JP2019079316A - In-vehicle system, target recognition method, and computer program - Google Patents

Abstract

To properly detect a target existing outside a coverage.SOLUTION: An in-vehicle system 1 includes: a receiving information storage unit 2a which stores location information transmitted from a target and received by a system-side communication unit 3, as receiving information; a target information detection unit 2b which detects target information including moving speed and moving direction of the target by inputting detection information from a sensor 4 multiple times; a sensor information storage unit 2c which stores the target information as sensor information; a comparison unit 2d which compares the receiving information with the sensor information; and an out-of-coverage determination unit 2e which determines that the target exists outside the coverage when the receiving information is not coincident with the sensor information as a result of the comparison.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an in-vehicle system, a target recognition method, and a computer program.

  Conventionally, a sensor has been provided which detects the distance to a target and the heading of the target using the time from the transmission timing of the transmission wave to the reception timing of the reflected wave. With this type of sensor, it is possible to detect targets in the so-called line of sight to which the transmission wave directly arrives, but undetectable to so-called out-of-sight targets to which the transmission wave does not reach directly. For example, Patent Document 1 discloses a method of estimating the position of an unintended target using the principle of triangulation by a plurality of reflection points.

JP, 2016-148547, A

  However, in the method of estimating the position of a target outside the line of sight using a reflection point, the position of a projection called so-called ghost appearing on the extension of the straight line connecting the sensor and the reflection point is taken as the position of the target There is a problem that it is erroneously detected and the presence of a target outside the line of sight can not be detected. Therefore, if it becomes impossible to detect the presence of a target outside the line of sight, the start of vehicle control for avoiding a collision with the target is delayed, and there is a problem that safe driving can not be sufficiently secured.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an in-vehicle system, a target recognition method, and a computer program capable of appropriately detecting the presence of an unintended target. is there.

  According to the invention described in claim 1, the system communication unit (3) is a movable target having a position information detection unit (6, 8) and a target communication unit (7, 9). Wireless communication is performed between them. The sensor (4) detects the distance to the target and the orientation of the target as detection information by at least one measurement. The reception information storage unit (2a) transmits position information including at least the position of the target detected by the position information detection unit from the target communication unit, and the position information received by the system communication unit Is stored as received information. The target information detection unit (2b) receives detection information from the sensor a plurality of times to detect target information including the movement speed and movement direction of the target. The sensor information storage unit (2c) stores target information detected by the target information detection unit as sensor information. The comparison unit (2d) compares the reception information stored in the reception information storage unit with the sensor information stored in the sensor information storage unit. The out-of-sight determination unit (2e) determines that there is a target out of line if the two do not match based on the comparison result of the received information and the sensor information.

  That is, the position information received by wireless communication from the target is stored as received information, and the target information detected by the sensor is stored as sensor information, so that the received information and the sensor information are used in combination. And when both did not correspond according to the comparison result, it was judged that a target object existed out of line of sight. Focusing on the fact that the received information and the sensor information do not match for targets that exist outside the line of sight, comparing the received information and the sensor information makes it possible to determine whether the target is within the line of sight or outside the line of sight It can be determined appropriately. Thereby, the presence of an unintended target can be appropriately detected.

Functional block diagram showing the entire configuration of an embodiment of the present invention Diagram showing the relationship between radar observation velocity and true velocity (Part 1) Diagram showing the relationship between radar observation velocity and true velocity (Part 2) Flowchart showing processing of microcomputer (part 1) Flowchart showing processing of microcomputer (part 2) A diagram showing the positional relationship between targets and ghosts Diagram showing the signal output time of the transmission wave to be compared and the signal waveform of the reflected wave The figure which shows the signal output time of the transmission wave of this invention, and the signal waveform of a reflected wave.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
The on-vehicle system 1 mounted on the host vehicle M includes a microcomputer (hereinafter referred to as a microcomputer) 2, a communication unit 3 (corresponding to a system communication unit), a sensor 4, and a position information detection unit 5. Have. A large number of unspecified targets exist around the host vehicle M, and FIG. 1 exemplifies the case where other vehicles N1 and N2 exist, for example. An unspecified number of targets are not limited to the other vehicles N1 and N2, but may be pedestrians or bicycles.

  The other vehicle N1 has a position information detection unit 6 and a communication unit 7 (corresponding to a target side communication unit). The position information detection unit 6 has, for example, a GNSS receiver, analyzes and positions the GNSS signal received from the satellite, and detects position information including the position of the other vehicle N1. The position information detecting unit 6 is not limited to the GNSS positioning method, and may be configured to perform positioning by a method of WiFi (Wireless Fidelity) or LTE (Long Term Evolution). The communication unit 7 broadcasts the position information detected by the position information detection unit 6. Similarly, the other vehicle N2 has a position information detection unit 8 and a communication unit 9 (corresponding to a target side communication unit). The position information detection unit 8 detects position information including the position of the other vehicle N2. The communication unit 9 broadcasts the position information detected by the position information detection unit 8.

  The communication unit 3 is a communication module equipped in the host vehicle M, a portable terminal with a communication function that the driver brings into the host vehicle M, or the like. The communication unit 3 performs wireless communication with the communication unit 7 according to a predetermined wireless communication standard and broadcasts it from the communication unit 7 if the positional relationship allows the vehicle M and the other vehicle N1 to wirelessly communicate. The position information of the other vehicle N1 is received. Similarly, communication unit 3 performs wireless communication with communication unit 9 according to a predetermined wireless communication standard if positional relationship in which vehicle M and other vehicle N2 can communicate wirelessly, and from communication unit 9 The position information of the other vehicle N2 transmitted by broadcast is received. The predetermined wireless communication standard is, for example, WiFi, LTE, V2X (Vehicle to Everything), DSRC (Dedicated Short Range Communications), LPWA (Low Power Wide Area), or the like.

  It is preferable that the search range in which the communication unit 3 can wirelessly communicate with the target is wider than the search range in which a sensor 4 described later searches for the target, and it is desirable that the search range is several hundred meters, for example. The position information transmitted from the other vehicles N1 and N2 may not be guaranteed in accuracy and may include an error, and vehicle control may be performed by relying only on the position information transmitted from the other vehicles N1 and N2. It is difficult to do. The service relying only on the position information transmitted from the other vehicles N1 and N2 is a service of an information providing level such as simply notifying the driver of the presence of the other vehicles N1 and N2.

  The sensor 4 is, for example, LIDAR (Light Detection and Ranging), milli radar, sonar or the like, and is configured to be able to transmit and receive an electromagnetic wave. The sensor 4 detects the distance to the target and the heading of the target as detection information using the time from the transmission timing of the transmission wave to the reception timing of the reflected wave. The sensor 4 can detect the distance to the target and the orientation of the target in one measurement, but detects the moving speed and the moving orientation of the target and recognizes the target as a moving object. Requires multiple measurements.

  The accuracy of the distance to the target detected by the sensor 4 and the orientation of the target is ensured, and vehicle control is performed relying only on the distance to the target detected by the sensor 4 and the orientation of the target Is possible. However, the sensor 4 can detect a so-called line-of-sight target directly reached by the transmission wave, but can not detect a so-called non-line-of-sight target not directly reaching the transmission wave. The search range of the sensor 4 depends on the transmission cycle of the transmission wave, and if the transmission cycle of the transmission wave is short, the reflected wave received from a distance can not be separated, so if the transmission cycle of the transmission wave is relatively short, the search If the range becomes relatively narrow and the maximum detection distance becomes relatively short, while the transmission period of the transmission wave becomes relatively long, the search range becomes relatively wide and the maximum detection distance becomes relatively long. The search range of the sensor 4 is, for example, about 100 m to 200 m for LIDAR or milli radar, and 10 m or less for sonar.

  The position information detection unit 5 has, for example, a GNSS receiver as in the case of the position information detection unit 6 of the other vehicle N1 and the position information detection unit 8 of the other vehicle N2, and analyzes the GNSS signal received from the satellite. Positioning is performed, and position information including the position of the host vehicle M is detected. The position information detection unit 5 is not limited to the GNSS positioning method, and may be configured to perform positioning by the WiFi or LTE method.

  The microcomputer 2 has a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and an input / output (I / O), and is a computer stored in a non-transitional tangible recording medium. By executing the program, processing corresponding to the computer program is executed to control the overall operation of the in-vehicle system 1. The microcomputer 2 has a reception information storage unit 2a, a target information detection unit 2b, a sensor information storage unit 2c, a comparison unit 2d, a line-of-sight determination unit 2e, and a position as internal functions realized by software etc. It has an estimation unit 2 f, a traveling influence determination unit 2 g, and a vehicle control unit 2 h.

  The reception information storage unit 2a receives the position information of the unspecified number from the communication unit 3 when the communication unit 3 receives the position information transmitted from the unspecified number of targets existing around the host vehicle M. Then, the input unspecified number of position information is stored as received information. That is, in the reception information storage unit 2a, the other vehicles N1 and N2 exist around the own vehicle M, and the position information of the other vehicles N1 and N2 broadcasted respectively from the communication units 7 and 9 of the other vehicles N1 and N2 is When received by the communication unit 3, the received position information of the other vehicles N1 and N2 is stored as reception information. The reception information storage unit 2a is a circular memory, and when the capacity of the reception information reaches the storable memory capacity, erases the stored old reception information and stores the new reception information.

  When the target information detection unit 2b receives detection information from the sensor 4 a plurality of times, the movement speed and movement direction of an unspecified number of targets existing around the host vehicle M are used using the detection information input a plurality of times. Detect target information including. In this case, the target information detection unit 2b can detect target information only for targets within the line of sight as described above. That is, the target information detection unit 2b detects target information of the other vehicles N1 and N2 if the other vehicles N1 and N2 are present within the line of sight. The sensor information storage unit 2c stores target information detected by the target information detection unit 2b as sensor information. The sensor information storage unit 2c is also a cyclic memory like the reception information storage unit 2a, and when the capacity of the sensor information reaches the storable memory capacity, the old sensor information stored is erased and new sensor information is stored. Remember.

  The comparison unit 2d reads the received information stored in the received information storage unit 2a, reads the sensor information stored in the sensor information storage unit 2c, and compares the read received information with the sensor information.

  If the two do not match based on the comparison result of the received information and the sensor information, it is determined that the target is out of sight. The position estimation unit 2 f estimates the position of a target that exists outside the line of sight, when it is determined by the non-line-of-sight determination unit 2 e that the target exists outside the line of sight.

  When the position estimation unit 2f estimates the position of a target present outside the line of sight, the traveling influence determination unit 2g determines whether or not the target may affect the traveling of the host vehicle. In this case, the traveling influence determination unit 2g uses position information obtained by positioning the object M by using, for example, GNSS, for example, and the object will be described later. Use position information estimated by the method. The traveling influence determination unit 2g estimates the predicted course from the moving direction included in the position information of the own vehicle M and the target, and determines that the estimated predicted course intersects or approaches, and the target When it is determined that there is a possibility of affecting the traveling of the vehicle, the control signal is output to the sensor 4, the communication unit 3 and the vehicle control unit 2h.

  When the control signal is input from the traveling influence determination unit 2g, the sensor 4 limits the search range in accordance with the appearance point of the target. By limiting the search range, the sensor 4 can detect the target more easily than when searching all the search ranges set in advance. Further, when the control signal is input from the second traveling influence determination unit 2h, the sensor 4 expands the wavelength bandwidth of the transmission wave. When the communication unit 3 receives a control signal from the traveling influence determination unit 2g, the communication unit 3 transmits a warning signal to a target determined to be affected. That is, the communication unit 3 transmits a warning signal to the communication units 7 and 9 of the other vehicles N1 and N2 if the target determined to have an effect is the other vehicles N1 and N2. When the control signal is input from the traveling influence determination unit 2g, the vehicle control unit 2h performs vehicle control to avoid a collision between the target and the host vehicle M. Vehicle control for avoiding a collision is, for example, brake control or steering control, and is control for evacuating the host vehicle M to a safe place.

Here, the basic principle of the sensor 4 will be described. The sensor 4 transmits a transmission wave composed of an electromagnetic wave, and detects the distance to the target and the orientation of the target as detection information using the propagation time which is the time from the transmission timing of the transmission wave to the reception timing of the reflected wave. . The sensor 4 calculates the distance to the target according to the following formula because the electromagnetic wave travels at the speed of light.
Distance to target = propagation time x speed of light

Also, the reflected wave received by the sensor 4 is subject to the Doppler effect and changes in frequency due to the moving speed of the target reflected by the transmitted wave, so analyzing the frequency change of the transmitted wave and the reflected wave Movement speed can be calculated. As shown in FIG. 2, the observation velocity (hereinafter referred to as radar observation velocity) observed by the sensor 4 is observed by vector decomposition on a straight line connecting the sensor 4 and the target. Assuming that the angle of the difference between the linear direction connecting the sensor 4 and the target and the moving direction of the target is φ, the following formula is established between the true speed of the target and the radar observation speed.
Radar observation speed = true speed × cos φ

  That is, if the target moves in the linear direction connecting the sensor 4 and the target, the radar observation speed is equivalent to the true speed, but in the direction away from the linear direction connecting the sensor 4 and the target If the target moves, the radar observation speed will be slower than the true speed.

  Next, the case where a target exists out of line of sight will be described. When the target exists within the line of sight where the transmitted wave reaches the target directly, as shown in FIG. 2, the radar observation velocity is vector-resolved on the straight line connecting the sensor 4 and the target and the observation is Be done. On the other hand, there is an obstacle Z1 between the sensor 4 and the target, there is a target outside the line of sight where the transmitted wave does not reach the target directly, and the transmitted wave is reflected by the obstacle Z2 and reaches the target In this case, as shown in FIG. 3, the radar observation velocity is vector-resolved and observed on a straight line connecting the reflection point and the target. Also, a projection called a so-called ghost appears on an extension of a straight line connecting the sensor and the reflection point. The obstacles Z1 and P2 are, for example, a building, a wall, a roadside tree, a guardrail, a parked vehicle, and the like, and are synonymous with those that block the driver's view.

Next, the operation of the above configuration will be described with reference to FIGS. 4 to 8.
In the on-vehicle system 1, the microcomputer 2 executes target recognition processing at a predetermined cycle, for example, when the ignition is on. The microcomputer 2 starts the target recognition process, and the communication unit 3 receives the position information transmitted from the unspecified number of targets existing around the host vehicle M, whereby the position information is transmitted from the communication unit 3 When it is input (S1), the received position information is stored as reception information (S2, corresponding to a reception information storage step, reception information storage procedure).

  Further, when the microcomputer 2 starts the target recognition process and inputs detection information from the sensor 4 a plurality of times (S3), the microcomputer 2 uses the detection information input a plurality of times, and detects an unspecified number of unidentified vehicles around the vehicle M. Target information including the movement speed and movement direction of the target is detected (S4, corresponding to the target information detection step, target information detection procedure), and the detected target information is stored as sensor information (S5, It corresponds to a sensor information storage process and a sensor information storage procedure). The microcomputer 2 performs the process of storing the received information and the process of storing the sensor information in parallel.

  The microcomputer 2 reads the stored reception information and the sensor information, respectively, compares the read reception information and the sensor information (S6, which corresponds to the comparison step and the comparison procedure), and the reception information and the sensor information Based on the comparison result, it is determined whether there is a target whose received information and sensor information do not match, and it is determined whether a target exists out of line of sight (S7, line of sight judgment process, line of sight judgment procedure) Equivalent to If the microcomputer 2 determines that there is no target that the received information and the sensor information do not match, and determines that there is no target out of line of sight (S7: NO), the target recognition process ends. On the other hand, when the microcomputer 2 determines that there is a target whose received information and sensor information do not match, and determines that a target is out of sight (S7: YES), it shifts to position estimation processing (S8).

When the position estimation process is started, the microcomputer 2 searches for the position P1 of the reflection point where the transmission wave is reflected by the obstacle Z3 and the position P2 of the ghost (S21), as shown in FIGS. The distance r to the ghost is calculated (S22), and a circle C centered on the reflection point and having the calculated distance r as the radius is calculated (S23). The microcomputer 2 identifies the true velocity Vt from the received information (S24), identifies the radar observation velocity Vg from the sensor information (S25), and determines the difference φ between the true velocity Vt and the radar observation velocity Vg as follows: Calculation is performed according to the calculation formula (S26).
φ = arccos (Vg / Vt)

  The microcomputer 2 calculates the direction rotated by the calculated angle φ with respect to the direction of the true velocity Vt at the position P2 of the ghost as the direction of the radar observation velocity Vg, that is, the arrival direction of the electromagnetic wave from the reflection point to the target (S27), a straight line L parallel to the calculated direction of arrival of the electromagnetic wave and passing through the reflection point is calculated (S28). The microcomputer 2 calculates the point on the intersection of the circle C and the straight line L, that is, on the straight line L and at a distance equal to the distance from the reflection point to the ghost (S29), and calculates the calculated point as the position of the target It estimates as P3 (S30), and ends position estimation processing. The microcomputer 2 thus estimates the presence of the target behind the obstacle Z4.

  When the microcomputer 2 returns to the target recognition process, the microcomputer 2 compares the position of the target estimated in this manner with the position of the own vehicle M detected by the position information detection unit 5, and the target travels the own vehicle M It is determined whether there is a possibility of affecting the (S9). If the microcomputer 2 determines that the target may affect the traveling of the host vehicle M (S9: YES), it outputs a control signal to the sensor 4, the communication unit 3 and the vehicle control unit 2h. That is, the microcomputer 2 limits the search range of the sensor 4 (S10), expands the wavelength bandwidth of the transmission wave transmitted from the sensor 4 (S11), and transmits a warning signal from the communication unit 3 (S12) Vehicle control is performed to avoid a collision between the target and the host vehicle M (S13), and the target recognition process is ended.

  Thus, in the present invention, for example, GNSS etc. are used to solve the problem that the conventional method of recognizing a target as a moving object using only the sensor 4 can not detect the presence of a target outside the line of sight of the sensor 4. The above problem is solved by applying the method of receiving the position information detected by the above from the target by wireless communication. That is, the presence of a target outside the line of sight of the sensor 4 can be appropriately detected.

  In addition, if it is determined that the target may affect the traveling of the host vehicle M and the wavelength bandwidth of the transmission wave transmitted from the sensor 4 is expanded, the resolution in the distance direction is enhanced, and the obstacle It is possible to reduce the time required to recognize a target that has jumped out of the shade as a moving object. As shown in FIG. 7, when the signal output time of the transmission wave is relatively long, only one peak appears in the signal waveform of the reflected wave, and the obstacle Z and the pedestrian A are recognized as one target As a result, pedestrian A can not be recognized. On the other hand, as shown in FIG. 8, by expanding the wavelength bandwidth of the transmission wave and relatively shortening the signal output time of the transmission wave, two peaks can appear in the signal waveform of the reflected wave. The obstacle M and the pedestrian A can be recognized as two targets, and the pedestrian A can be recognized. Although the transmission wave has a pulse waveform in FIGS. 7 and 8, the transmission wave may be a continuous wave such as frequency modulated continuous wave (FMCW) modulation.

As described above, according to this embodiment, the following effects can be obtained.
In the in-vehicle system 1, the position information received from the target by wireless communication is stored as received information, and the target information detected by the sensor is stored as sensor information, so that the received information and the sensor information are used in combination. . And when both did not correspond according to the comparison result, it was judged that a target object existed out of line of sight. Focusing on the fact that the received information and the sensor information do not match for targets that exist outside the line of sight, comparing the received information and the sensor information makes it possible to determine whether the target is within the line of sight or outside the line of sight It can be determined appropriately. Thereby, the presence of an unintended target can be appropriately detected.

  Also, if it is determined in the in-vehicle system 1 that there is a possibility that the target has an influence on the traveling of the host vehicle M according to the estimated position of the target, the search range is limited according to the appearance point of the target I made it. By limiting the search range of the sensor 4, the presence of the target can be detected immediately, and the time required to specify the position of the target can be reduced.

  In the on-vehicle system 1, when it is determined that the target may affect the traveling of the host vehicle M based on the estimated position of the target, the wavelength bandwidth of the transmission wave is expanded. By expanding the wavelength bandwidth of the transmission wave and shortening the signal output time of the transmission wave relatively, two peaks can be made to appear in the signal waveform of the reflected wave, and an obstacle and a target are separated. It can be recognized as two targets, and the targets can be properly recognized.

  In the on-vehicle system 1, when it is determined that the target may affect the traveling of the host vehicle M based on the estimated position of the target, a warning signal is transmitted. It is possible to notify the outside of the vehicle that there is a possibility of affecting the traveling of the host vehicle M.

  Further, when it is determined in the on-vehicle system 1 that the target has an influence on the traveling of the host vehicle M according to the estimated position of the target, vehicle control for avoiding a collision between the target and the host vehicle M To do. A collision between the target and the host vehicle M can be appropriately avoided, and safe driving can be appropriately secured.

Although the present disclosure has been described based on the examples, it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various modifications and variations within the equivalent range. In addition, various combinations and forms, and also other combinations and forms including only one element, more than one element, or less than these elements are within the scope and the scope of the present disclosure.
When it is determined that the target has an influence on the traveling of the host vehicle M, and the vehicle control is performed to avoid a collision between the target and the host vehicle M, the driver of the host vehicle M indicates that effect. It may be configured to notify to.
When it is determined that the target may affect the traveling of the host vehicle M, the history may be recorded, or the recorded history may be transmitted to a server or the like.

  In the drawings, 1 is an in-vehicle system, 1 is an in-vehicle system, 2 is a microcomputer, 2a is a received information storage unit, 2b is a target information detection unit, 2c is a sensor information storage unit, 2d is a comparison unit, and 2e is a non-line-of-sight determination unit , 2f is a position estimation unit, 2g is a travel influence determination unit, 2h is a vehicle control unit, 3 is a communication unit (system side communication unit), 4 is a sensor, 6, 8 is a position information detection unit, 7, 9 is a communication unit (Target side communication unit).

Claims (10)

A system side communication unit (3) for performing wireless communication with a movable target having a position information detection unit (6, 8) and a target communication unit (7, 9);
A sensor (4) that detects the distance to the target and the orientation of the target as detection information by at least one measurement;
By transmitting position information including at least the position of the target detected by the position information detection unit from the target communication unit, the position information received by the system communication unit is stored as reception information. A received information storage unit (2a),
A target information detection unit (2b) for inputting target detection information from the sensor a plurality of times to detect target information including the movement speed and movement direction of the target;
A sensor information storage unit (2c) that stores target information detected by the target information detection unit as sensor information;
A comparison unit (2d) that compares the reception information stored in the reception information storage unit with the sensor information stored in the sensor information storage unit;
An on-vehicle system comprising: an unforeseeable-state determination unit (2e) that determines that a target exists out of line of sight when the two do not match according to the comparison result of the received information and the sensor information.   The in-vehicle system according to claim 1, further comprising: a position estimation unit (2f) for estimating the position of the target existing outside the line of sight, when it is determined by the outside line-of-sight determination unit that the target exists outside the line of sight .   The position estimation unit searches for the position of the reflection point where the transmission wave is reflected and the position of the ghost, and calculates the inverse cosine of the true speed specified from the received information and the radar observation speed specified from the sensor information to calculate the reflection point. The direction of arrival of the electromagnetic wave from the point to the position of the target is calculated, a straight line parallel to the calculated direction of arrival of the electromagnetic wave and passing through the reflection point is calculated, and the distance from the reflection point to the ghost is on the straight line 3. The on-vehicle system according to claim 2, wherein a point at a distance equal to is estimated as the position of the target.   When the position estimation unit estimates the position of a target present outside the line of sight, the travel influence determination unit (2g) determines whether there is a possibility that the target may affect the travel of the vehicle. The vehicle-mounted system described in Claim 2 or 3 provided.   The sensor limits the search range in accordance with the appearance point of the target when it is determined by the travel influence determination unit that the target may affect the travel of the host vehicle. The in-vehicle system described in.   The sensor detects a distance to a target by transmitting a transmission wave and receiving a reflected wave, and the travel influence determination unit determines that the target may affect the traveling of the vehicle. The on-vehicle system according to claim 4 or 5, wherein the wavelength bandwidth of the transmission wave is expanded when it is determined.   The system side communication unit transmits a warning signal to the target side communication unit when it is determined by the traveling influence determination unit that the target may affect the traveling of the vehicle. 7. The in-vehicle system described in any one of items 4 to 6.   Vehicle control unit (2h) that performs vehicle control to avoid a collision between the target and the subject vehicle when it is determined by the travel influence determination unit that the target may affect the travel of the subject vehicle The in-vehicle system according to any one of claims 4 to 7, further comprising A received information storage step of storing received position information as received information by transmitting position information including at least the position of the target from the target;
Target for detecting target information including movement speed and movement direction of target by inputting detection information multiple times from a sensor that detects distance to target and orientation of target as detection information by at least one measurement Information detection process,
A sensor information storage step of storing target information detected in the target information detection step as sensor information;
Comparing the received information stored in the received information storing step with the sensor information stored in the sensor information storing step;
A target recognition method for performing an out-of-sight determination step of determining that a target is out of sight when the two do not match according to the comparison result of the received information and the sensor information. System side communication unit (3) performing wireless communication with movable target having position information detection unit (6, 8) and target side communication unit (7, 9), and at least one measurement The microcomputer (2) of the in-vehicle system (1) provided with a sensor (4) for detecting the distance to the target and the direction of the target as detection information according to
By transmitting position information including at least the position of the target detected by the position information detection unit from the target communication unit, the position information received by the system communication unit is stored as reception information. Reception information storage procedure,
Target information detection procedure for detecting target information including the moving speed and the moving direction of the target by inputting detection information from the sensor multiple times;
A sensor information storage procedure for storing target information detected by the target information detection procedure as sensor information;
A comparison procedure comparing the reception information stored by the reception information storage procedure with the sensor information stored by the sensor information storage procedure;
A computer program for executing an out-of-sight determination step of determining that a target is out of sight when both do not match according to the comparison result of the received information and the sensor information.

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