path R1. Thereby, the absolute position (Lx1, Ly1) of the vehicle 10 is grasped in the information processing apparatus 20.
- the calculation device 23 is provided with a display control unit 24 and a conversion coefficient calculation unit 25.
- the display control unit 24 controls the image displayed on the screen 21, displays map image data on the screen 21, and displays a predetermined image at the indicated display coordinates. More specifically, the display control unit 24 acquires the absolute position of the vehicle 10 output from the GPS 22, and obtains map information centered on the absolute position (Lx1, Ly1) of the vehicle 10 from a map information database (not shown). get. Then, by generating and outputting image data corresponding to the scale set by the driver or the like from the acquired map information, on the screen 21, for example, as shown in FIG. 2, from the traveling path R1 and the intersection R2 To display a map. The map display on the screen 21 is updated every time the position of the vehicle 10 is updated.
- the display control unit 24 acquires the display relative value PS1 calculated as a relative coordinate with respect to the display coordinate P4 of the vehicle 10 from the outside, and the display coordinate P4 is acquired from the acquired display relative value PS1. By adding the values, the display coordinates P5 of the other vehicle 41 as described above can be calculated.
- the conversion coefficient calculation unit 25 corresponds to a vehicle absolute position CL composed of latitude and longitude indicating the position of the vehicle 10 set as the center coordinate of the screen 21 and one dot of the screen 21 determined by the scale of the map displayed on the screen 21.
- a conversion coefficient CF based on the length (meter) to be calculated is calculated. For example, when the scale of the map displayed on the screen 21 is 1/2500, the conversion coefficient CF has a length corresponding to 1 dot because 1 mm (4 dots) on the screen 21 corresponds to 2.5 m of the actual object. Is calculated as 0.625 m / dot.
- the communication device 30 mutually communicates vehicle information RD composed of various information such as vehicle position information and travel information by wireless communication performed with another vehicle located around the vehicle 10 via the antenna 31 for wireless communication. It is a device that performs so-called inter-vehicle communication that is transmitted to the vehicle.
- the vehicle information RD is exchanged periodically, for example, every 100 ms, with each of a plurality of vehicles, for example, a maximum of 400 vehicles within the communication range of the communication device 30 by this inter-vehicle communication.
- the vehicle information RD includes the vehicle ID uniquely assigned to each vehicle, the absolute position of the vehicle detected by the GPS of the vehicle, the vehicle speed, information on the traveling direction of the vehicle, and the like.
- the communication device 30 can acquire the vehicle information RD including the absolute position (Lx2, Ly2) of the other vehicle 41 by inter-vehicle communication with the other vehicle 41.
- the vehicle information RD transmitted and received by inter-vehicle communication defines the communication content. From this, each vehicle can exchange the vehicle information of the defined communication contents with each other so that the received vehicle information of other vehicles can be used as significant.
- the absolute position included in the vehicle information RD is a 28-bit data structure that represents the latitude up to 1/100 second, and the longitude is 100. It is a 28-bit data structure representing up to 1 second. Therefore, the absolute position is configured as a 56-bit data structure.
- the absolute position (Lx2, Ly2) included in the vehicle information RD of the other vehicle 41 is configured as a 56-bit data structure including a latitude Lx2 and a longitude Ly2.
- the communication device 30 is provided with an arithmetic device 32.
- the arithmetic unit 32 is a microcomputer that includes a CPU that executes various arithmetic processes, a ROM that stores various control programs, a RAM that is used as a work area for data storage and program execution, an input / output interface, a memory, and the like. It is configured.
- the computing device 32 executes a process for obtaining an absolute position from the vehicle information RD obtained by the inter-vehicle communication, or executes a process for exchanging data with the information processing apparatus 20. Therefore, the arithmetic device 32 stores in advance various programs such as a program for obtaining an absolute position from the vehicle information RD, various parameters used when the programs are executed, and the like.
- the various parameters include, for example, data structure information for analyzing communication contents of vehicle information RD communicated by inter-vehicle communication.
- the calculation device 32 is provided with a coordinate conversion unit 33 for coordinate conversion processing for converting the value of the absolute position acquired from the vehicle information RD into the value of the display coordinate system of the screen 21 of the information processing device 20.
- the coordinate conversion unit 33 acquires the absolute position from the vehicle information RD, and acquires the vehicle absolute position CL and the conversion coefficient CF from the information processing apparatus 20. Then, by converting the absolute position acquired from the vehicle information RD based on the conversion coefficient CF, the display relative value PS1 including the value of the display coordinate system is calculated and output to the information processing apparatus 20.
- FIG. 5 is a flowchart illustrating a processing procedure according to the coordinate conversion processing.
- this coordinate conversion process is started each time the absolute position of the other vehicle 41 is acquired.
- the calculation device 32 performs coordinate conversion of the absolute position of the other vehicle 41 by the coordinate conversion unit 33 (step S10 in FIG. 5).
- the vehicle absolute position CL and the conversion coefficient CF may be once acquired and held in a predetermined memory, and may be acquired again from the information processing apparatus 20 when they are updated.
- the coordinate conversion unit 33 calculates a relative absolute position of the other vehicle 41 with respect to the absolute position of the vehicle 10, that is, a difference between the absolute position of the other vehicle 41 with respect to the absolute position of the vehicle 10. That is, the latitude difference (Lx2-Lx1) and the latitude difference (Ly2-Ly1) are calculated from the absolute position (Lx2, Ly2) of the other vehicle 41 and the vehicle absolute position CL (Lx1, Ly1).
- the latitude difference (Lx2-Lx1) and the longitude difference (Ly2-Ly1) are converted into lengths. If the length (meter) per second of latitude is La and the length (meter) of longitude per second is Lb, the difference in latitude is (Lx2-Lx1) x La, the difference in longitude Is calculated by (Ly2 ⁇ Ly1) ⁇ Lb. In the case of a Japanese region, the length La per second of latitude is about 31 m, and the length Lb per second of longitude is about 25 m.
- the length of the latitude difference and the length of the longitude difference are converted into the number of dots on the screen 21 based on the conversion coefficient CF. That is, in the present embodiment, the X direction of the screen 21 corresponds to longitude and the Y direction of the screen 21 corresponds to latitude, respectively, so that the length of the latitude difference is divided by the conversion coefficient CF to thereby create dots in the Y direction of the screen 21.
- the number of dots in the X direction on the screen 21 is obtained by obtaining the number and dividing the length in the longitude direction by the conversion coefficient CF.
- the coordinate conversion unit 33 calculates the display relative value PS1 ( ⁇ Dx2, ⁇ Dy2) of the other vehicle 41.
- the range of the number of dots ⁇ Dx2 in the X direction calculated as the display relative value PS1 of the other vehicle 41 is “ ⁇ 400 to 400”, and the range of the number of dots ⁇ Dy2 in the Y direction is “ ⁇ 300 to 300”. It is. That is, the number of dots in the X direction and the number of dots in the Y direction, including the code, can each be represented by 10-bit data. Therefore, as shown in FIG. 4B, the display relative value PS1 is obtained from 10-bit X coordinate information (number of dots in the X direction ⁇ Dx2) and 10-bit Y coordinate information (number of dots in the Y direction ⁇ Dx2). Can be configured as a 20-bit data structure.
- the arithmetic device 32 transmits the display relative value PS1 to the information processing device 20 via the in-vehicle network N by the coordinate conversion unit 33 (step in FIG. 5). S11), the coordinate conversion process is terminated.
- the occupation of the communication band of the local CAN becomes relatively small, and there is a low possibility that the communication band for other communications will be compressed.
- the local CAN maintains high communication efficiency when the amount of data to be communicated is about 20% or less of the communication band, it is possible to maintain high communication efficiency.
- the display relative value PS1 of the other vehicle 41 is transferred from the communication device 30 to the information processing device 20.
- the display relative value PS1 is acquired based on the display relative value PS1 acquired by the display control unit 24 and the display relative value PS1 being a relative value with respect to the display coordinate P4 of the vehicle 10. Is added with the display coordinate P4 of the vehicle 10 to calculate the display coordinate P5 of the screen 21 based on the display relative value PS1.
- the display coordinates P4 (400, 300) of the vehicle 10 For example, by adding the display coordinates P4 (400, 300) of the vehicle 10 to the display relative value PS1 ( ⁇ Dx2, ⁇ Dy2), the display coordinates P5 (XDx2 is ( ⁇ Dx2 + 400) and Y coordinates Dy2 are ( ⁇ Dy2 + 300)). Dx2, Dy2) are calculated. As a result, the image 41M corresponding to the other vehicle 41 is displayed at the display coordinates P5 of the screen 21.
- the absolute position (Lx1, Ly1) of the vehicle 10 is assigned to the display coordinates P4 (400, 300) that are the center coordinates of the screen 21.
- the conversion coefficient calculation unit 25 converts the absolute position (Lx1, Ly1) of the vehicle 10 to the vehicle absolute position CL, and converts 0.625 m / dot calculated from the size of the screen 21 and the map scale ratio of 1/2500.
- the coefficient is CF.
- the length of these differences is converted into a value in the display coordinate system of the screen 21 based on the conversion coefficient CF to obtain a display relative value PS1 ( ⁇ Dx2, ⁇ Dy2).
- the amount of data is reduced by converting the corresponding position information into coordinate information (display relative value PS1) of a display coordinate system set to a finite resolution defined on the screen 21.
- display relative value PS1 coordinate information of a display coordinate system set to a finite resolution defined on the screen 21.
- the communication device 30 Since the coordinate system set to a finite resolution is a display coordinate system corresponding to the screen resolution of the screen 21, the communication device 30 is a display suitable for displaying the position information of the other vehicle 41 on the screen 21. It can be converted into coordinate information (display relative value PS1) of the coordinate system. Accordingly, the amount of data transferred from the communication device 30 to the information processing device 20 is reduced, and it is easy to display the other vehicle 41 on the screen 21 together with the map.
- the position information of the other vehicle 41 acquired by the communication device 30 is coordinate information corresponding to the screen resolution of the screen 21 by the conversion coefficient CF calculated according to the screen resolution of the screen 21 and the scale of the map information ( The display relative value PS1) is converted. Accordingly, the communication device 30 can appropriately correspond the coordinate information (display relative value PS1) of the other vehicle 41 of the screen 21 to the screen resolution of the screen 21, and also appropriately adapt to the scale of the map information that changes variously. It becomes possible to make it correspond.
- the coordinate conversion unit 33 converts the position information of the other vehicle 41 into the coordinate information (display relative value PS1) from the screen center position (display coordinates P4), the position information of the other vehicle 41 is the screen center position (display It becomes a numerical value of the difference centered on the coordinate P4), and the data amount is reduced.
- the position information of the other vehicle 41 in the coordinate system composed of the longitude and latitude is converted into the coordinate information (display relative value PS1) based on the screen center position (display coordinates P4). Is a relatively small value (for example, 0 to 800 (dots)) according to the screen resolution, and the data amount of the coordinate information can be reduced.
- the communication load of the in-vehicle network N is reduced.
- the reduction of the communication load of the in-vehicle network N reduces the influence on other communications using the in-vehicle network N, and the communication efficiency of the vehicle 10 can be maintained well.
- the amount of data required for longitude or a value indicating longitude for example, 26 bits (when displaying up to 1/100 second) is converted into coordinate information (display relative value PS1) having a smaller data amount. It becomes like this. Accordingly, the amount of data transmitted to the information processing device 20 can be reduced as compared with the case where the latitude value or the longitude value is transmitted as it is, and data communication between the communication device 30 and the information processing device 20 is possible. This reduces the communication load on the network.
- FIG. 6 is a block diagram showing a system structure of an in-vehicle device that embodies this embodiment.
- FIG. 7 is a schematic diagram showing an image displayed on the screen based on the position information.
- FIG. 8 is a plan view showing an example of a traveling environment in which position information is processed. Note that this embodiment is different from the first embodiment in part of the configuration of the information processing device 20 and the communication device 30, and the other configurations are the same. Therefore, the present embodiment is mainly different from the first embodiment.
- the same reference numerals are given to the same members as those in the first embodiment, and the description thereof will be omitted for convenience of explanation.
- the image is displayed so that the traveling direction of the vehicle 10 is “north” and the traveling direction of the vehicle 10 is on the upper side, as in the first embodiment. It is assumed that the upper side of the screen 21 is “north”. Furthermore, since the scale of the map displayed on the screen 21 is 1/2500, 1 mm (4 dots) on the screen 21 corresponds to the actual 2.5 m, and the length corresponding to 1 dot is 0.625 m. It shall be. That is, the conversion coefficient CF is 0.625 m / dot.
- the calculation device 23 includes a display control unit 24, a conversion coefficient calculation unit 25, a coordinate calculation unit 26, and a coordinate storage unit 27.
- the coordinate storage unit 27 manages and stores data, and the coordinate calculation unit 26 can write and read data.
- the coordinate storage unit 27 stores a local ID unique within the vehicle 10 and a display relative value PS3 associated with the local ID so as to be associated with each other.
- the display relative value PS3 is a value calculated as a relative coordinate with respect to the display coordinate P4 of the vehicle 10 (see FIG. 7), similarly to the display relative value PS1.
- the coordinate storage unit 27 deletes the local ID that is not read / written and the display relative value PS3 associated therewith from the coordinate calculation unit 26 for a predetermined period. As a result, unnecessary data is erased, and the storage capacity can be reduced and the local ID search speed can be prevented from being lowered.
- the coordinate calculation unit 26 is for calculating the display relative value PS3 from the display difference value PS2 as the value of the display coordinates calculated based on the absolute position of the other vehicle 41.
- the coordinate calculation unit 26 acquires the local ID and the display difference value PS2 from the communication device 30, the current display relative value is based on the display difference value PS2 and the previous display relative value PS3 corresponding to the local ID. PS3 is calculated.
- the previous display relative value PS3 is acquired from the coordinate storage unit 27 based on the local ID. Then, the current display relative value PS3 is output to the display control unit 24. Further, the previous display relative value PS3 corresponding to the local ID stored in the coordinate storage unit 27 is updated to the current display relative value PS3.
- the display control unit 24 When the other vehicle 41 is detected by the communication device 30 for the first time, the local ID and the display relative value PS1 corresponding to the other vehicle 41 are acquired from the communication device 30. At this time, the display control unit 24 outputs the acquired display relative value PS1 to the display control unit 24 and causes the coordinate storage unit 27 to store the local ID and the display relative value PS1.
- the computing device 32 is provided with a coordinate conversion unit 34, a difference value calculation unit 35, an ID correspondence table storage unit 36, and a position information storage unit 37.
- the ID correspondence table storage unit 36 manages and stores data, and the difference value calculation unit 35 can write data and read data.
- the ID correspondence table storage unit 36 stores a vehicle ID (16 bits) and a local ID (9 bits) assigned to the vehicle ID in association with each other. . Since the local ID is an ID that can individually identify 400 devices that can be communicated by the communication device 30 at a time, the local ID is 9 bits that can represent “0 to 511”.
- the ID correspondence table storage unit 36 When the ID correspondence table storage unit 36 requests a local ID of a vehicle ID that is not stored, the ID correspondence table storage unit 36 selects one unused local ID that is not assigned to any vehicle ID at that time, and While assigning to the ID, the selected local ID is returned. Further, the ID correspondence table storage unit 36 deletes the vehicle ID that is not read / written and the local ID corresponding thereto from the difference value calculation unit 35 for a predetermined period. As a result, the range of the local ID is satisfied with 9 bits ("0 to 511").
- the position information storage unit 37 manages and stores data, and the difference value calculation unit 35 can write data and read data. As shown in FIG. 9A, the position information storage unit 37 stores a vehicle ID (16 bits) and an absolute position (56 bits) associated with the vehicle ID in association with each other.
- the vehicle ID is an identification number (ID) uniquely assigned to each vehicle, and the vehicle can be specified by the identification number. For example, the same vehicle can be tracked from the absolute position acquired at different times by the vehicle ID.
- the position information storage unit 37 deletes the vehicle ID that is not read / written and the absolute position associated therewith from the difference value calculation unit 35 for a predetermined period. As a result, unnecessary data is erased, and the storage capacity can be reduced and the reduction in the vehicle ID acquisition speed can be suppressed.
- the difference value calculation unit 35 calculates the difference between the previous absolute position and the current absolute position for the same vehicle ID. For example, as shown in FIG. 8, the difference value calculation unit 35 calculates a difference in latitude from the previous absolute position 41 a (Lx2, Ly2) and the current absolute position 41 b (Lx21, Ly21) as shown in FIG. Lx21 ⁇ Lx2) and (Ly21 ⁇ Ly2) are calculated as longitude differences. Therefore, the difference value calculation unit 35 acquires the previous absolute position 41a of the same vehicle ID from the position information storage unit 37 based on the current vehicle ID. After the difference between the previous absolute position 41a and the current absolute position 41b is calculated, the previous absolute position 41a stored in the position information storage unit 37 is updated to the current absolute position 41b.
- the difference value calculation unit 35 acquires a local ID corresponding to the vehicle ID from the ID correspondence table storage unit 36. Then, the difference value calculation unit 35 outputs the latitude difference and the longitude difference to the coordinate conversion unit 34 together with the local ID. The data amount is reduced by using the local ID (9 bits) instead of the vehicle ID (16 bits).
- the moving distance of the vehicle 10 per cycle (100 ms) of inter-vehicle communication is, for example, 5 m if the vehicle is traveling at a speed of 180 km / h. Since the latitude is 31 m per second, 5 m is equivalent to 0.16 seconds, and since the longitude is 25 m per second, 5 m is equivalent to 0.20 seconds. At least 5 bits (0 to 31) are required.
- the data structure output from the difference value calculation unit 35 to the coordinate conversion unit 34 is, as shown in FIG. 10A, a 19-bit data structure including a local ID, a difference in latitude, and a difference in longitude. Become.
- the difference value calculation unit 35 cannot acquire the previous absolute position of the vehicle ID from the position information storage unit 37, so the previous absolute position and the current absolute position The difference cannot be calculated. However, even in this case, the current vehicle ID and the current absolute position associated with the vehicle ID are stored in the position information storage unit 37. Thereby, after the next time, the difference between the previous absolute position and the current absolute position can be calculated. Further, the difference value calculation unit 35 tries to obtain a local ID corresponding to the vehicle ID from the ID correspondence table storage unit 36, but since there is no corresponding local ID in the ID correspondence table storage unit 36, a new local ID is obtained. To be acquired. As a result, in the case of the vehicle ID acquired for the first time, the difference value calculation unit 35 outputs the current absolute position to the coordinate conversion unit 34 together with the new local ID.
- the coordinate conversion unit 34 performs a coordinate conversion process for converting a value based on the absolute position into a value based on the display coordinate system of the screen 21.
- the coordinate conversion unit 34 acquires the absolute position of the other vehicle 41 or the difference between the previous absolute position of the other vehicle 41 and the current absolute position together with the local ID from the difference value calculation unit 35. Further, the coordinate conversion unit 34 acquires the vehicle absolute position CL and the conversion coefficient CF from the information processing apparatus 20. And in the case of the other vehicle 41 detected for the first time, the coordinate conversion part 34 is displayed with the value of the display coordinate system based on the absolute position (41a) of the other vehicle 41, the vehicle absolute position CL, and the conversion coefficient CF.
- the relative value PS1 is calculated and output to the information processing apparatus 20.
- FIG. 11 is a flowchart illustrating a processing procedure according to the coordinate conversion processing.
- this coordinate conversion process is started each time the absolute position of the other vehicle 41 is acquired.
- the calculation device 32 calculates a difference between the previous absolute position and the current absolute position by the difference value calculation unit 35. (Step S24 in FIG. 11).
- the difference value calculation unit 35 includes, for example, the absolute difference of (Lx21 ⁇ Lx2) as the difference in latitude and (Ly21 ⁇ Ly2) as the difference in longitude from the current absolute position 41b and the previous absolute position 41a of the other vehicle 41. The position difference is calculated.
- the length of these differences is converted into a value in the display coordinate system of the screen 21 based on the conversion coefficient CF.
- this is output with respect to the information processing apparatus 20 via the vehicle-mounted network N with local ID as display difference value PS2 (4, 0).
- the coordinate calculation unit 26 of the information processing device 20 calculates a new display relative value PS3 from the display difference value PS2, the previous display relative value PS3, and the movement amount PS4 of the vehicle 10.
- the movement amount PS4 of the vehicle 10 is calculated based on the difference between the previous absolute position 40a and the current absolute position 40b.
- the coordinate calculation unit 26 adds the display difference value PS2 (4, 0) to the previous display relative value PS3 (40, 50) and subtracts the movement amount PS4 (0, 5) to obtain a new display relative value.
- the display control unit 24 of the information processing device 20 adds the display coordinates P4 (400, 300) of the vehicle 10 to the display relative value PS3 (44, 45) calculated by the coordinate calculation unit 26, and displays the display coordinates P5b of the screen 21.
- Calculate (Dx21, Dy21) (444,345).
- the image 41M corresponding to the other vehicle 41 is displayed at the display coordinates P5b (444, 345) on the screen 21 based on the display difference value PS2 with a small data amount.
- the image 41M of the other vehicle 41 is represented in FIG. 7, for example, in the X direction, the position on the right side of the image 41M of the other vehicle 41 and in the Y direction from the image 41M of the other vehicle 41 to the image of the vehicle 10 is shown. The position is close to 10M.
- the effects equivalent to or equivalent to the effects (1) to (6) of the first embodiment can be obtained, and the effects listed below can be obtained. Be able to.
- the amount of data is more than when the positional information including longitude and latitude is transferred. Can be reduced.
- the movement amount when the period for calculating the movement amount is as short as 100 ms, the movement amount of the other vehicle 41 is reduced, so that the data amount can be further reduced.
- each said embodiment can also be implemented in the following aspects, for example.
- the display relative value PS1 converted into the value of the display coordinate system by the communication device 30 is output to the information processing device 20 .
- the present invention is not limited to this, and the communication device does not output the display relative value to the information processing device when the display relative value converted into the value of the display coordinate system is not included in the display area of the screen of the information processing device. You may do it. As a result, the display relative value that cannot be displayed on the screen can be removed from the communication data, and the communication load can be reduced.
- the information processing apparatus 20 has exemplified the case where information that can support the driving operation is provided to the driver who drives the vehicle 10 by image display.
- the present invention is not limited to this, and the information processing apparatus may provide information by sound, voice, light, vibration, or the like, or may provide vehicle deceleration control or stop control such as brake assist or fuel cut.
- the range of support to be provided can be expanded, and the possibility of adoption as an in-vehicle device is expanded.
- this in-vehicle device can be employed in a driving support device using car navigation, a driving support device including deceleration control or stop control, and the like.
- the traveling direction of the vehicle 10 is “north”
- the traveling direction of the vehicle is not limited to “north” such as “south”, “east”, and “west”. Good.
- the screen on which the image is displayed so that the traveling direction of the vehicle is on the upper side is inclined between the coordinate system and the latitude / longitude coordinate system.
- the longitude may be converted to the screen coordinate system.
- the traveling direction of the vehicle 10 is transmitted from the information processing device 20 to the communication device 30, and the latitude and longitude are taken into consideration in consideration of the inclination between the coordinate system of the screen and the latitude / longitude coordinate system.
- the position can be converted to the display coordinate system of the screen.
- the maximum communication capacity of the in-vehicle local CAN is 500 kbps.
- the present invention is not limited to this, and the maximum communication capacity may be larger or smaller than 500 kbps. Good.
- the communication load can be reduced by reducing the amount of data related to position information.
- the in-vehicle network N is an in-vehicle local CAN
- the present invention is not limited to this, and the in-vehicle network may be another network such as Ethernet (registered trademark) or FlexRay. Regardless of which network is used, the communication load can be reduced by reducing the amount of data related to position information.
- the case of calculating the difference between the previous absolute position and the current absolute position is illustrated, but the present invention is not limited to this, and the difference between the previous dot number and the current dot number may be obtained. . In this case, if the previous dot number is held, the difference can be obtained by converting the current absolute position into the dot number.
- the communication device 30 is illustrated as a communication device that performs vehicle-to-vehicle communication.
- the present invention is not limited to this, and the communication device may be a communication device that communicates with an optical beacon device or the like provided on the road by an optical signal such as an infrared signal, that is, a so-called infrastructure communication device.
- the present invention is not limited thereto, and a plurality of target objects may be used. Even if there are a plurality of objects, the number of coordinate information of other vehicles that can be transferred can be increased by reducing the communication load. As a result, the number of vehicles grasped by the in-vehicle information processing apparatus can be increased, and driving assistance can be made more sophisticated.
- the vehicle absolute position CL is set to the absolute position corresponding to the center coordinates of the screen 21 is exemplified.
- latitude and longitude information may be an absolute position with respect to predetermined coordinates on the screen.
- the conversion coefficient CF is calculated so that the unit is m / dot.
- the present invention is not limited to this, and the conversion coefficient CF may be calculated so that the unit is dot / m.
- the case where the conversion coefficient CF is calculated based on the scale of the map is illustrated. Not limited to this, the conversion coefficient may be a relationship between dots and longitudes and a relationship between dots and latitudes.
- the conversion coefficient CF is one and the unit is m / dot has been described.
- the present invention is not limited to this, and two conversion coefficients may be used: a conversion coefficient indicating the relationship between dots and latitude, and a conversion coefficient indicating the relationship between dots and longitude.
- the absolute position of each of the coordinates of three predetermined points forming a triangle on the screen is output to the communication device as three conversion coefficients, and the communication device shows the relationship between the dot and latitude, and the dot and longitude. The relationship may be calculated. In this case, the vehicle absolute position CL can be omitted.
- the screen 21 is configured from a liquid crystal display panel.
- the present invention is not limited to this, and the screen may be another display device such as a cathode ray tube, a plasma display, or an organic EL display.
- the position at which the object is displayed on the screen can be set from the relationship between the size of the display screen and the corresponding bit. Thereby, the freedom degree of selection of a display screen increases and a design freedom degree also increases as an in-vehicle device.
- the present invention is not limited to this, and the screen resolution may be higher or lower than (800 ⁇ 600).
- the position for displaying the object can be set on the screen from the relationship between the size of the display screen and the corresponding bit. Thereby, the freedom degree of selection of the resolution of a display screen increases, and a freedom degree of design as an in-vehicle device is also raised.
- the present invention is not limited to this, and the horizontal length of the screen may be longer or shorter than 200 mm. Further, the length of the screen in the vertical direction may be longer or shorter than 150 mm. That is, regardless of the size of the display device, the position for displaying the object can be set on the screen based on the relationship between the size of the screen and the corresponding bit. As a result, the degree of freedom in selecting the screen size is increased, and the degree of freedom in design of the in-vehicle device is also increased.
- the target object is the other vehicle 41 .
- the target object includes various vehicles (including two-wheeled vehicles and bicycles) and humans, traffic lights, intersections, It may be a facility such as a stop line, a traffic jam section, traffic jam information such as a traffic jam degree, road traffic information indicating a position of a traffic stop, or the like.
- the communication apparatus and the information processing apparatus are compared with the case where the position information is transferred. The communication load of the communication concerning transfer can be reduced by reducing the data communication between them.
- the present invention is not limited to this, and the absolute coordinate system may be expressed by anything other than a coordinate system of various maps or a latitude and longitude such as various geodetic systems as long as the travel position of the vehicle can be specified. . Even in that case, since the display coordinate system of the screen is usually smaller, the data amount is reduced.
- the present invention is not limited thereto, and the coordinate system to be converted may be a coordinate system virtually set in the information processing apparatus or the like as long as the data amount can be reduced as compared with the absolute coordinate system. Thereby, the adoption possibility of such an in-vehicle device comes to be improved.
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Abstract
Description
上記課題を解決するため、本発明の車載装置は、車載通信装置により取得される対象物の位置情報を車載情報処理装置で所要に処理して地図情報をもとにした前記対象物との位置関係を認識する車載装置であって、前記車載通信装置は、前記取得される対象物の位置情報を前記地図情報に対して有限の解像度に設定された座標系の座標情報に変換する座標変換部を備え、該変換した座標情報を前記車載情報処理装置に転送することを要旨とする。
以下、本発明にかかる車載装置を具体化した第1の実施形態について、図に従って説明する。図1は、本実施形態の車載装置のシステム構造を示すブロック図である。図2は、位置情報に基づいて画面に表示される画像を示す模式図である。図3は、位置情報を処理する走行環境の一例を示す平面図である。
表示制御部24は、画面21に表示される画像を制御するものであり、画面21に地図の画像データを表示させるとともに、指示された表示座標に所定の画像を表示させる。詳述すると、表示制御部24は、GPS22から出力された車両10の絶対位置を取得して、車両10の絶対位置(Lx1、Ly1)を中心とする地図情報を地図情報データベース(図示略)から取得する。そして、取得した地図情報から運転者等により設定された縮尺に対応した画像データを生成して出力することで画面21に、例えば、図2に示すように、進行路R1と交差路R2とからなる地図を表示させる。なお、画面21の地図表示は、車両10の位置が更新されるたびに更新される。また表示制御部24は、画面21の中心座標(400、300)を表示座標P4(Dx1,Dy1)とするとともに、車両10に対応する画像10Mを表示座標P4に表示させる。これにより、画面21に表示された地図上に車両10の位置が画像10Mとして表示される。なお、車両10の位置表示は、地図の表示が更新される度に更新される。また、表示制御部24は、他車両41に対応する画像41Mを表示座標P5(Dx2,Dy2)に表示させる。これにより、画面21に表示された地図上に、車両10とともに他車両41も表示される。なお、他車両41の位置表示は、地図の表示や他車両41の位置が更新される度に更新される。
演算装置32は、各種演算処理を実行するCPU、各種制御プログラムを格納するROM、データ格納やプログラム実行のためのワークエリアとして利用されるRAM、入出力インターフェース、メモリ等を備えたマイクロコンピュータを中心に構成されている。また演算装置32は、車車間通信にて取得された車両情報RDから絶対位置を取得する処理を実行したり、情報処理装置20との間でデータを授受するための処理を実行したりする。そのため、演算装置32には、車両情報RDから絶対位置を取得するプログラムなどの各種プログラムや、それらプログラムの実行の際に用いられる各種パラメータなどが予め記憶されている。各種パラメータには、例えば車車間通信にて通信される車両情報RDの通信内容を解析するためのデータ構造の情報なども含まれる。
(1)通信装置30により取得された車両外の対象物である他車両41の位置情報であって、緯度及び経度により位置を示す測地系からなる座標系に基づいて位置を特定する地図情報に対応した位置情報を、画面21に規定される有限の解像度に設定された表示座標系の座標情報(表示相対値PS1)に変換することでデータ量を少なくする。これにより、通信装置30から情報処理装置20へ転送されるデータ量が少なくなりデータ転送にかかる通信負荷も軽減されるようになる。
本発明にかかる車載装置の第2の実施形態について図に従って説明する。本実施形態は、車車間通信の周期の都度に更新される車両の絶対位置を少ないデータ量で取り扱うことを可能とするものである。そして、説明の便宜上、「車車間通信の周期において今回の周期」にあたる場合を「今回」と表現する、もしくは「今回」の表現を省略するとともに、「車車間通信の周期において前回の周期」にあたる場合、すなわち「今回」よりも100ms前を「前回」と表現する。
座標記憶部27は、データを管理・記憶するものであり、座標計算部26によるデータの書き込み及びデータの読み出しが可能になっている。座標記憶部27には、図9(c)に示すように、車両10内においてユニークなローカルIDと、当該ローカルIDに付随する表示相対値PS3が、相互に関連付けられるようにして格納されている。なお、表示相対値PS3は、表示相対値PS1と同様に、車両10の表示座標P4(図7参照)に対する相対座標として算出された値である。また、座標記憶部27は、座標計算部26から所定の期間、読み書きされないローカルIDとそれに付随する表示相対値PS3を削除するようにしている。これにより、不要となったデータが消去されて、記憶容量の縮小化、ローカルIDの検索速度の低下の抑制などが図られるようになっている。
ID対応表記憶部36は、データを管理・記憶するものであり、差分値算出部35によるデータの書き込み及びデータの読み出しが可能になっている。ID対応表記憶部36には、図9(b)に示すように、車両ID(16ビット)と、当該車両IDに割り当てられたローカルID(9ビット)が相互に関連付けられて格納されている。ローカルIDは、通信装置30が一度に通信可能な400台を各別に識別可能なIDであることから、「0~511」まで表現可能な9ビットとされている。なお、ID対応表記憶部36は、記憶されていない車両IDのローカルIDを要求されたとき、その時点でどの車両IDにも割り付けられていない未使用のローカルIDを一つ選択して当該車両IDに割り付けるとともに、当該選択したローカルIDを返信する。また、ID対応表記憶部36は、差分値算出部35から所定の期間、読み書きされない車両IDとそれに対応するローカルIDを削除するようにしている。これにより、ローカルIDの範囲が9ビット(「0~511」)で充足されるようにしている。
情報処理装置20では、座標計算部26により表示差分値情報を取得して、表示差分値情報に含まれるローカルIDに対応する表示相対値PS3を座標記憶部27から取得する。そして、座標記憶部27から取得された前回の表示相対値PS3と、今回の表示差分値PS2と、車両10の前回から今回までの移動量PS4とに基づいて、新たな表示相対値PS3を算出する。すなわち、画面21の車両10の表示座標P4は移動しないことから車両10の移動量PS4を他車両41側に反映させて新たな表示相対値PS3を算出するようにしている。詳述すると、前回の表示相対値PS3に今回の表示差分値PS2を加算するとともに、車両10の移動距離に相当する表示座標系の値である移動量PS4を減算する。移動量PS4は、車両10の前回の絶対位置40a(Lx1,Ly1)と今回の絶対位置40b(Lx11,Ly11)とから算出される移動距離を変換係数CFである0.625m/ドットで割ることで、画面21の表示座標系の値(ドット数)として算出される。そして座標計算部26から表示相対値PS3が表示制御部24に対して出力される。
なお、車両10は、北方向に進行しているとともに、他車両41は、図7とは異なる、東方向に進行しているものとする。このことにより、GPS22により検出される、車両10の前回の絶対位置40a(Lx1,Ly1)は(東経135度30分30.00秒,北緯45度30分30.00秒)であるとするとともに、今回の絶対位置40b(Lx11,Ly11)は(東経135度30分30.00秒,北緯45度30分30.10秒)であるとする。また、通信装置30の車車間通信により取得される、他車両41の前回の絶対位置41a(Lx2,Ly2)は(東経135度30分31.00秒,北緯45度30分31.00秒)であるとするとともに、今回の絶対位置41b(Lx21,Ly21)は(東経135度30分31.10秒,北緯45度30分31.00秒)であるとする。
なお、前回の表示相対値PS3は、他車両41の前回の絶対位置41aと車両10の前回の絶対位置40aとの差に基づいて算出されている。例えば、X方向の値は「40」(=(Lx2-Lx1)×La/CF=(東経135度30分31.00秒-東経135度30分30.00秒)×25/(0.625m/ドット))として算出されている。また、Y方向の値は「50」(=(Ly2-Ly1)×Lb/CF=(北緯45度30分31.00秒-北緯45度30分30.00秒)×31/(0.625m/ドット))として算出されている。すなわち前回の表示相対値PS3は(40,50)である。
・上記各実施形態では、通信装置30にて表示座標系の値に変換した表示相対値PS1を情報処理装置20に対して出力する場合について例示した。しかしこれに限らず、通信装置は、表示座標系の値に変換された表示相対値が情報処理装置の画面の表示領域に含まれない場合、その表示相対値を情報処理装置に対して出力しないようにしてもよい。これにより、画面に表示することができない表示相対値を通信データから除くことができて通信負荷の軽減が図られるようになる。
・上記各実施形態では、変換係数CFが地図の縮尺に基づいて算出される場合について例示した。これに限らず、変換係数を、ドットと経度の関係、及びドットと緯度の関係としてもよい。
Claims (12)
- 車載通信装置により取得される対象物の位置情報を車載情報処理装置で所要に処理して地図情報をもとにした前記対象物との位置関係を認識する車載装置であって、
前記車載通信装置は、前記取得される対象物の位置情報を前記地図情報に対して有限の解像度に設定された座標系の座標情報に変換する座標変換部を備え、該変換した座標情報を前記車載情報処理装置に転送する
ことを特徴とする車載装置。 - 前記車載情報処理装置は、前記車載通信装置から転送される位置情報を地図情報と共に画面に可視表示する表示装置を備えており、前記座標変換部は、該表示装置の画面解像度に応じた座標系を前記有限の解像度に設定された座標系として、前記取得される対象物の位置情報をこの表示装置の画面解像度に応じた座標系の座標情報に変換するものである
請求項1に記載の車載装置。 - 前記車載情報処理装置は、前記地図情報のその都度の縮尺と前記表示装置の画面解像度とから前記座標変換部による座標変換の変換係数を算出してこの算出した変換係数を前記座標変換部に転送する変換係数演算部を備え、前記座標変換部は、該変換係数演算部から転送される変換係数に基づいて、前記取得される対象物の位置情報を前記表示装置の画面解像度に応じた座標系の座標情報に変換する
請求項2に記載の車載装置。 - 前記変換係数演算部から前記座標変換部に転送される変換係数には前記地図情報に対応した前記表示装置の画面中心位置を示す情報が含まれ、前記座標変換部は、該画面中心位置からの座標情報として前記取得される対象物の位置情報を変換する
請求項3に記載の車載装置。 - 前記車載通信装置は、車車間通信により、前記対象物の位置情報として通信先車両毎の位置情報をそれら車両毎の識別情報と共に取得するものであり、前記座標変換部は、前記識別情報により識別される通信先車両毎の位置情報を前記座標系の座標情報に変換し、該変換した通信先車両毎の座標情報を前記車載情報処理装置に転送する
請求項1~4のいずれか一項に記載の車載装置。 - 前記車載通信装置は、前記識別情報により識別される通信先車両毎の移動量を算出する機能を更に備え、前記座標変換部により変換される座標情報について、同算出される車両毎の移動量に相当する情報を前記車載情報処理装置に転送する
請求項5に記載の車載装置。 - 前記車載通信装置と前記車載情報処理装置とはそれぞれ車載ネットワークを介して接続されており、前記変換された座標情報が前記車載ネットワークを介して授受される
請求項1~6のいずれか一項に記載の車載装置。 - 前記車載通信装置により取得されて、前記座標変換部により座標情報に変換される前記対象物の位置情報には緯度の値及び経度の値の少なくとも一方が含まれる
請求項1~7のいずれか一項に記載の車載装置。 - 車載情報処理装置で所要に処理されることで地図情報をもとにした位置関係が認識される対象物の位置情報を取得する車載通信装置であって、
前記取得される対象物の位置情報を前記地図情報に対して有限の解像度に設定された座標系の座標情報に変換する座標変換部を備え、該変換した座標情報を前記車載情報処理装置に転送する
ことを特徴とする車載通信装置。 - 前記車載情報処理装置は、前記位置情報を地図情報と共に画面に可視表示する表示装置を備えており、前記座標変換部は、該表示装置の画面解像度に応じた座標系を前記有限の解像度に設定された座標系として、前記取得される対象物の位置情報をこの表示装置の画面解像度に応じた座標系の座標情報に変換するものである
請求項9に記載の車載通信装置。 - 車載通信装置により取得される対象物の位置情報を所要に処理して地図情報をもとにした前記対象物との位置関係を認識する車載情報処理装置であって、
前記車載通信装置により取得される対象物の位置情報を前記地図情報に対して有限の解像度に設定された座標系の座標情報に変換するための変換係数を算出する変換係数算出部を備え、該算出された変換係数を前記車載通信装置に転送する
ことを特徴とする車載情報処理装置。 - 前記車載通信装置から転送される位置情報を地図情報と共に画面に可視表示する表示装置を備え、前記変換係数算出部は、前記変換係数を前記地図情報のその都度の縮尺と前記表示装置の画面解像度とから算出する
請求項11に記載の車載情報処理装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2012512578A JP5418669B2 (ja) | 2010-04-27 | 2010-04-27 | 車載装置及び車載情報処理装置 |
DE112010005524T DE112010005524T5 (de) | 2010-04-27 | 2010-04-27 | In einem Fahrzeug montierte Vorrichtung, in einem Fahrzeug montierte Kommunikationsvorrichtung und in einem Fahrzeug montierter Informationsprozessor |
PCT/JP2010/057479 WO2011135677A1 (ja) | 2010-04-27 | 2010-04-27 | 車載装置及び車載通信装置及び車載情報処理装置 |
US13/642,930 US20130041578A1 (en) | 2010-04-27 | 2010-04-27 | Vehicle-mounted device, vehicle-mounted communication device, and vehicle-mounted information processor |
CN201080066276XA CN102933935A (zh) | 2010-04-27 | 2010-04-27 | 车载装置、车载通信装置以及车载信息处理装置 |
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US (1) | US20130041578A1 (ja) |
JP (1) | JP5418669B2 (ja) |
CN (1) | CN102933935A (ja) |
DE (1) | DE112010005524T5 (ja) |
WO (1) | WO2011135677A1 (ja) |
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CN106205113B (zh) * | 2016-07-19 | 2019-03-05 | 天津所托瑞安汽车科技有限公司 | 车辆防跟丢***及控制方法 |
US10749674B2 (en) * | 2017-09-29 | 2020-08-18 | Micro Focus Llc | Format preserving encryption utilizing a key version |
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JP2003222529A (ja) * | 2002-01-31 | 2003-08-08 | Toyota Motor Corp | 地図描画装置及びこれを使用するナビゲーション装置、並びに地図描画用プログラム及び地図描画用記録媒体 |
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JP3898264B2 (ja) * | 1997-02-21 | 2007-03-28 | 本田技研工業株式会社 | 車両用ネットワークシステム |
JP2003075167A (ja) * | 2001-09-04 | 2003-03-12 | Sony Corp | ナビゲーション装置、地図の表示方法および画像表示装置 |
JP4168866B2 (ja) * | 2003-07-25 | 2008-10-22 | トヨタ自動車株式会社 | 車両情報通信方法、車両情報通信システムおよびセンター |
KR100634010B1 (ko) * | 2004-01-20 | 2006-10-13 | 엘지전자 주식회사 | 디지털 지도의 좌표 값 변환방법 |
US7499648B2 (en) * | 2004-09-27 | 2009-03-03 | Mindspeed Technologies, Inc. | Multistage amplifier for rapid acquisition and random received signal power applications |
JP4627476B2 (ja) * | 2005-10-05 | 2011-02-09 | 本田技研工業株式会社 | サーバ及び車載ナビゲーション装置、車両、気象情報配信システム |
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2010
- 2010-04-27 US US13/642,930 patent/US20130041578A1/en not_active Abandoned
- 2010-04-27 CN CN201080066276XA patent/CN102933935A/zh active Pending
- 2010-04-27 WO PCT/JP2010/057479 patent/WO2011135677A1/ja active Application Filing
- 2010-04-27 DE DE112010005524T patent/DE112010005524T5/de not_active Withdrawn
- 2010-04-27 JP JP2012512578A patent/JP5418669B2/ja active Active
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JP2001309071A (ja) * | 2000-04-18 | 2001-11-02 | Mazda Motor Corp | 情報通信方法及び情報通信装置及びコンピュータ読み取り可能な記憶媒体 |
JP2003222529A (ja) * | 2002-01-31 | 2003-08-08 | Toyota Motor Corp | 地図描画装置及びこれを使用するナビゲーション装置、並びに地図描画用プログラム及び地図描画用記録媒体 |
JP2005222307A (ja) * | 2004-02-05 | 2005-08-18 | Sumitomo Electric Ind Ltd | 画像表示システム及び画像表示方法 |
JP2005328283A (ja) * | 2004-05-13 | 2005-11-24 | Toyota Motor Corp | 車車間通信システム及び車両用無線通信装置 |
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CN102933935A (zh) | 2013-02-13 |
DE112010005524T5 (de) | 2013-04-04 |
US20130041578A1 (en) | 2013-02-14 |
JPWO2011135677A1 (ja) | 2013-07-18 |
JP5418669B2 (ja) | 2014-02-19 |
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