COLLISION DETERMINATION APPARATUS, PSEUDO RANGE INFORMATION TRANSMITTING APPARATUS

• US 20170162048A1
• Filed: 11/30/2016
• Published: 06/08/2017
• Est. Priority Date: 12/02/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Sugiura, Yasunobu, Kawashima, Hiroyuki
• Granted Patent: US 10,460,604 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0072 Transmission between mobile stations, e.g. anti-collision systems
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: H04B 7/1851 Systems using a satellite or space-based relay H04B7/18508, H04B7/18521 take precedence; providing specific services H04B7/18523 - H04B7/18576

Abstract

A collision determination apparatus used in a mobile body includes: a receiver receiving radio waves from reference stations; a pseudo range identifying unit identifying a pseudo range to a captured reference station; a self-single difference calculation unit calculating a self-single difference between a first reference station and a second reference station; a transmission unit transmitting a pseudo range associated information into surrounding the mobile body; a reception unit receiving the pseudo range associated information of an external apparatus; an external single difference identifying unit identifying an external single difference between the pseudo ranges to the first and second reference stations; a double difference calculating unit calculating a double difference between the self-single difference and the external single difference; and an approaching relationship determination unit determining whether or not the double difference tends to decrease and determining an approaching relationship when the double difference tends to decrease.

Claims

1. A collision determination apparatus used in a mobile body comprising:

a receiver receiving radio waves including sender information of a sender which transmits the radio waves, the radio waves being transmitted from a plurality of reference stations each being present in mutually different locations;

a pseudo range identifying unit determining a captured reference station from which the radio waves are received among the plurality of reference stations, and successively identifying a pseudo range to the captured reference station based on the radio waves received by the receiver and transmitted from the captured station;

a self-single difference calculation unit successively calculating a self-single difference between a first reference station and a second reference station which are different from each other, the first reference station and the second reference station being selected from two or more captured reference stations, and the self-single difference being a difference between the pseudo range to the first reference station and the pseudo range to the second reference station;

a transmission unit transmitting pseudo range associated information to surroundings the mobile body by a wireless communication, the pseudo range associated information being determined depending on the pseudo range to the captured reference station identified by the pseudo range identifying unit, and the pseudo range associated information being used for an external apparatus which receives the information to identify the self-single difference in the mobile body;

a reception unit receiving the pseudo range associated information of the external apparatus, the external apparatus being present outside the mobile body;

an external single difference identifying unit successively identifying, based on the pseudo range associated information of the external apparatus received by the reception unit, an external single difference between the pseudo range to the first reference station of the external apparatus and the pseudo range to the second reference station of the external apparatus;

a double difference calculating unit successively calculating a double difference between the self-single difference calculated by the self-single difference calculation unit and the external single difference identified by the self-single difference calculation unit; and

an approaching relationship determination unit determining whether or not the double difference tends to decrease based on the double difference at a plurality of time points, and determining the external apparatus and the mobile body as being in an approaching relationship when the double difference tends to decrease.

2. The collision determining apparatus according to claim 1, wherein

a first combination is defined as a combination of the first reference station and the second reference station, and a second combination is defined as a combination other than the first combination;

the self-single difference calculation unit calculates the self-single difference for the second combination when three or more captured reference stations are present;

the external single difference identifying unit identifies the external single difference of the second combination;

the double difference calculation unit successively calculates the double difference of the second combination, based on a difference between the self-single difference of the second combination calculated by the self-single calculation unit and the external single difference of the second combination identified by the external single difference identifying unit; and

the approaching relationship determination unit determines that the external apparatus is in an approaching relationship with the mobile body, when the double difference in the first combination and the double difference in the second combination tend to decrease.

3. The collision determination unit according to claim 2, wherein

the approaching relationship determination unit calculates a first remaining time from the first combination at a plurality of time points, the first remaining time being a required time for the double difference in the first combination to become 0;

calculates a second remaining time from the second combination at a plurality of time points, the second remaining time being a required time for the double difference in the second combination to become 0; and

determines that the external apparatus is likely to collide with the mobile body, when a difference between the first remaining time and the second remaining time is less than a predetermined collision threshold.

4. The collision determination unit according to claim 3, wherein

the approaching relationship determination unit calculates a first combination change degree based on the double difference of the first combination at a plurality of time points, the first combination change degree being a degree of change per unit time of the double difference in the first combination;

calculates the first remaining time by dividing the double difference in the latest first combination by the first combination change degree;

calculates a second combination change degree based on the double difference of the second combination at a plurality of time points, the second combination change degree being a degree of change per unit time of the double difference in the second combination; and

calculates the second remaining time by dividing the double difference in the latest second combination by the second combination change degree.

5. The collision determination unit according to claim 3, wherein

the approaching relationship determination unit calculates a change degree for three or more combinations of the reference stations in a pair of two reference stations, when the three or more captured reference stations are present, the change degree being a degree of change per unit time of the double difference;

and

combinations where the change degree having a relatively large value among the three or more combinations are preferentially selected for the first combination and the second combination.

6. The collision determination unit according to claim 3, wherein

a location of the reference station is expressed in a predetermined three-dimensional coordinate system;

a parameter β

is calculated for every combination using an equation;

7. The collision determination unit according to claim 6, wherein

the approaching relationship determination unit calculates a change degree for three or more combinations of the reference stations in a pair of two reference stations, when the three or more captured reference stations are present, the change degree being a degree of change per unit time of the double difference;

and

the combination in the three or more combinations, having the change degree having a predetermined threshold or more is used for the first combination and the second combination.

8. The collision determination unit according to claim 2, wherein

the transmission unit is configured to successively transmit, when three or more captured reference stations are present, specified satellite information demanding the external apparatus to transmit the pseudo range associated information thereof, for a predetermined three captured reference stations;

the double difference calculation unit successively calculates the double difference for at least predetermined two combinations, among three combinations of the reference stations as a population of three captured reference stations, based on the pseudo range associated information of the external apparatus for the three captured reference stations, the pseudo range associated information being successively transmitted from the external apparatus as a response to the specified satellite information; and

the approaching relationship determination unit determines, based on the double difference successively calculated by the double difference calculation unit, whether or not the external apparatus transmitting the pseudo range associated information as a response is in an approaching relationship with the mobile body.

9. A pseudo range information transmitting apparatus used in a mobile body comprising:

a receiver receiving radio waves including sender information of a sender which transmits the radio waves, the radio waves being transmitted from a plurality of reference stations each being present in mutually different locations;

a pseudo range identifying unit determining a captured reference station from which the radio waves are received among the plurality of reference stations, and successively identifying a pseudo range to the captured reference station based on the radio waves received by the receiver and transmitted from the captured station; and

a transmission unit transmitting pseudo range associated information to surroundings the mobile body by a wireless communication,

wherein the pseudo range associated information is determined depending on the pseudo range identified by the pseudo range identifying unit, for each of a predetermined three captured reference stations, when three or more captured reference stations are present.