JP2022102048A - On-board unit and vehicle tracking system - Google Patents

Abstract

To provide an on-vehicle machine and a vehicle tracking system capable of detecting detachment of an on-vehicle machine.SOLUTION: An on-vehicle machine 1 is configured such that a housing body 100 houses therein a sensor module 13 that detects a motion of an on-vehicle device, an autonomous navigation device 14 that calculates a self-vehicle position by using the sensor module 13, a control unit 16, and a mobile communication device 12. Within the housing body 100, the sensor module 13 is fastened to the housing body 100 and a fixed frame 301 integrated with a vehicle body by an inner volt 102 penetrating a substrate 103, on which the sensor module 13 is mounted, and a lower surface of the housing body 100. When the housing body 100 is detached from the fixed frame 301, fixation of the sensor module 13 to the housing body 100 is also released. If occurrence of an abnormality in the detection value of the sensor module 13 is detected, the control unit 16 notifies a VTS server 2 of the detachment of the on-vehicle machine 1 via mobile communication .SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle tracking system that tracks and manages the position of a vehicle.

As a vehicle tracking system that tracks and manages the position of a vehicle, it is equipped with an in-vehicle device mounted on each vehicle and a server that tracks and manages the position of each vehicle. A vehicle tracking system is known that transmits the indicated position information to a server via a mobile communication network and tracks and manages the position of each vehicle based on the position information transmitted from each vehicle on the server (for example, Patent Document). 1, 2).

Japanese Unexamined Patent Publication No. 2020-91511 Japanese Unexamined Patent Publication No. 2011-221671

In the actual operation of the vehicle tracking system equipped with the in-vehicle device mounted on each vehicle and the server that tracks and manages the position of each vehicle as described above, the in-vehicle device of each vehicle is stolen or the driver tracks the position. The in-vehicle device may be removed from the vehicle without permission because it is reluctant to be managed, or the removed in-vehicle device may be mounted on another vehicle in order to conceal the removal.

Therefore, the present invention is a vehicle tracking system including an in-vehicle device mounted on each vehicle for positioning the position of the own vehicle and a server for collecting and managing the position of each vehicle from the in-vehicle device. The challenge is to detect the removal

In order to achieve the above-mentioned problems, the present invention is an in-vehicle device mounted on an automobile and notifying the position of the mounted automobile to the outside by mobile communication, by means of a sensor for detecting motion and autonomous navigation using the sensor. An autonomous navigation means for calculating the position of the automobile, a mobile communication device for performing the mobile communication, and a detection means for detecting the removal of the in-vehicle device from the automobile and notifying the outside via the mobile communication, at least. A housing that houses the sensor and is fixed to the vehicle body, and when the housing is fixed to the vehicle body, the sensor is fixed to the housing and the housing is fixed to the vehicle body. It is provided with an interlocking fixing release mechanism that releases the fixing of the sensor to the housing in conjunction with the release operation of the sensor. Here, when the detection means detects a predetermined motion set as a motion that does not occur due to the running of the vehicle, the detection means detects the removal of the vehicle-mounted device from the vehicle.

Further, in order to achieve the above-mentioned problem, the present invention has a sensor for detecting motion and autonomous navigation using the sensor on an in-vehicle device mounted on an automobile and notifying the position of the mounted automobile to the outside by mobile communication. Autonomous navigation means for calculating the position of the vehicle, satellite positioning means for positioning the position of the vehicle by satellite positioning, mobile communication device for performing mobile communication, and detection of removal of the in-vehicle device from the vehicle. A detection means for notifying the outside via the mobile communication, a housing fixed to the vehicle body of the automobile containing at least the sensor, and the sensor when the housing is fixed to the vehicle body. Is provided with an interlocking fixing release mechanism for fixing the sensor to the housing and releasing the fixing of the sensor to the housing in conjunction with the operation of releasing the fixing of the housing to the vehicle body. Here, when the position of the vehicle calculated by the autonomous navigation means and the position of the vehicle measured by the satellite positioning means deviate from each other by a predetermined level or more, the detection means can be used from the vehicle of the vehicle-mounted device. Detect removal.

Here, in the above-mentioned in-vehicle device, the interlocking fixing release mechanism penetrates the sensor or the component on which the sensor is mounted and the fixing surface of the housing to the vehicle body, and fixes the sensor to the housing. At the same time, it may be a bolt for fixing the housing to the vehicle body.

In addition, the present invention also provides a vehicle tracking system including the above-mentioned in-vehicle device and a server. Here, the on-board unit mounted on each vehicle transmits the position of the vehicle to the server by mobile communication, and the detection means of the on-board unit mounted on each vehicle removes the vehicle from the vehicle. Is notified to the server via the mobile communication.

According to the in-vehicle device and the vehicle tracking system as described above, when the in-vehicle device housing is released from being fixed to the vehicle, the sensor provided for autonomous navigation is also released from being fixed to the housing. Then, when the fixing of the sensor to the housing is released, the sensor detects an abnormal detection value to detect the removal of the in-vehicle device from the automobile. Therefore, it is possible to correctly detect the removal of the on-board unit from the vehicle by using the sensor provided for autonomous navigation without providing a special means for detecting the removal of the on-board unit from the vehicle.

As described above, according to the present invention, a vehicle tracking system including an in-vehicle device mounted on each vehicle for positioning the position of the own vehicle and a server for collecting and managing the position of each vehicle from the in-vehicle device. In, the removal of the in-vehicle device can be detected.

It is a figure which shows the vehicle tracking system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the in-vehicle device which concerns on embodiment of this invention. It is a figure which shows the structure of the in-vehicle device which concerns on embodiment of this invention. It is a figure which shows the example of the other structure of the vehicle-mounted device which concerns on embodiment of this invention. It is a figure which shows the operation example of the in-vehicle device which concerns on embodiment of this invention.

Hereinafter, embodiments of the present invention will be described.
As shown in FIG. 1, the vehicle tracking system (VTS: Vehicle Tracking System) according to the present embodiment includes an in-vehicle device 1 mounted on each vehicle and a VTS server 2.
The on-board unit 1 of each vehicle has a function of satellite positioning the position of the own vehicle using the positioning satellite 3, and also has a function of communicating with the VTS server 2 via the mobile communication network 4.
FIG. 2 shows the configuration of such an in-vehicle device 1.
As shown in the figure, the in-vehicle device 1 includes a GNSS receiver 11 that satellite-positions the position of its own vehicle using a positioning satellite 3, a mobile communication device 12 that communicates via a mobile communication network 4, a sensor module 13, and an autonomous device. It includes a navigation device 14, an external interface 15 that communicates with the outside by wired communication or wireless communication, and a control unit 16.

The sensor module 13 is a device that integrates sensors such as a gyro sensor, an acceleration sensor, an orientation sensor, and a pressure sensor to detect various states such as the motion state of an automobile. Here, the on-board unit 1 is fixed to the automobile by bolts or the like in a space behind the meter panel of the meter cluster or at a position such as a dashboard. Further, when the vehicle-mounted device 1 is fixed to the automobile, each sensor of the sensor module 13 is calibrated by the operator via the external interface 15 so as to output a correct measured value indicating the state of the automobile.

Next, the autonomous navigation device 14 calculates the position of the own vehicle by autonomous navigation from each state of the vehicle detected by each sensor of the sensor module 13. Here, the position of the own vehicle calculated by the autonomous navigation device 14 is calibrated with reference to the position of the own vehicle that has been satellite-positioned when the GNSS receiver 11 is performing good satellite positioning.

When the GNSS receiver 11 is performing satellite positioning satisfactorily, the control unit 16 transmits the position of the own vehicle satellite-positioned by the GNSS receiver 11 to the VTS server 2 by mobile communication using the mobile communication device 12. , When the GNSS receiver 11 is not able to perform satellite positioning satisfactorily, the position of the own vehicle calculated by the autonomous navigation device 14 is transmitted to the VTS server 2 by mobile communication using the mobile communication device 12.

Then, the VTS server 2 tracks and manages the position of each vehicle received from the vehicle-mounted device 1 of each vehicle.
Next, FIG. 3a shows the appearance of the vehicle-mounted device 1 fixed to the automobile, and FIG. 3b1 shows the cross-sectional structure of the vehicle-mounted device 1 according to the cross section shown by the dotted line SL in FIG. 3a.
As shown in the figure, the vehicle-mounted device 1 has a housing 100 accommodating each component of the vehicle-mounted device 1 shown in FIG. 2, and when the housing 100 is released from being fixed to the vehicle body of the vehicle, the sensor module 13 is released. It has a structure in which the fixing to the housing 100 is also released.

That is, the on-board unit 1 has an external bolt 101 penetrating a flange provided at the bottom of the housing 100 and an internal bolt 102 inside the housing 100 on a fixed frame 301 which is a fixing bracket for fixing the vehicle body or the vehicle body. By screwing in, the on-board unit 1 is fixed to the vehicle body.

The internal bolt 102 is screwed into the fixed frame 301 through the substrate 103 on which the sensor module 13 is mounted and the lower surface of the housing 100 inside the housing 100, and the sensor module 13 is housed by the internal bolt 102. It is fixed to the body 100 and the fixed frame 301.

Therefore, as shown in FIG. 3b2, when the internal bolt 102 is removed in order to remove the housing 100 from the vehicle body, the fixing of the sensor module 13 to the housing 100 is also released, and the sensor module 13 is subjected to an external force inside the housing 100. It will be possible to move accordingly.

As shown in FIG. 3b1, the internal bolt 102 can be accessed from the outside of the housing 100 by removing the cap 104 that closes the hole on the upper surface of the housing 100.
Here, the structure using the internal bolts 102 shown in FIGS. 3a and 3b1 is an example, and when the housing 100 is released from the vehicle body of the automobile, the sensor module 13 is also released from the fixing to the housing 100. Other structures may be used.

That is, for example, another structure such as the structure shown in FIG. 4a or the structure shown in FIG. 4b1 may be used.
Here, in the structure of FIG. 4a, the member 105 to which the sensor module 13 is fixed is extended onto the outer flange of the housing 100 and fixed to the housing 100 and the fixed frame 301 with the external bolt 101, and the housing 100 When the external bolt 101 is removed in order to remove the sensor module 13 from the vehicle body, the fixing of the sensor module 13 to the housing 100 is also released, and the sensor module 13 can be moved inside the housing 100.

Further, in the structure shown in FIG. 4b1, the member 106 to which the sensor module 13 is fixed is extended to a position covering the head of the external bolt 101 outside the housing 100, and is fixed to the member 106 inside the housing 100 in a wedge shape. The sensor module 13 is fixed to the housing 100 by press-fitting and fixing the anchor 1061 to the socket 1001 fixed to the housing 100.

According to such a structure, as shown in FIG. 4b2, in order to remove the housing 100 from the fixed frame 301, when the member 106 is pushed into the housing 100 to expose the head of the external bolt 101, the anchor 1061 Is disengaged from the socket 1001, the sensor module 13 is released from being fixed to the housing 100, and the sensor module 13 can be moved inside the housing 100. Further, at this time, by forming the anchor 1061 so that the anchor 1061 is deformed or destroyed, it is impossible to re-fix the sensor module 13 to the housing 100 without repair such as replacement of parts. You can also do it.

Next, returning to FIG. 2, the control unit 16 performs a monitoring process for monitoring the removal of the vehicle-mounted device 1 from the vehicle body.
In the monitoring process, the control unit 16 is an autonomous navigation device accompanying the fact that the sensor module 13 can be moved inside the housing 100 by removing the vehicle-mounted device 1 from the vehicle body (removing the housing 100 from the fixed frame 301). The occurrence of an abnormality in the position of the own vehicle calculated by 14 and the occurrence of an abnormality in the detection value of each sensor of the sensor module 13 are monitored, and if an abnormality is detected, the occurrence of removal of the in-vehicle device 1 is detected and the vehicle is moved. The communication device 12 is used to notify the VTS server 2 of the occurrence of the removal of the vehicle-mounted device 1 by mobile communication.

As an abnormality of the position of the own vehicle calculated by the autonomous navigation device 14 that monitors the occurrence in the monitoring process, for example, the position of the own vehicle calculated by the autonomous navigation device 14 with respect to the position of the own vehicle satellite-positioned by the GNSS receiver 11. Detects positional deviation.

When satellite positioning is performed well, as shown in FIG. 5a1, the position of the own vehicle measured by the GNSS receiver 11 indicated by the black circle and the position of the own vehicle calculated by the autonomous navigation device 14 indicated by the white circle are Although the positions are almost the same, if the sensor module 13 that can move inside the housing 100 moves inside the housing 100 due to an external force such as gravity applied at the time of removal or an external force applied thereafter, the movement or Due to the invalidation of the calibration of each sensor of the sensor module 13 due to the movement, the detected value of each sensor of the sensor module 13 does not correctly represent the movement of the vehicle, and is calculated by the autonomous navigation device 14 as shown in FIG. 5a2. The position of the own vehicle is deviated from the position of the own vehicle measured by satellite with the GNSS receiver 11. It should be noted that such a divergence continues to occur even when the removed on-board unit 1 is replaced with another vehicle because the calibration is invalidated or the like.

Therefore, by detecting such a deviation, it is possible to detect the occurrence of the removal of the in-vehicle device 1.
Further, as an abnormality of the detection value of each sensor of the sensor module 13 that monitors the occurrence in the monitoring process, the detection value of the sensor indicating the movement that does not occur by the normal running of the automobile is monitored.

That is, for example, the movement of the automobile shown in FIG. 5b1 only in the substantially lateral direction, the repetition of the movement of the automobile shown in FIG. 5b2 only in the direction directly above and below, and the yaw angle, low angle, and pitch angle. The detection value of the sensor indicating the rotational movement or the like that cannot be performed by the automobile is detected as an abnormality of the detection value of the sensor.

When the sensor module 13 that has become movable in the housing 100 moves inside the housing 100 due to an external force applied at the time of removal or an external force applied thereafter, the movement and calibration of each sensor of the sensor module 13 due to the movement. By disabling the operation, the sensor of the sensor module 13 detects a detection value indicating a movement that does not appear when the vehicle-mounted device 1 is fixed to the vehicle and does not occur due to normal driving of the vehicle.

Therefore, by detecting the detection value of the sensor representing such an abnormal movement that cannot be regarded as the movement of the automobile, it is possible to detect the occurrence of the removal of the vehicle-mounted device 1.
Next, returning to FIG. 1, the VTS server 2 notified by the control unit 16 of the in-vehicle device 1 that the in-vehicle device 1 has been removed via mobile communication causes the operator of the VTS server 2 to remove the in-vehicle device 1. Information about the on-board unit 1 such as the vehicle on which the on-board unit 1 has been removed and the driver of the on-board unit 1 and the driver of the on-board unit 1 is reported.

The embodiment of the present invention has been described above.
As described above, according to the present embodiment, the on-board unit 1 can correctly detect the removal of the on-board unit 1 from the vehicle body by using the sensor module 13 provided for autonomous navigation.

1 ... In-vehicle device, 2 ... VTS server, 3 ... Positioning satellite, 4 ... Mobile communication network, 11 ... GNSS receiver, 12 ... Mobile communication device, 13 ... Sensor module, 14 ... Autonomous navigation device, 15 ... External interface, 16 ... Control unit, 100 ... Housing, 101 ... External bolt, 102 ... Internal bolt, 103 ... Board, 104 ... Cap, 301 ... Fixed frame.

Claims (4)

It is an on-board unit that is mounted on a car and notifies the outside of the position of the mounted car by mobile communication.
Sensors that detect motion and
Autonomous navigation means for calculating the position of the vehicle by autonomous navigation using the sensor, and
The mobile communication device that performs mobile communication and
A detection means that detects the removal of the in-vehicle device from the vehicle and notifies the outside via the mobile communication.
A housing fixed to the vehicle body of the automobile, which houses at least the sensor,
When the housing is fixed to the vehicle body, the sensor is fixed to the housing, and the sensor is released from the housing in conjunction with the operation of releasing the fixing of the housing to the vehicle body. It has an interlocking fixing release mechanism and
The detection means is an in-vehicle device, characterized in that it detects the removal of the in-vehicle device from the vehicle when it detects a predetermined motion set as a motion that does not occur due to the running of the vehicle. It is an on-board unit that is mounted on a car and notifies the outside of the position of the mounted car by mobile communication.
Sensors that detect motion and
Autonomous navigation means for calculating the position of the vehicle by autonomous navigation using the sensor, and
A satellite positioning means for positioning the position of the automobile by satellite positioning,
The mobile communication device that performs mobile communication and
A detection means that detects the removal of the in-vehicle device from the vehicle and notifies the outside via the mobile communication.
A housing fixed to the vehicle body of the automobile, which houses at least the sensor,
When the housing is fixed to the vehicle body, the sensor is fixed to the housing, and the sensor is released from the housing in conjunction with the operation of releasing the fixing of the housing to the vehicle body. It has an interlocking fixing release mechanism and
The detection means detects the removal of the on-board unit from the vehicle when the position of the vehicle calculated by the autonomous navigation means and the position of the vehicle positioned by the satellite positioning means deviate by a predetermined level or more. An in-vehicle device characterized by The in-vehicle device according to claim 1 or 2.
The interlocking fixing release mechanism penetrates the sensor or a component on which the sensor is mounted and the fixing surface of the housing to the vehicle body, fixes the sensor to the housing, and fixes the housing to the vehicle body. An in-vehicle device characterized by being a bolt to be fixed to. A vehicle tracking system including the in-vehicle device according to claim 1, 2 or 3 mounted on each of a plurality of automobiles and a server.
The in-vehicle device mounted on each vehicle transmits the position of the vehicle to the server by mobile communication, and then transmits the position of the vehicle to the server.
The detection means of the vehicle-mounted device mounted on each vehicle is a vehicle tracking system characterized in that the removal of the vehicle-mounted device from the vehicle is notified to the server via the mobile communication.

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