Position estimation method for mobile terminal, position estimation device for mobile terminal and position estimation system for mobile terminal

1. A position estimation method for a mobile terminal that estimates a position of a mobile terminal by communicating a plurality of communication devices provided in a vehicle with the mobile terminal in a vicinity of the vehicle, the method comprising:

an acquisition step of acquiring distance values and radio wave intensity values between the plurality of communication devices and the mobile terminal by communicating the communication devices with the mobile terminal;

a communication availability determination step of determining that a corresponding communication device is communicable when the distance value is equal to or less than a first predetermined value and the intensity value is equal to or more than a second predetermined value;

an area determination step of, based on a determination result of the communication availability determination step and communication maps that map communicable ranges of the communication devices, determining an area where the mobile terminal exists by superimposing the communication maps; and

an estimation step of estimating the position of the mobile terminal based on a determination result of the area determination step,

wherein in the area determination step, the area where the mobile terminal exists is determined by superimposing one or more of the communication maps of the communication devices which are determined to be communicable in the communication availability determination step and one or more of the communication maps of the communication devices which are determined to be non-communicable in the communication availability determination step.

2. The position estimation method for a mobile terminal according to claim 1 , wherein

in the estimation step, a range existing in the area in an estimation circle whose radius is the distance value from the communication device having the smallest distance value is estimated as the position of the mobile terminal.

3. The position estimation method for a mobile terminal according to claim 1 , wherein

in the area determination step, a logical product of the communicable range of the communication device determined to be non-communicable in the communication availability determination step is excluded from a logical product of the communicable range of the communication device determined to be communicable in the communication availability determination step.

4. The position estimation method for a mobile terminal according to claim 3 , wherein

the communication map classifies the communicable ranges into ranks according to a degree of communication error, and

in the area determination step, the plurality of the communication maps are superimposed by performing weighting based on the ranks.

5. The position estimation method for a mobile terminal according to claim 1 , wherein

the area is defined by two-dimensional coordinates.

6. The position estimation method for a mobile terminal according to claim 1 , wherein the distance values are determined using a time of flight method for the communications between the plurality of communication devices and the mobile terminal.

7. The position estimation device for a mobile terminal according to claim 1 , wherein in the area determination step, the area where the mobile terminal exists is determined using the communication maps in a case where it is determined that any one of the communication devices is communicable in the communication availability determination step.

8. The position estimation device for a mobile terminal according to claim 1 , wherein in the area determination step, the communication maps which are stored beforehand are read out for determining the area where the mobile terminal exists.

9. A position estimation device for a mobile terminal that estimates a position of a mobile terminal by communicating a plurality of communication devices provided in a vehicle with the mobile terminal in a vicinity of the vehicle, the device comprising:

a signal processing unit configured to acquire distance values and radio wave intensity values between the plurality of communication devices and the mobile terminal by communicating the communication devices with the mobile terminal, and determine that a corresponding communication device is communicable when the distance value is equal to or less than a first predetermined value and the intensity value is equal to or more than a second predetermined value;

an area determining unit configured to, based on a determination result of the signal processing unit and communication maps that map communicable ranges of the communication devices, determine an area where the mobile terminal exists by superimposing the communication maps; and

an estimation unit configured to estimate the position of the mobile terminal based on a determination result of the area determining unit,

wherein the area determining unit determines the area where the mobile terminal exists by superimposing one or more of the communication maps of the communication devices which are determined to be communicable by the signal processing unit and one or more of the communication maps of the communication devices which are determined to be non-communicable by the signal processing unit.

10. The position estimation device for a mobile terminal according to claim 9 , wherein the distance values are determined using a time of flight method for the communications between the plurality of communication devices and the mobile terminal.

11. The position estimation device for a mobile terminal according to claim 9 , wherein the area determining unit determines the area where the mobile terminal exists using the communication maps in a case where the signal processing unit determines that any one of the communication devices is communicable.

12. The position estimation device for a mobile terminal according to claim 9 , further comprising a storage unit configured to store the communication maps which are read out for determining an area where the mobile terminal exists.

13. A position estimation system for a mobile terminal, the system comprising:

a plurality of communication devices provided in a vehicle;

a signal processing unit configured to acquire distance values and radio wave intensity values between the plurality of communication devices and a mobile terminal in a vicinity of the vehicle by communicating the communication devices with the mobile terminal, and determine that a corresponding communication device is communicable when the distance value is equal to or less than a first predetermined value and the intensity value is equal to or more than a second predetermined value;

an area determining unit configured to, based on a determination result of the signal processing unit and communication maps that map communicable ranges of the communication devices, determine an area where the mobile terminal exists by superimposing the communication maps; and

an estimation unit configured to estimate the position of the mobile terminal based on a determination result of the area determining unit,

wherein the area determining unit determines the area where the mobile terminal exists by superimposing one or more of the communication maps of the communication devices which are determined to be communicable by the signal processing unit and one or more of the communication maps of the communication devices which are determined to be non-communicable by the signal processing unit.

14. The position estimation system for a mobile terminal according to claim 13 , wherein the distance values are determined using a time of flight method for the communications between the plurality of communication devices and the mobile terminal.

15. The position estimation system for a mobile terminal according to claim 13 , wherein the area determining unit determines the area where the mobile terminal exists using the communication maps in a case where the signal processing unit determines that any one of the communication devices is communicable.

16. The position estimation system for a mobile terminal according to claim 13 , further comprising a storage unit configured to store the communication maps which are read out for determining an area where the mobile terminal exists.