Vehicular system
A vehicular system where a vehicle moves in a traveling area in which magnetic markers are arranged so that magnetic polarities form a predetermined pattern and a wireless tag is annexed correspondingly to some of the magnetic markers, the wireless tag outputting, by wireless communication, tag information allowing a position of the magnetic marker to be identified, includes a first position identifying part which identifies a vehicle position where the vehicle is located based on the position of the magnetic marker identified by using the tag information and a second position identifying part which identifies, on a route after the vehicle passes over the magnetic marker serving as a reference when the first position identifying part identifies the vehicle position, a magnetic marker newly detected by the vehicle based on detection history of magnetic markers and identifies the vehicle position based on the position of the identified magnetic marker.
1. A vehicular system where a vehicle moves in a traveling area including grid points where passages intersect each other, wherein
in the traveling area, magnetic markers as magnetism generation sources are arranged at each of the grid points where the passages intersect each other so that magnetic polarities form a predetermined pattern, and a wireless tag which outputs tag information via wireless communication is attached to some of the magnetic markers, the tag information allowing a position of the some of the magnetic markers to be identified,
the system comprises:
a first position identifying part configured to identify a magnetic marker detected by the vehicle by using the tag information, and configured to identify a first vehicle position where the vehicle is located based on the position of the magnetic marker; and
a second position identifying part configured to identify a magnetic marker newly detected by the vehicle by using detection history indicating history information of the magnetic marker detected by the vehicle, the detection history including information about the magnetic polarity of the magnetic marker detected, and configured to identify a second vehicle position based on the position of the magnetic marker newly detected, and
the second position identifying part is configured to identify, for each of the grid points in a route where the vehicle has moved from an identified position as a starting point, a passage traveled by the vehicle among the passages crossing at the grid point by using the predetermined pattern and the detection history regarding the magnetic polarity of the magnetic marker in the traveling area, thereby configured to identify a destination point to which the vehicle has moved through the route, and configured to identify a magnetic marker arranged at the destination point to which the vehicle has moved as the magnetic marker newly detected by the vehicle, wherein
in the traveling area, passages in a row direction and passages in a column direction allowing the vehicle to move form a grid shape, and the magnetic markers are arranged at the grid points where any of the passages crosses another one of the passages.
2. The vehicular system in claim 1 , wherein,
the predetermined pattern is a pattern in which the magnetic polarities of the magnetic markers are alternately switched amongst adjacent rows or are switched amongst adjacent columns.
3. The vehicular system in claim 2 , wherein
the detection history includes a marker passing count indicating a count of detections of the magnetic markers detected by the vehicle, and the second position identifying part is configured to identify the vehicle position by using the marker passing count.
4. The vehicular system in claim 3 , wherein
the detection history includes a combination of the magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
5. The vehicular system in claim 2 , wherein
the detection history includes a combination of the magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
6. The vehicular system in claim 2 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
7. The vehicular system in claim 1 , wherein
the detection history includes a marker passing count indicating a count of detections of the magnetic markers detected by the vehicle, and the second position identifying part is configured to identify the vehicle position by using the marker passing count.
8. The vehicular system in claim 7 , wherein
the detection history includes a combination of the magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
9. The vehicular system in claim 7 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
10. The vehicular system in claim 1 , wherein
the detection history includes a combination of the magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
11. The vehicular system in claim 10 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
12. The vehicular system in claim 1 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
13. The vehicular system in claim 1 , wherein
the detection history includes a marker passing count indicating a count of detections of the magnetic markers detected by the vehicle, and the second position identifying part is configured to identify the vehicle position by using the marker passing count.
14. The vehicular system in claim 13 , wherein
the detection history includes a combination of the magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
15. The vehicular system in claim 13 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
16. The vehicular system in claim 1 , wherein
the detection history includes a combination of magnetic polarities of the at least two magnetic markers detected by the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where the passages intersect each other by using the combination of the magnetic polarities of the at least two magnetic markers.
17. The vehicular system in claim 16 , wherein
each of the some of the magnetic markers is configured integrally with the wireless tag.
18. The vehicular system in claim 1 , wherein
the second position identifying part is configured to identify whether the vehicle has moved on a passage along the row direction or the column direction in accordance with whether a magnetic polarity of the magnetic marker newly detected by the vehicle and a magnetic polarity of a magnetic marker detected immediately before match each other.
19. The vehicular system in claim 1 , wherein
the system comprises an electronic compass which measures an azimuth of the vehicle, and the detection history includes azimuth information indicating the azimuth of the vehicle, and
the second position identifying part is configured to identify a passage traveled by the vehicle passing over the grid point where passages intersect each other by using the azimuth information.
20. The vehicular system in claim 1 , wherein
the second position identifying part is configured to set the magnetic marker identified by the first position identifying part as the starting point of the route.