JP2015014845A - Communication device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately grasp, in a communication device mounted on a mobile body, a position of another mobile body.SOLUTION: The communication device mounted on a mobile body acquires data which includes mobile body information for identifying another mobile body through communication (S65), and extracts identification information for identifying another mobile body from an image obtained by photographing another mobile body located around the mobile body (S90). Then, it is determined whether the mobile body information is matched with the identification information and, when they are matched, a position of the other mobile body which is to be a transmission source of the data is designated as a position of the other mobile body in the photographed image (S95, S100).

Description

  The present invention relates to a communication device mounted on a mobile object.

  As said communication apparatus, what exchanges by transmitting the own positional information acquired by using GPS (global positioning system) between other mobile bodies is known (for example, patent documents) 1).

JP 2013-114573 A

However, the communication device has a problem in that a correct positional relationship cannot be grasped when an error occurs in any of the positional information to be exchanged.
Therefore, in view of such problems, it is an object of the present invention to make it possible to accurately grasp the position of another moving body in a communication device mounted on the moving body.

The communication device of the present invention made to achieve such an object,
A communication device mounted on a mobile body,
Communication acquisition means for acquiring data including mobile object information for specifying other mobile objects by communication;
Specific information extracting means for extracting specific information for specifying another mobile body from a captured image obtained by imaging another mobile body located around the mobile body equipped with the communication device;
It is determined whether or not the mobile body information and the specific information match, and if they match, the position of the other mobile body that is the data transmission source is the position of the other mobile body in the captured image. A position identification means to identify;
It is provided with.

  According to such a communication apparatus, since the position of another moving body is detected from the image relative to its own moving body, the position of the other moving body can be accurately grasped. Moreover, it can be set as the structure which does not need to acquire positional information by communication.

In the communication apparatus, the specific information for specifying the other moving body may be extracted from a plurality of captured images.
According to such a communication device, since a stereoscopic view can be obtained by using a plurality of images captured while moving, the position of another moving body (a position where specific information exists) can be detected more accurately. Can do. The captured image may be a plurality of captured images obtained from a stereo camera, or may be a plurality of captured images obtained at different timings by one camera.

In order to achieve the above purpose,
A communication device mounted on a mobile body,
Mobile body information acquisition means for acquiring mobile body information for identifying other mobile bodies;
Specific information extracting means for extracting specific information for specifying another mobile body from a captured image obtained by imaging another mobile body located around the mobile body equipped with the communication device;
It is determined whether or not the mobile body information and the specific information match, and when the mobile body information and the specific information match, the mobile body information of another mobile body that matches the mobile body information and the other mobile body Control command transmission means for transmitting a control command for controlling the behavior of
It is good also as a communication apparatus characterized by comprising.

  According to such a communication apparatus, since the position of another moving body is detected from the image relative to its own moving body, the position of the other moving body can be accurately grasped. Moreover, it can be set as the structure which does not need to acquire positional information by communication. In this configuration, for example, processing such as stopping a violating vehicle such as ignoring a signal from a police car can be performed.

  In order to achieve the above object, the computer may be a communication program for realizing each means constituting the communication device. Further, the descriptions in the claims can be arbitrarily combined as much as possible. At this time, a part of the configuration may be excluded within a range where the object of the invention can be achieved.

It is a block diagram which shows schematic structure of the communication apparatus to which this invention was applied. It is explanatory drawing which shows an example of a captured image. It is a side view which shows an example of vehicle-to-vehicle communication. It is a flowchart which shows the information transmission process which a control part performs. It is a flowchart which shows the information reception process which a control part performs. It is a flowchart which shows the information generation process in 1st Embodiment. It is a flowchart which shows the own vehicle address process in 1st Embodiment. It is a flowchart which shows the non-designation process in 1st Embodiment. It is a flowchart which shows the information generation process in the modification (stop control) of 1st Embodiment. It is a flowchart which shows the own vehicle address process in the modification (stop control) of 1st Embodiment. It is a flowchart which shows the non-designation process in the modification (stop control, image transfer) of 1st Embodiment. It is a flowchart which shows the information generation process in the modification (image transfer) of 1st Embodiment. It is a flowchart which shows the own vehicle address process in the modification (image transfer) of 1st Embodiment. It is a flowchart which shows the signal light emission process which an information generation apparatus performs. It is explanatory drawing which shows an example of the light emission pattern of a lamp color. It is explanatory drawing which shows an example of the transmission pattern of information. It is a flowchart which shows the signal reception process which a control part performs. It is a flowchart which shows lamp color information processing. It is a flowchart which shows the autonomous process (the 1) which a control part performs. It is a flowchart which shows the autonomous process (the 2) which a control part performs. It is a block diagram which shows schematic structure of the system containing the communication apparatus 2 of 4th Embodiment. It is a flowchart which shows the process required in 4th Embodiment.

Embodiments according to the present invention will be described below with reference to the drawings.
[First Embodiment]
[Configuration of First Embodiment]
The communication device 1 to which the present invention is applied is mounted on a moving body (the host vehicle 100) such as a passenger car, for example, and has a function of communicating with another vehicle 200. As illustrated in FIG. 1, the communication device 1 includes a control unit 10, various cameras 21 to 24, a communication unit 31, a display 32, an accelerator controller 33, and a brake controller 34.

  The various cameras 21 to 24 include a front camera 21 that images the front of the host vehicle 100, a rear camera 22 that images the rear of the host vehicle 100, a right camera 23 that images the right side of the host vehicle 100, and the host vehicle 100. A left camera 24 for imaging the left side is provided. These various cameras 21-24 are comprised so that the position of the target in a picked-up image can be detected, such as each being comprised as a stereo camera, for example.

  The various cameras 21 to 24 are configured so that a frame rate (imaging cycle) at the time of imaging can be selected from a plurality of frame rates. For example, in this embodiment, imaging is performed by arbitrarily selecting 24 fps (24 frames per second) and 30 fps (30 frames per second). The various cameras 21 to 24 send the captured images obtained in this way to the control unit 10.

  In particular, as shown in FIG. 2, the various cameras 21 to 24 are provided for each vehicle (a preceding vehicle that runs ahead of the host vehicle 100, an oncoming vehicle that runs opposite the host vehicle 100). A side vehicle located on the side of the host vehicle 100). And the various cameras 21-24 have the resolution of the grade which the number plate of the other vehicle 200 can extract from a captured image.

  For example, as shown in FIG. 3, the communication unit 31 is configured as a known communication module for performing bidirectional communication with a plurality of other vehicles 200. The communication unit 31 performs processing of transmitting data instructed to be transmitted from the control unit 10 to the outside (another vehicle 200) and receiving data obtained from the outside and sending the data to the control unit 10. The data exchanged between the own vehicle 100 and the other vehicle 200 includes, for example, vehicle information (information associated with the vehicle number plate) for identifying itself.

  The display 32 is configured as a well-known display device that displays captured images obtained by the various cameras 21 to 24, captured images obtained by the other vehicle 200, warnings, and the like. The display 32 displays an image according to the image signal generated by the control unit 10.

  The accelerator controller 33 controls the opening degree of the accelerator according to a command from the control unit 10. In addition, the brake controller 34 controls a brake pedal force (hydraulic pressure or the like) according to a command from the control unit 10.

  The control unit 10 is configured as a known computer including a CPU 11 and a memory 12 such as a ROM and a RAM. The CPU 11 performs various processes described later based on a program stored in the memory 12.

Note that a plurality of other vehicles 200 are also equipped with the same communication device 1 as the communication device 1 mounted on the host vehicle 100.
[Process of First Embodiment]
In the communication apparatus 1 configured as described above, the control unit 10 performs an information transmission process illustrated in FIG. The information transmission process is a process that starts when, for example, the communication apparatus 1 is turned on, and is then repeatedly performed at regular intervals.

  In this process, first, an information generation process for generating information to be transmitted is performed (S10). Although details of this process will be described later, this process may include a process of designating the destination specified by the vehicle information and the direction of the communication partner (direction based on the own traveling direction).

  Subsequently, it is determined whether or not the information generation process is set to transmit the information by specifying the vehicle information of the other party and the direction of the other party (S15). If a negative determination is made (S15: NO), the vehicle information for specifying the transmission source and the information (data) including the information generated in the information generation process are broadcast without specifying the other party. (S20), the information transmission process is terminated.

  Moreover, if affirmation determination is carried out by the process of S15 (S15: YES), a captured image will be acquired (S25). In this process, when the direction of the other party is specified, a captured image in the specified direction (for example, an image captured by the rear camera 22 if “rear” is specified, or a front image if “front” is specified). Image captured by camera 21) is acquired. Moreover, when the vehicle information of the other party is designated, images captured by all the cameras 21 to 24 are acquired.

  Subsequently, a number plate (vehicle information) is extracted from the captured image acquired by image processing (S30). Then, it is determined for each vehicle whether or not the number plate of the vehicle that is the communication partner has been extracted (S35).

  For vehicles that have been affirmed (S35: YES), the vehicle information for identifying the transmission source, the information generated in the information generation process, and the information including the vehicle information of the other party are transmitted (S40). The information generation process ends. In addition, the vehicle determined to be negative (S35: NO), the direction of the other party is set to be transmitted as data (S45), and is generated by the own vehicle information and information generation process for specifying the transmission source. The information including the information and the direction of the other party is transmitted (S40), and the information generation process is terminated.

  That is, in the information generation process, when a partner (vehicle information) is designated and the partner can be identified from the captured image, information is transmitted to the partner. Also, when the other party's direction is specified, if the other party can be identified from the captured image, information is transmitted by designating the other party, and the other party cannot be identified from the captured image. Send information by specifying only the direction of the other party. In addition, when the other party's direction cannot be specified when the other party's direction is specified, the information transmission source is specified by performing an information reception process described later in the other vehicle 200 that has received the information. become.

  Next, in the communication device 1, the control unit 10 also performs information reception processing illustrated in FIG. 5. The information reception process is a process that starts in parallel with other processes when the communication device 1 is turned on, for example, and is then repeatedly executed at regular intervals.

In this process, first, it is determined whether or not information from the other vehicle 200 is received via the communication unit 31 (S65). If a negative determination is made (S65: NO), the information reception process is terminated.
Moreover, if affirmation determination is carried out (S65: YES), it will be determined whether the received information is the information addressed to the other vehicle 200 (S70). If a positive determination is made (S70: YES), the information reception process is terminated. If a negative determination is made (S70: NO), it is determined whether the received information is information whose destination is unspecified or that specifies the direction of the other party (that is, a destination other than the destination of the host vehicle 100). (S75). If a negative determination is made (S75: NO), an unspecified process described later is performed (S105).

  If a positive determination is made (S75: YES), it is determined whether or not the destination direction is designated (S80). If a negative determination is made (S80: NO), a process directed to the vehicle described later is performed (S100).

  If an affirmative determination is made in the processing of S80 (S80: YES), a captured image in a direction corresponding to the direction of the other party is acquired (S85), and a number plate (vehicle information) is extracted from this captured image. (S90). Subsequently, it is determined whether or not the own vehicle corresponds to the other party (S95).

  For example, when information indicating that the direction of the other party is “front” is transmitted from the other vehicle 200, if there is a transmission source vehicle behind the own vehicle, it is determined that the own vehicle corresponds to the other party. . Further, if there is no transmission source vehicle behind the host vehicle, it is determined that the host vehicle does not correspond to the other party.

  If an affirmative determination is made in the process of S95 (S95: YES), the position of the host vehicle 100 viewed from the other vehicle 200 that is the transmission source matches the position of the other party to which information is to be transmitted. Car addressing processing is performed (S100), and information reception processing is terminated. If a negative determination is made (S95: NO), a non-designation process described later is performed (S105), and the information reception process is terminated.

  Here, in the information generation process of this embodiment, the communication device 1 on the transmission side transmits sudden brake information indicating that the host vehicle 100 has suddenly braked. Specifically, as shown in FIG. 6, it is first determined whether or not the host vehicle 100 has suddenly braked (S120).

  If a negative determination is made (S120: NO), the information generation process is terminated. If an affirmative determination is made (S120: YES), sudden braking information is generated (S125), and the direction of the opponent is set to "rear" (S130).

That is, an accident such as a rear-end collision is tried to be suppressed by notifying that the vehicle behind is suddenly braked. When such processing ends, the information generation processing ends.
Subsequently, in the communication device 1 on the receiving side, the own vehicle addressing process shown in FIG. 7 is performed. In the process directed to the host vehicle, a process of braking the host vehicle 100 is performed in order to prevent the host vehicle 100 from colliding with a preceding vehicle. Specifically, as shown in FIG. 7, first, the inter-vehicle distance is detected (S150). In this process, the distance from the image captured by the front camera 21 to the preceding vehicle is detected.

  Then, a deceleration (negative acceleration) that does not cause a rear-end collision is set according to the inter-vehicle distance (S155). Here, the deceleration that does not cause a rear-end collision indicates, for example, an acceleration that does not cause a rear-end collision even if the preceding vehicle stops at the current position. Subsequently, the brake is operated at the deceleration set via the brake controller 34 (S160), and the process for the host vehicle is terminated.

  Next, in the communication device 1 on the receiving side, unspecified processing shown in FIG. 8 is also performed. The non-designation process suppresses the vehicle 100 from being involved in an accident when a surrounding vehicle suddenly brakes, even if the preceding vehicle (the vehicle immediately preceding) of the vehicle 100 is suddenly braked. It is processing.

  Specifically, as shown in FIG. 8, first, it is determined whether or not the preceding vehicle (immediately preceding vehicle) has actuated the brake (S180). If an affirmative determination is made (S180: YES), the above-described process for the host vehicle is performed (S185), and the non-designation process is terminated.

  On the other hand, if a negative determination is made (S185: NO), the accelerator opening degree of the host vehicle 100 is only set for a predetermined time (for example, about 5 seconds) after receiving the fact that the surrounding other vehicle 200 has suddenly braked. A command is sent to the accelerator controller 33 so as to suppress the increase (S190). In this case, only maintaining the accelerator opening or decreasing the accelerator opening is permitted.

[Effects of First Embodiment]
The communication device 1 described in detail above is mounted on a mobile body (the host vehicle 100 and the other vehicle 200), and the control unit 10 includes mobile body information (vehicle information) that identifies another mobile body. Specific information (vehicle) for acquiring data by communication (S65: communication acquisition means) and specifying another moving body from a captured image obtained by imaging another moving body that is located around the moving body on which the communication device 1 is mounted Information) is extracted (S90: position information extracting means). Then, it is determined whether or not the mobile object information matches the specific information, and if they match, the position of the other mobile object that is the data transmission source is specified as the position of the other mobile object in the captured image. (S95, S100: position specifying means).

  According to such a communication apparatus 1, since the position of another moving body is detected from the image relative to the moving body of itself, the position of the other moving body can be accurately grasped. Moreover, it can be set as the structure which does not need to acquire positional information by communication.

In the communication apparatus 1, the control unit 10 extracts identification information for identifying another moving body from the plurality of captured images together with the distance to the other moving body.
According to such a communication device 1, other moving bodies and the like can be stereoscopically viewed by using a plurality of images picked up while moving, so the position of other moving bodies (specific information exists). Position) can also be detected.

[First Modification of First Embodiment]
In the first embodiment, the information indicating that the sudden braking is applied is configured to be transmitted to the other vehicle 200 located in the specified direction. However, the information is not limited to this, and the state of the vehicle and the driver (vehicle speed and driving) Information indicating a person's awakening state) and surrounding environment (such as freezing of the road surface) may be transmitted. In order to transmit such information, it is only necessary to have a known configuration for acquiring the state of the vehicle and the driver and the surrounding environment.

  In the first embodiment, the state of the vehicle (information indicating that the brake is applied suddenly) is transmitted to the other vehicle 200, and it is determined whether the vehicle that has received this information performs braking by itself. You may make it control the behavior of the vehicle of the receiving side in the apparatus of the side which transmits information.

  For example, in the information generation process in this case, as shown in FIG. 9, the vehicle information of the vehicle to be stopped or the direction of the vehicle is acquired (S210). In this process, the vehicle information previously recorded in the memory 12 is read, or the vehicle direction designated by the occupant to be stopped (input to the communication device 1) is acquired.

  More specifically, for example, in order to read the vehicle information registered as the stolen car, stop this vehicle, or specify the direction in which the vehicle that committed the speed violation is located, decelerate or stop, This vehicle is designated by vehicle information and vehicle direction. Subsequently, a stop command for stopping these vehicles is generated (S215), and the information generation process is terminated.

  In the process for the host vehicle, as shown in FIG. 10, the brake is operated via the brake controller 34 (S230), and the process ends. In the non-designation process, as shown in FIG. 11, the process is terminated without performing any process.

  In the communication device 1 according to the first modification of the first embodiment described in detail above, the control unit 10 acquires mobile body information (vehicle information) that specifies another mobile body (S210: mobile body information acquisition). means). And the specific information (vehicle information) for specifying another moving body from the captured image which imaged the other moving body (other vehicle 200) located around the moving body (own vehicle 100) which mounts the said communication apparatus 1 ) Is extracted (S30: specific information extracting means). Further, it is determined whether or not the mobile object information matches the specific information. If the mobile object information and the specific information match, the behavior of the other mobile object is determined together with the mobile object information of the other mobile object in which the mobile object information and the specific information match. A control command to be controlled is transmitted (S40, S50: control command transmission means).

  According to such a communication apparatus 1, since the position of another moving body is detected from the image relative to the moving body of itself, the position of the other moving body can be accurately grasped. Moreover, it can be set as the structure which does not need to acquire positional information by communication.

  In addition, since the control command is transmitted to the other moving body that can be confirmed in the captured image, it is possible to make it difficult to mistake the other moving body to be controlled. For example, this configuration can be used when stopping a violation vehicle such as ignoring a signal from a police car.

[Second Modification of First Embodiment]
Next, the configuration of the second modification is configured to provide a captured image captured in a certain vehicle only to the vehicle in a specific direction. In detail, in the information generation process of this modification, as shown in FIG. 12, first, the captured images from the respective cameras 21 to 24 are acquired (S255), and an image for transmission is generated (S260).

  Here, the images for transmission correspond to, for example, images obtained by the cameras 21 to 24 (images for one frame) assigned to respective areas obtained by dividing one image into four. Alternatively, each of the images obtained by the cameras 21 to 24 may be used as an image for transmission as it is.

  Subsequently, the direction of the other party to which the image is transmitted is set to the immediately preceding vehicle (the other vehicle 200 closest to the traveling direction side of the own vehicle 100), and the immediately following vehicle (the other vehicle 200 closest to the opposite side of the traveling direction side of the own vehicle 100). And two vehicles behind (the other vehicle 200 close to the second vehicle on the opposite side of the traveling direction side of the host vehicle 100) (S265). When such processing ends, the information generation processing ends.

  Next, in the processing directed to the own vehicle, as shown in FIG. 13, the sent captured image is acquired (S285), and this image is displayed on the display 32 (S290). When displaying an image in this way, for example, an image captured from the direction in which the transmission source vehicle exists (for example, when there is a vehicle that transmitted an image in front of the host vehicle 100, the host vehicle 100 from the front. Only the image captured on the side is selected and displayed. When such a process is completed, the process directed to the own vehicle is terminated. It should be noted that the non-designation process of the present modification ends without performing any process as shown in FIG.

  In the communication device 1 according to the second modification example of the first embodiment described in detail above, the control unit 10 acquires (a plurality of) captured images including captured images in which the direction in which the control unit 10 is positioned is captured (S285). : Picked-up image acquisition means), and picks up and displays the picked-up image picked up in the direction in which it is located (S290: selection display means).

  According to such a communication device 1, it is possible to compensate for the blind spots ahead and behind the host vehicle 100. In addition, when an image obtained by imaging a vehicle behind one of the vehicles is provided from a vehicle traveling in front of two vehicles, an image showing the facial expression of the passenger of the vehicle can be provided.

[Second Embodiment]
[Configuration and Processing of Second Embodiment]
Next, another form of communication apparatus 1 will be described. This embodiment (second embodiment) In the following embodiments, only the portions different from the communication device 1 of the first embodiment will be described in detail, and the same reference numerals will be used for the same portions as the communication device 1 of the first embodiment. The description is omitted.

  The communication device 1 according to the present embodiment includes an idling controller 35 as indicated by a broken line in FIG. The idling controller 35 has a known configuration that, in principle, performs idling stop when the host vehicle 100 stops, and restarts the engine when the host vehicle 100 starts (such as when the brake is released). The idling controller 35 also has a function of controlling the idling state (idling stop and engine restart) of the engine (not shown) of the host vehicle 100 in accordance with a command from the control unit 10.

  In addition, the communication device 1 is configured to communicate with the signal communication device 300 as indicated by a broken line in FIG. However, communication with the signal communication device 300 is unidirectional communication from the signal communication device 300 to the host vehicle 100. As shown in FIG. 1, the signal communication device 300 includes a traffic signal device 301, an information generation device 302, and a light emission control unit 303.

The traffic signal 301 is configured as a traffic signal having three light colors of red, yellow, and blue, and each light emitting portion of red, yellow, and blue is configured by arranging many LEDs in an array.
The information generation device 302 is configured as a known computer including a CPU, a ROM, a RAM, and the like. The CPU 11 performs various processes described later based on a program stored in the memory 12.

  The information generation device 302 generates information to be transmitted from the traffic signal 301, and the light emission control unit 303 converts this information into a light emission pattern. Examples of the light emission pattern include generating a predetermined light emission shape (image) by controlling the LED to emit light, and setting a blinking pattern of the LED.

  Such an information generating apparatus 302 executes signal light emission processing shown in FIG. The signal light emission process is a process that is started when the power of the signal communication device 300 is turned on, for example, and is then repeatedly performed at regular intervals. The signal light emission process is a process of transmitting desired information to the vehicle by causing the traffic light 301 to emit light while changing the light emission shape pattern and the blinking pattern in the light emitting unit.

In the signal emission process, first, lamp color information is generated (S310). Here, the lamp color information indicates information such as a cycle until the lamp color makes a round and a time until the lamp color changes next.
Subsequently, traffic jam information is generated (S320). The traffic information is obtained from outside.

  And a light emission pattern is produced | generated based on each information, and information is transmitted from the traffic signal apparatus 301 via the light emission control part 303 (S330). Here, as shown in FIG. 15, a plurality of light emission shape patterns indicating each data for 1 byte, for example, by providing one to be turned on and one not to be turned on among a plurality of LEDs constituting one lamp color. (8 types in the case of 1 byte) are prepared, and meaningful information is sent by sequentially lighting them in time series according to the data arrangement of the information to be transmitted.

  Also, as shown in FIG. 16, the light color information (displayed as “light” in FIG. 16) is turned on with a light emission shape pattern designated for 1/120 seconds every 1/30 seconds, and traffic congestion information (FIG. 16) is displayed. In this case, “light” is displayed), and the light emission shape pattern designated for 1/120 second is lit every 1/24 second. By doing in this way, any one of a plurality of information can be selected and acquired by changing the imaging cycle by various cameras 21-24.

  Regarding the timing at which the cycle of the light color information and the traffic jam information overlaps (displayed as “both” in FIG. 16), necessary information is sent to any information such as an ID for identifying its own traffic signal. Moreover, in this traffic signal 301, all the LEDs are turned on at a timing when the light color information and the traffic jam information are not transmitted. That is, by turning on all the LEDs for most of the time, it is difficult for a driver or a pedestrian to notice that the traffic light 301 is lighting the light emission shape pattern.

  By the way, in the communication device 1 of the host vehicle 100, the traffic signal 301 is manually imaged by the front camera 21 when the light emission shape pattern is lit, and signal reception processing is performed to read the light color information and traffic jam information. The imaging timing by the front camera 21 and the light emission timing by the traffic signal device 301 are synchronized using, for example, a GPS signal or a radio wave for a radio clock.

  The signal reception process is a process that starts in parallel with other processes when, for example, the communication apparatus 1 is turned on, and is then repeatedly performed at regular intervals. In the signal reception process, as shown in FIG. 17, first, the distance from the own vehicle 100 to the traffic signal 301 is detected based on the captured image obtained from the front camera 21 (S355).

  Subsequently, it is determined whether or not the distance to the traffic signal 301 is equal to or greater than a preset threshold (for example, about 100 m) (S360). If a positive determination is made (S360: YES), the imaging cycle by the front camera 21 is set to 1/30 seconds (30 frames / second) (S365).

  If a negative determination is made (S360: NO), the imaging period of the front camera 21 is set to 1/24 seconds (24 frames / second) (S370). Subsequently, a captured image obtained at the set imaging cycle is acquired (S375), a light emitting unit is extracted from the part of the traffic signal 301 of the captured image, and a light emission shape pattern is recognized (S380). A value corresponding to the recognized light emission shape pattern is temporarily stored in the memory 12.

  Subsequently, it is determined whether or not it is determined whether or not reception of information is completed (S385). If a negative determination is made (S385: NO), the process returns to S375. If an affirmative determination is made (S385: YES), it is determined whether light color information has been acquired or traffic jam information has been acquired (S390). In this process, it may be determined which information has been acquired based on the imaging cycle.

  If the traffic jam information has been acquired (S390: traffic jam), the traffic jam information is notified via the display 32 (S395), and the light color information processing described later is performed (S400). If lamp color information has been acquired in the process of S390 (S390: lamp color), lamp color information processing described later is performed (S400). When the lamp color information processing ends, the signal reception processing ends.

  The lamp color information process is a process for controlling the vehicle 100 (driving support) using the lamp color information. In the lamp color information processing, as shown in FIG. 18, it is determined whether or not the host vehicle 100 is stopped (S410). In this process, the rate of change in the luminance of each pixel in the captured image (determined that the vehicle is stopped if there is no change in the luminance of pixels exceeding the specified ratio), and a host vehicle obtained from a known vehicle speed sensor (not shown) It may be determined whether or not the vehicle is stopped at a vehicle speed of 100.

  If a negative determination is made (S410: NO), the speed at which the traffic light 301 can reach the traffic signal 301 in a blue state is calculated (S415), and the speed is notified via the display 32 (S420).

  If an affirmative determination is made in the processing of S410 (S410: YES), it is determined whether or not idling is stopped (S430). If a negative determination is made (S430: NO), the lamp color information processing is terminated.

  If an affirmative determination is made (S430: YES), it is determined whether the time until the color of the traffic light 301 turns blue is less than a specified value (for example, about 1 second) (S435). When the lamp color is already blue, the time until the lamp color becomes blue is 0 seconds.

  If a negative determination is made (S435: NO), the lamp color information processing is terminated. If a positive determination is made (S435: YES), the idling controller 35 is released from the idling stop (S440), and the lamp color information processing is terminated.

[Effects of Second Embodiment]
In the communication device 1 according to the second embodiment described in detail above, the control unit 10 acquires the distance to the traffic signal 301 (S355: traffic signal distance acquisition unit), and obtains a captured image according to this distance. The imaging cycle is changed (S360 to S370). However, the traffic signal device 301 generates the light emission timing and light emission shape pattern of the signal lamp color at a plurality of different periods, thereby transmitting different information at different periods, and the transmission period and the imaging period of the front camera 21 Are in sync.

  According to such a communication apparatus 1, different information can be acquired according to the distance to the traffic signal 301. Moreover, the traffic signal 301 can transmit these information only within the range which can visually recognize the traffic signal 301.

  In the communication device 1, the control unit 10 acquires lamp color information using optical communication (S375, S380: lamp color information acquisition means), and supports driving of the host vehicle 100 based on the lamp color information ( S410 to S440: driving support means).

  In particular, the speed at which the vehicle can enter the intersection when the lamp color is blue is notified (S420: speed notification means), or the idling stop is canceled before the lamp color becomes blue (S440: idling stop cancellation means). .

According to such a communication device 1, the operability of the host vehicle 100 by the driver can be improved.
[Modification of Second Embodiment]
In the configuration of the second embodiment, the imaging timing of the front camera 21 is changed according to the distance from the traffic signal 301. However, the timing is not limited to the distance from the signal. For example, the traffic signal 301 is changed to the front camera 21. The imaging timing of the front camera 21 may be changed according to the time after confirmation.

[Third Embodiment]
[Configuration and Processing of Third Embodiment]
The communication device 1 according to the third embodiment functions as a vehicle control device that performs processing for supporting driving of the host vehicle 100 using a plurality of captured images captured by the host vehicle 100.

  Specifically, the autonomous processing shown in FIGS. 19 and 20 is performed. Autonomous processing is processing that is started, for example, when the communication apparatus 1 is powered on, and is then repeatedly performed at regular intervals.

  In the autonomous processing, as shown in FIGS. 19 and 20, first, captured images obtained by the cameras 21 to 24 are acquired (S460). Then, the other vehicle 200 that can be dangerous for the host vehicle 100 is extracted from these captured images (S465).

  In this process, the other vehicle 200 is extracted in a plurality of frames in the past, and the behavior of the other vehicle 200 is detected. Then, another vehicle 200 (dangerous) that may be dangerous for a vehicle in which the relative distance to the own vehicle 100 is increasing or decreasing (that is, staggered) or a vehicle in which the relative distance to the own vehicle 100 is rapidly decreasing. Vehicle).

  Further, the facial expression of the driver of the other vehicle 200 is extracted from the captured image, and the arousal state and emotion are analyzed. Then, the other vehicle 200 on which the driver with a low arousal state (awake state close to dozing) or a driver with an angry expression is boarded is recognized as another vehicle 200 that can be dangerous.

  Subsequently, it is determined whether or not a dangerous vehicle exists around the host vehicle 100 (S470). If a negative determination is made (S470: NO), the process proceeds to S480 described later. If an affirmative determination is made (S470: YES), this vehicle information is recorded in the memory 12 (S475).

  Subsequently, the surrounding vehicle information is extracted from the captured image, and this vehicle information is collated with the recorded vehicle information of the dangerous vehicle (S480). In this process, even if a dangerous vehicle is not detected in this process, it is possible to notify when a vehicle once registered as a dangerous vehicle passes the vicinity.

  Then, it is determined whether there is a dangerous vehicle recorded in the vicinity (S485). If a negative determination is made (S485: NO), the process proceeds to S500 described later. If an affirmative determination is made (S485: YES), a warning or the like indicating that there is a dangerous vehicle in the vicinity is performed via the display 32 (S490).

  Subsequently, the relative speed of the other vehicle 200 traveling in parallel with the host vehicle 100 in the adjacent lane is detected from the captured images from the left and right cameras 23 and 24 and the rear camera 22 (S500). And it is determined whether the turn signal (illustration omitted) of the own vehicle is operating (S505).

  If an affirmative determination is made (S505: YES), the lane change (merging) is guided (notified) based on the relative speed and relative distance to the other vehicle 200 (S510), and the autonomous processing is terminated. If a negative determination is made (S505: NO), the inter-vehicle distance to the other vehicle 200 immediately before and immediately after is detected based on the captured image (S515).

  Then, the vehicle speed of the host vehicle is controlled via the accelerator controller 33 and the brake controller 34 so that the sum of the inter-vehicle distance to the immediately preceding vehicle and the inter-vehicle distance to the immediately following vehicle does not become less than the set distance (S200). The set distance here is set to increase in accordance with an increase in the speed of the host vehicle 100 (an increase in the braking distance). When such processing ends, the autonomous processing ends.

[Effects of Third Embodiment]
In the communication device 1 according to the third embodiment described in detail above, the control unit 10 extracts vehicle information about dangerous vehicles that may pose a danger to the host vehicle from the captured image (S465: dangerous vehicle extraction). Means), vehicle information about the dangerous vehicle is recorded (S475: vehicle information recording means). And the vehicle information of the vehicle which passes near is extracted from a captured image, and this vehicle information and the vehicle information about a dangerous vehicle are collated (S480: collation means). Then, if there is a dangerous vehicle registered in the vicinity as a result of the collation, a warning or the like is notified (S485, S490: notification means).

According to such a communication device 1, it is possible to notify when a dangerous vehicle once registered approaches.
Further, in the communication device 1, the control unit 10 detects the relative speed with the other vehicle 200 based on the captured image (S500: relative speed detection means), and guides the course change according to the relative speed (S510: path). Change guidance means).

According to such a communication apparatus 1, since the relative distance from the other vehicle 200 is detected based on the captured image when the route change guidance is performed, a simple configuration can be achieved.
In addition, the control unit 10 detects the inter-vehicle distance to the immediately preceding vehicle and the immediately following vehicle using the front and rear cameras 21 and 22 (S515: inter-vehicle distance detecting means), and the sum of these inter-vehicle distances is the travel of the host vehicle. The traveling speed of the host vehicle 100 is controlled so as not to be less than the set distance set according to the speed (S520: inter-vehicle control means).

  According to such a communication device 1, since the sum of the inter-vehicle distances between the immediately preceding vehicle and the immediately following vehicle can be maintained, when the host vehicle 100 performs braking along with the braking of the immediately preceding vehicle, This makes it easier to avoid rear-end collisions.

[Modification of Third Embodiment]
In the third embodiment, the warning or the like is notified only to the driver of the host vehicle 100 about the dangerous vehicle, but the existence of the dangerous vehicle may be notified to the other vehicle 200 as well. In this case, for example, the other vehicle 200 may be notified via the communication unit 31 as described above, or a signal indicating danger intermittently in synchronization with the imaging period of the camera of the other vehicle 200. May be transmitted by optical communication through a light such as a headlight or a display arranged toward the outside of the host vehicle 100. For this communication, the communication mode as shown in the second embodiment may be adopted.

[Fourth Embodiment]
In addition, the mobile terminal device brought into the vehicle 100 or the like may have the function of the communication device 1 described above. In this case, the processing as the communication device 1 is executed by an application of the mobile terminal device. The mobile terminal device may be a thin client, and the processing may be executed by a server.

A specific example of such a configuration will be described with reference to FIGS.
In the own vehicle 100, a communication device 2 having most of the configuration of the communication device 1 and a smartphone 400 (corresponding to a portable terminal device) brought into the vehicle by an occupant of the own vehicle are mounted. Part or all of the processing according to 10 is performed. The control unit 10 relays the process of sending instructions to the accelerator controller 33, the brake controller 34, and the idling controller 35. That is, in the communication device 2, the communication unit 31 performs communication with the smartphone 400.

  The smartphone 400 includes a camera 401, a communication unit 402, and a configuration as a known smartphone. The communication unit 402 performs communication with the mobile phone base station 6 and communication with the communication device 2. The camera 401 has the same function as the cameras 21 to 24 provided in the communication device 1 described above.

  In the configuration of the present embodiment, a plurality of base stations 6 and servers 420 are connected to the Internet network 5 so that they can communicate with each other. The server 420 has a function as a well-known server including a CPU 421, a memory 422, and a database 423.

  The database 423 of the server 420 stores correspondence information in which vehicle information (number plate information, etc.) and identification information (phone number, identification number, etc.) for connecting to the smartphone 400 mounted on the vehicle are linked. Has been.

  In the configuration of the present embodiment, when the smartphone 400 transmits information, the identification information is transmitted instead of the vehicle information described above, and the vehicle 401 obtains the vehicle information, the process described later is performed, and the server 420 On the other hand, by requesting correspondence information corresponding to the vehicle information and recognizing the identification information, it is possible to carry out communication specifying the other party.

  A specific example of the processing at this time is shown in FIG. The smartphone 400 performs the smartphone request process when it is necessary to recognize the other of the vehicle information and the correspondence information from one of the vehicle information and the correspondence information. Here, a case where terminal information is requested will be described, but similar processing may be performed also when vehicle information is requested.

  In the smartphone request process, first, the terminal information is requested to the server 420 together with the vehicle information of the vehicle and the vehicle information of the vehicle for which the terminal information is desired (S560). After requesting the terminal information, it waits until it receives information that is a response to the request (S565).

  The server 420 (CPU 421) executes server processing and monitors whether there is a request for terminal information (S605). When a request for terminal information is received (S605: YES), the database 423 is searched based on the vehicle information to extract the requested terminal information, and the smartphone 400 mounted on the corresponding other vehicle 200 based on the terminal information. Then, an inquiry is made as to whether or not the terminal information may be provided to another vehicle (S610). And it waits until the result is obtained (S615).

  The smartphone 400 of the other vehicle 200 that has received the inquiry performs a smartphone permission process, and determines whether or not this inquiry has been received (S655). If a negative determination is made (S655: NO), the process of S655 is repeated. If an affirmative determination is made (S655: YES), a selection result indicating whether or not terminal information may be provided to another vehicle is returned to the server 420 (S660), and the smartphone permission process is terminated.

Here, the above selection results may be registered in the smartphone 400 in advance, or may be selected each time an inquiry is made.
Upon receiving the selection result (S515: YES), the server 421 determines whether or not the selection result indicates that the terminal information is provided (S620). If a positive determination is made (S620: YES), terminal information corresponding to the vehicle information is transmitted to the smartphone 400 of the host vehicle 100 (S625), and the server process is terminated. If a negative determination is made (S620: NO), NG information indicating that information cannot be provided is transmitted to the smartphone 400 of the host vehicle 100 (S630), and the server process is terminated.

  When the smartphone 400 of the host vehicle 100 receives the information from the server 420 (S565: YES), if the terminal information is received, this information is extracted and the smartphone request process is terminated.

  In such a configuration, when vehicle information can be extracted from an image, a terminal device corresponding to the vehicle information can be specified, and communication with the terminal device can be performed. Further, since access to the communication destination terminal device can be denied, it is possible to make it difficult for the user of the communication destination terminal device to feel annoyance.

  Note that when this configuration is adopted, a restriction may be placed on the timing at which communication with the communication destination terminal device is possible. For example, after the start of communication with the communication destination terminal device, communication may be performed for a specified time set by the communication destination terminal device, or communication may be performed only while vehicle information can be recognized in the image. In this case, the server 420 determines whether the terminal device of the host vehicle 100 is communicable with the terminal device of the other vehicle 200 before the processing of S625, and performs the processing of S625 only when communication is possible. What is necessary is just to carry out.

  Further, the process for requesting permission from the terminal device of the communication destination may be omitted. In this case, all of the smartphone permission processing and the processing of S615, S620, and S630 of the server processing are unnecessary, and a simpler configuration can be achieved.

[Other Embodiments]
The present invention is not construed as being limited by the above embodiment. Moreover, the aspect which abbreviate | omitted a part of structure of said embodiment as long as the subject could be solved is also embodiment of this invention. An aspect configured by appropriately combining the above-described plurality of embodiments is also an embodiment of the present invention. Moreover, all the aspects which can be considered in the limit which does not deviate from the essence of the invention specified only by the wording described in the claims are embodiments of the present invention.

  For example, in the above embodiment, stereoscopic viewing is performed using a plurality of captured images obtained from a stereo camera. However, stereoscopic viewing is performed from a plurality of captured images obtained at different timings with a single camera. Also good.

  Further, the communication between the host vehicle 100 and the other vehicle 200 has been described as communication by radio waves, but may be optical communication or the like. Data exchange may be performed by transmitting and receiving text and images using an application capable of exchanging mail and messages.

  Furthermore, the communication apparatus in the above embodiment may also be used as a car navigation system or a car audio except for the various cameras 21 to 24. In the case of such a configuration, notification may be performed by flowing sound from a speaker provided in a car navigation system or cardio.

  DESCRIPTION OF SYMBOLS 1 ... Communication apparatus, 10 ... Control part, 11 ... CPU, 12 ... Memory, 21 ... Front camera, 22 ... Rear camera, 23 ... Right camera, 24 ... Left camera, 31 ... Communication part, 32 ... Display, 33 ... Accelerator Controller, 34 ... Brake controller, 35 ... Idling controller, 100 ... Own vehicle, 200 ... Other vehicle, 300 ... Signal communicator, 301 ... Traffic signal, 302 ... Information generating device, 303 ... Light emission control part.

Claims (3)

A communication device mounted on a mobile body,
Communication acquisition means for acquiring data including mobile object information for specifying other mobile objects by communication;
Specific information extracting means for extracting specific information for specifying another mobile body from a captured image obtained by imaging another mobile body located around the mobile body equipped with the communication device;
It is determined whether or not the mobile body information and the specific information match, and if they match, the position of the other mobile body that is the data transmission source is the position of the other mobile body in the captured image. A position identification means to identify;
A communication apparatus comprising: The communication device according to claim 1,
The communication apparatus characterized in that the specific information extracting means extracts specific information for specifying the other moving body from a plurality of captured images together with a distance to the other moving body. A communication device mounted on a mobile body,
Mobile body information acquisition means for acquiring mobile body information for identifying other mobile bodies;
Specific information extracting means for extracting specific information for specifying another mobile body from a captured image obtained by imaging another mobile body located around the mobile body equipped with the communication device;
It is determined whether or not the mobile body information and the specific information match, and when the mobile body information and the specific information match, the mobile body information of another mobile body that matches the mobile body information and the other mobile body Control command transmission means for transmitting a control command for controlling the behavior of
A communication apparatus comprising: