Relative car positioning system using car communication

• US 5,999,880 A
• Filed: 11/18/1997
• Issued: 12/07/1999
• Est. Priority Date: 11/19/1996
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Kurokawa, Hisashi, Okada, Tsuyoshi, Hamada, Masayuki
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/972,360
• Time in Patent Office: 749 Days
• Field of Search: 701/213, 701/214, 701/215, 701/216, 701/300, 342/357, 342/457, 342/352, 342/357.01, 342/357.06, 342/357.1, 455/3.2, 455/12.1, 455/13.2
• US Class Current: 701/213
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems

Abstract

To cancel an error in GPS wave propagation time and calculate a relative position of a car running nearby to the own car position with good accuracy, a relative car positioning system using car communication includes a car communication transceiver, a GPS receiving device, a GPS information transmission/reception device, and a relative positioning device. A relative position is determined by determining a GPS wave propagation time difference from a GPS satellite, a wave of which is received by the car running nearby and the own car in common. The difference between the data of GPS wave propagation time at the car running nearby and the data of GPS wave propagation time at the own car is calculated, and if the number of differences of the GPS wave propagation time is obtained by more than three pieces, a relative position of the car running nearby is calculated by solving simultaneous equations expression the relative position as an unknown quantity.

Claims

1. A relative car positioning system using car communication comprising:

GPS receiving means for receiving waves from GPS satellites;

GPS information transmission/reception means for transmitting and receiving GPS information received at said GPS receiving means and data of GPS wave propagation times from the GPS satellites to an own car about all the received satellites, between the own car and cars running nearby through car communication means; and

relative car positioning means by GPS wave propagation time difference for calculating differences between data of GPS wave propagation times at the cars running nearby obtained through GPS information transmission/reception means contained in the cars running nearby and the data of GPS wave propagation time at the own car for the GPS satellites, the wave from which is being received simultaneously by the own car and the cars running nearby, and calculating relative positions of the cars running nearby to the own car position by solving simultaneous equations expressing relations between more than three pieces of GPS wave propagation time differences calculated above and a relative position as an unknown quantity; and

wherein data transmission/reception to/from and communication with the cars running nearby are possible.

2. The relative car positioning system according to claim 1, wherein the relative car positioning means calculates the difference between the wave propagation time at the own car and the wave propagation time in the cars running nearby by canceling the influence of a time difference included in each GPS satellite.

3. The relative car positioning system according to claim 1, wherein the relative car positioning means calculates a difference between the wave propagation time at the own car and the wave propagation times at the cars running nearby according to the equation:

space="preserve" listing-type="equation">dpt=tdpt(i)+dcer,

where;

dpt is the wave propagation time difference between a car running nearby and the own car;

tdpt is a real GPS wave propagation time difference; and

dcer is an error difference included in a GPS receiving means in a car running nearby and the GPS receiving means.

4. A relative car positioning system using car communication comprising:

GPS receiving means for receiving waves from GPS satellites;

GPS information transmission/reception means for transmitting and receiving GPS information received at said GPS receiving means and data of GPS wave propagation times from the GPS satellites to an own car about all the received GPS satellites, between the own car and cars running nearby through car communication means;

first relative car positioning means by GPS wave propagation time difference for calculating differences between data of GPS wave propagation times at the cars running nearby obtained through GPS information transmission/reception means contained in the cars running nearby and the data of GPS wave propagation time at the own car for the GPS satellites, the wave from which is being received simultaneously by the own car and the cars running nearby, and calculating relative positions of the cars running nearby to the own car position by solving simultaneous equations expressing relations between more than three pieces of GPS wave propagation time differences calculated above and a relative position as an unknown quantity;

second relative car positioning means for calculating a relative position of the cars running nearby to the own car position by catching the cars running nearby by a car radar and detecting relative distances and relative azimuth between the own car and the cars running nearby; and

search performance/accuracy improving means for improving the accuracy of relative positioning by increasing detection sensitivity at said second relative car positioning means, increasing importance of a detection and compensating the relative position calculated at said second relative car positioning means by the relative position calculated at said relative car positioning means for the cars running nearby near the relative position calculated at said first relative car positioning means; and

wherein

data transmission/reception to/from and communication with the cars running nearby is possible.

5. The relative car positioning system according to claim 4, wherein the first relative car positioning means calculates the difference between the wave propagation time at the own car and the wave propagation time in the cars running nearby by canceling the influence of a time difference included in each GPS satellite.

6. The relative car positioning system according to claim 4, wherein the first relative car positioning means calculates a difference between the wave propagation time at the own car and the wave propagation time in the cars running nearby according to the equation:

space="preserve" listing-type="equation">dpt=tdpt(i)+dcer,

where;

dpt is the wave propagation time difference between a car running nearby and the own car;

tdpt is a real GPS wave propagation time difference; and

dcer is an error difference included in a GPS receiver in a car running nearby and the GPS receiving means.

7. A relative positioning system comprising:

a first GPS receiver which receives information from a plurality of GPS satellites and determines a first wave propagation time, said first propagation time being a propagation time of a wave from at least one GPS satellite, of said plurality of GPS satellites, to said first GPS receiver;

a communicator which receives information from nearby GPS receivers, including nearby wave propagation times, said nearby wave propagation times being propagation times of the wave from said at least one GPS satellite, of said plurality of GPS satellites, to each receiver of said nearby GPS receivers; and

a calculator which determines the relative position of the first GPS receiver to the nearby GPS receivers by calculating a difference between the first wave propagation time and the nearby wave propagation times,

wherein said calculator calculates the relative position by solving simultaneous equations expressing relations between more than three calculations of difference in the first wave propagation time and the nearby wave propagation times.

8. The relative positioning system according to claim 7, wherein said first propagation time and said nearby propagation times are determined from the propagation times of waves from a plurality of satellites.

9. The relative positioning system according to claim 7, further comprising:

a transceiver, and

wherein said communication device receives GPS information received at said nearby GPS receivers through said transceiver.

10. The relative positioning system according to claim 7, wherein the calculator calculates the difference between the first wave propagation time and the nearby wave propagation times by canceling the influence of a time difference included in said at least on GPS satellite of said plurality of satellites.

11. The relative car positioning system according to claim 7, wherein the calculator calculates the difference between the first wave propagation time and the nearby wave propagation times according to the equation:

space="preserve" listing-type="equation">dpt=tdpt(i)+dcer,

where;

dpt is the wave propagation time difference between the nearby GPS receivers and the first GPS receiver;

tdpt is a real GPS wave propagation time difference; and

dcer is an error difference included in a nearby GPS receiver and the first GPS receiver.

12. The relative positioning system according to claim 7, further comprising:

a distance detector which detects the distance between an object carrying said first GPS receiver and objects carrying said nearby GPS receivers; and

a controller which controls the distance detector based on the relative position determination of said calculator.

13. The relative positioning system according to claim 12, wherein said controller controls the distance detector to search for an object carrying a nearby GPS receiver near the relative distance calculated by said calculator.

14. The relative positioning system according to claim 12, wherein said controller controls the distance detector to increase the sensitivity of the distance detector.

15. The relative positioning system according to claim 12, wherein said controller controls the distance detector to decrease a threshold detection value of the distance detector.

16. A relative positioning method comprising the steps of:

receiving information from a plurality of GPS satellites and determining a first wave propagation time, said first propagation time being a propagation time of a wave from at least one GPS satellite, of said plurality of GPS satellites, to a first GPS receiver;

receiving information from nearby GPS receivers, including nearby wave propagation times, said nearby propagation times being propagation times of a wave from said at least one GPS satellite, of said plurality of GPS satellites, to said nearby GPS receivers; and

determining the relative position of the first GPS receiver and the nearby GPS receivers by calculating a difference between the first wave propagation time and the nearby wave propagation times, and by solving simultaneous equations expressing relations between more than three calculations of differences between the first wave propagation time and the nearby wave propagation times.

17. The relative positioning method according to claim 16, further comprising the steps of:

detecting the distance between an object carrying said first GPS receiver and objects carrying said nearby GPS receivers by a distance detector; and

controlling the distance detector based on the relative position determination of the first GPS receiver and the nearby GPS receivers.