JP2016085686A - Determination device, determination method and determination program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a determination device etc. capable of determining a transmission source of information received from an other moving body, and in which processing load on a processing section is light.SOLUTION: The determination device receives moving body information including position information from the other moving body (S11B), acquires identification information for identifying the other moving body after receiving the moving body information (S12B), and determines that the other moving body is the transmission source of the moving body information (S14B). The determination device acquires information, as the identification information, indicating that a light emission section comprised in the other moving body emits light, and determines that the other moving body is the transmission source of the moving body information.SELECTED DRAWING: Figure 5

Description

  The present application relates to a determination device that determines a transmission source of information received by wireless communication.

  Currently, research and development of ITS (Intelligent Transport Systems) is progressing. ITS is a traffic system built for the purpose of solving road traffic problems such as traffic safety, traffic jam countermeasures, and environmental measures by connecting people, roads and vehicles with a network using the most advanced information communication technology. is there. In ITS, road-to-vehicle communication that connects roads and vehicles and vehicle-to-vehicle communication that connects vehicles and vehicles are the pillars.

  Vehicle-to-vehicle communication means that each vehicle obtains information (position information, speed information, vehicle control information, etc.) related to surrounding vehicles through wireless communication between vehicles, and provides safe driving support to the driver as necessary. For example, it provides the driver with information for preventing collision at the time of encounter, preventing rear-end collision, and preventing collision at the time of turning left and right.

  In inter-vehicle communication, when a plurality of vehicles are traveling around the host vehicle, information is received from each vehicle. Important to do. When driving assistance is performed without specifying the transmission source of received information, for example, if there is a large error in position information included in the received information, a vehicle that is actually traveling in front of the same lane is traveling backward. It may be judged that the vehicle is driving or is driving on another lane, which may cause a traffic accident.

  Patent Document 1 discloses a technique for more accurately discriminating a match between a surrounding vehicle that performs inter-vehicle communication with the own vehicle and a surrounding vehicle that is detected by an autonomous sensor of the own vehicle. Specifically, the turn signal lighting state, the brake light lighting state, and the lane crossing state of each surrounding vehicle are detected from the captured images of the surroundings of the host vehicle captured by the camera, accumulated, and the distance between each surrounding vehicle and the vehicle The vehicle information about the blinker lighting state, the brake light lighting state, and the lane crossing state transmitted by communication is accumulated, and the accumulated information is judged to be inconsistent with each other, so that the surrounding vehicle detected by the camera and the vehicle This is a technique for determining coincidence / non-coincidence with surrounding vehicles performing inter-vehicle communication.

JP 2013-168019 A

  However, in the technique described in Patent Document 1, when the transmission source of received information is specified, it is detected by a camera based on a change in vehicle state accompanying a driving operation such as a blinker lighting state, a brake light lighting state, or a lane crossing state. In order to determine the coincidence / mismatch between the surrounding vehicle and the surrounding vehicle performing inter-vehicle communication, the coincidence / mismatch cannot be determined unless the winker operation, the brake operation, or the lane crossing operation is performed. For this reason, it is difficult to determine the transmission source of the received information in a short time, and it is not possible to employ driving assistance that requires a determination in a short time. In the technique described in Patent Document 1, when determining the transmission source of received information, the surroundings of the vehicle must be “always” photographed by the camera and image processing must be performed for each frame image, which is applied to the processing unit. The processing burden becomes high.

  In view of such problems, it is an object of the present invention to provide a determination device that can determine a transmission source of information received from another mobile body and that has a light processing load on a processing unit.

  The invention according to claim 1 is a receiving unit that moves together with the mobile body and receives mobile body information including position information from another mobile body different from the mobile body, and after receiving the mobile body information, And a determination unit that acquires specific information for specifying another mobile body and determines that the other mobile body is a transmission source of the mobile body information.

  The invention according to claim 5 is a determination method by a determination device that moves together with a moving body, the receiving step for receiving moving body information including position information from another moving body different from the moving body, and the movement Including obtaining determination information for specifying the other mobile body after receiving body information, and determining the other mobile body as a transmission source of the mobile body information. Features.

  According to a sixth aspect of the present invention, a computer included in a determination apparatus that moves together with a moving body, receiving means for receiving moving body information including position information from another moving body different from the moving body, the moving body information Specific information for specifying the other moving body is received after receiving the information, and the other moving body is caused to function as a determination unit that determines that the mobile body information is a transmission source. To do.

1 is a block diagram of a determination device 1. FIG. It is a figure which shows an example of the positional relationship of a vehicle. It is a figure which shows an example of the transmission / reception timing of vehicle data, a light lighting timing, and a camera imaging | photography timing. It is a block diagram of the navigation apparatus NV. It is a flowchart which shows the operation example of the navigation apparatus NV. It is a flowchart which shows the operation example of the navigation apparatus NV. It is a figure which shows an example of the positional relationship of a vehicle. It is a flowchart which shows the operation example of the navigation apparatus NV.

  An embodiment for carrying out the present invention will be described with reference to FIG.

  As shown in FIG. 1, the determination apparatus 1 that moves together with a moving body such as a vehicle includes a reception unit 111A and a determination unit 111B.

  In this configuration, the reception unit 111 </ b> A receives mobile body information including position information from another mobile body that is different from the mobile body that moves together with the determination apparatus 1.

  The determining unit 111B acquires specific information for specifying another moving body after the receiving unit 111A receives the moving body information, and determines that the other moving body is the transmission source of the moving body information. . In addition, the determination unit 111B acquires information indicating that the light emitting unit included in another moving body emits light as specific information, and determines that the other moving body is the transmission source of the moving body information.

  Further, the determination unit 111B makes a determination based on an image of another moving body captured by the imaging unit when a predetermined time has elapsed since the reception unit 111A received the moving body information. The photographing unit 2 moves together with the moving body that moves together with the determination apparatus 1, and photographs another moving body different from the moving body when a predetermined time has elapsed after the receiving unit 111A receives the moving body information.

  Further, when the mobile body information includes identification information that can identify the transmission source, the determination unit 111B, for a plurality of mobile body information including the same identification information, when a predetermined time has elapsed after receiving the mobile body information. When the light emitting units of the same moving body emit light, it is determined that the moving body is a transmission source of a plurality of moving body information including the same identification information.

  As described above, according to the operation of the determination apparatus 1 according to the embodiment, it is possible to determine a transmission source of mobile body information received from another mobile body. In addition, by setting the predetermined time short, the time required for the determination after the mobile body information is received can be shortened. Further, when the determination is performed based on the image, since only an image obtained by photographing another moving body when a predetermined time has elapsed is required, each frame image constituting the moving image obtained by constantly photographing the surroundings after receiving the moving body information. Therefore, it is not necessary to perform image processing on the image processing unit, and the processing load on the processing unit can be reduced. Note that the photographing means 2 may always shoot a moving image, or may shoot only a still image when a predetermined time elapses. In the latter case, it is not necessary to always shoot, and stores the photographed image. There is an advantage that the area and power consumption can be saved.

  Further, the determination accuracy can be improved by determining the transmission source based on a predetermined number or more of mobile body information including the same identification information.

  Next, specific examples corresponding to the above-described embodiments will be described.

  Examples will be described with reference to FIGS. In addition, the Example described below is an Example at the time of applying this invention to a navigation apparatus (an example of a "determination apparatus").

[1. Overview of navigation device NV]
In addition to the navigation function, the navigation device NV has a function of performing driving support based on information obtained by road-to-vehicle communication and vehicle-to-vehicle communication based on ITS. In particular, the navigation device NV according to the present embodiment has a function of determining a vehicle (an example of a “moving body”) that is a transmission source of vehicle data (an example of “moving body information”) received by inter-vehicle communication by radio. Yes. Here, the determination function will be described with reference to FIGS. 2 and 3. In the present embodiment, it is assumed that wireless communication for inter-vehicle communication conforms to ARIB STD-T109, which is a standard.

  FIG. 2 shows a state where a plurality of vehicles 500A to 500D (the vehicles 500A to 500D may be collectively referred to as the vehicle 500) are traveling in the same traveling direction. Each vehicle 500 includes a determination light L and a camera C. In this embodiment, it is assumed that the camera C includes only the vehicle ahead of the same lane in the shooting range.

  Here, the navigation device NV that moves together with the vehicle 500A receives vehicle data from the navigation device NV that moves together with the vehicle 500B traveling in front by inter-vehicle communication, and the navigation device NV of the vehicle 500A receives the navigation device NV of the vehicle 500B. Will be described when it is determined that the vehicle data is transmitted from the vehicle.

  When the navigation device NV of the vehicle 500B transmits vehicle data by inter-vehicle communication, the determination light L is turned on when t seconds have elapsed (specifically, s time from the transmission of vehicle data (t seconds in this embodiment)). The judgment light L is turned on after the elapse of time and then turned off after the elapse of S time). On the other hand, when the navigation device NV of the vehicle 500A receives vehicle data from any vehicle (in this example, the vehicle 500B) that travels around the vehicle 500A, the image taken by the camera C when t seconds elapse (the image is the camera C may be an image obtained by extracting a frame when t seconds elapse in a moving image taken by C, or may be an image obtained by releasing a shutter when t seconds elapse, but in this embodiment, It is determined that the vehicle (in this example, the vehicle 500B) including the determination light L that is turned on in the former is the vehicle data transmission source. That is, it is determined that the vehicle that has turned on the determination light L when t seconds have elapsed after receiving the vehicle data is the transmission source. In other words, the fact that the vehicle with the judgment light L turned on is shown in the image means that the vehicle data received t seconds before the image was taken was transmitted by the vehicle shown in the image. It can also be said.

  Note that t seconds are preferably 100 milliseconds or more. This is because the ARIB STD-T109 stipulates that the transmission interval be at least 100 milliseconds. However, if the time t is too long, the time from the reception of the vehicle data to the determination becomes a long time. Therefore, for example, about 200 milliseconds is preferable. In this embodiment, the delay in data transmission / reception of inter-vehicle communication is extremely small and can be ignored. Further, each vehicle 500 can accurately manage time and time, and when the captured image is a still image, the shutter speed of the camera C is sufficiently high.

  Further, in order to improve the determination accuracy of the transmission source, the determination of the transmission source based on the image may be repeated a plurality of times. Hereinafter, performing the determination based on the image only once is referred to as “single determination”, and performing the transmission source determination based on the image a plurality of times is referred to as “multiple determination”. Here, as an example of the determination multiple times, a case where the determination based on the image is repeated three times will be described with reference to FIG. FIG. 3 shows a case where the host vehicle 500A receives vehicle data from vehicles 500C and 500D (see FIG. 2) in addition to the preceding vehicle 500B. At this time, the vehicle data includes an identification ID (an example of “identification information”) for identifying the transmission source.

  Each time the navigation device NV of the host vehicle 500A receives the vehicle data, whether or not the determination light L of the preceding vehicle 500B is lit for an image taken by the camera C of the host vehicle 500A when t seconds have elapsed since the reception. Make a lighting decision. In the multiple determination, the result of the lighting determination and the vehicle data received t seconds before the timing at which the image used for the lighting determination is taken are set multiple times in advance (three times in this case) for one identification ID. A process of recording in association with the included identification ID is performed. And it lights up more than the predetermined number of times for one identification ID (the predetermined number can be set to an arbitrary number, but it is preferable to set the number of times more than 70%, for example). It is determined that the vehicle data including the identification ID associated with the result of the lighting determination determined to be the forward vehicle 500B. That is, for a plurality of vehicle data including the same identification ID, when the determination light L of the same vehicle is lit at the elapse of t seconds after receiving each vehicle data, the vehicle is assigned the same identification ID. It determines with it being the transmission source of the some vehicle data containing. It should be noted that exception data can be eliminated by using only identification IDs that have been recorded a plurality of times within a predetermined time as the object of determination a plurality of times.

  On the other hand, when the navigation device NV of the host vehicle 500A receives the vehicle data from the vehicle 500C or the vehicle 500D, the lighting determination is performed, but in the image taken by the camera C of the host vehicle 500A when t seconds have elapsed since the reception, The determination light L of the vehicle 500B is not turned on. This is because, when the vehicle 500C or the vehicle 500D transmits vehicle data, the determination light C is turned on when t seconds elapse, but the preceding vehicle 500B does not light the determination light C at that timing. As described above, the navigation device NV of the host vehicle 500A, when the determination light L of the preceding vehicle 500B is not lit in the image taken by the camera C of the host vehicle 500A when t seconds have elapsed since the reception, It is determined that the vehicle data received t seconds before the image is taken is not vehicle data received from the vehicle 500B (it can also be determined to be data received from a vehicle other than the vehicle 500B).

  In this embodiment, since it is assumed that the camera C of the host vehicle 500A can only photograph the vehicle 500B traveling forward, the determination light for the vehicle traveling laterally or rearward such as the vehicle 500C or the vehicle 500D. Since the vehicle itself cannot be photographed even when L is lit, it is not determined whether or not the vehicle 500C or the vehicle 500D is a transmission source of vehicle data.

[2. Configuration of navigation device NV]
Next, the configuration of the navigation device NV according to the present embodiment will be described.

  As shown in FIG. 4, the navigation device NV includes a control unit 211, a storage device 212 including an HDD, an input device 213 including a keyboard or a remote controller, a touch panel, a display unit 214, a bus line 215, Input / output interface unit 220, vehicle speed sensor 221, angular velocity sensor 222, acceleration sensor 223, rudder angle sensor 224, GPS (Global Positioning System) reception unit 225, data transmission / reception unit 226, and wireless communication unit 227 The camera C and the determination light L are provided.

  The vehicle speed sensor 221 detects the current speed of the vehicle using, for example, a speed detection process using a vehicle speed pulse acquired from a vehicle on which the navigation device NV is mounted, and outputs speed data. The angular velocity sensor 222 detects, for example, the angular velocity of the direction change of the vehicle, and outputs angular velocity data and relative azimuth data per unit time. The acceleration sensor 223 detects, for example, the longitudinal acceleration of the vehicle, and outputs acceleration data per unit time. The steering angle sensor 224 detects the steering angle of the vehicle and outputs steering angle data and the like. The GPS receiving unit 225 receives navigation radio waves from GPS satellites, and outputs latitude, longitude, altitude data, which is vehicle position information, absolute azimuth data in the traveling direction of the vehicle, GPS speed data, and the like as GPS positioning data. The data transmission / reception unit 226 performs processing related to data transmission / reception with the server device via the network. The wireless communication unit 227 performs processing related to wireless road-to-vehicle communication and vehicle-to-vehicle communication.

  The storage device 212 stores map image data for displaying a map on the display unit 214, map information used when searching for a route, road link information, and the like. The storage device 212 stores vehicle data received from other vehicles. The vehicle data includes information necessary for driving support based on inter-vehicle communication such as a unique identification ID, position information, and vehicle speed information for each vehicle or navigation device NV. Furthermore, the storage device 212 stores various programs such as an operating system and application programs. Various programs may be acquired from a server device or the like via a network, for example, or may be read from a recording medium such as a CD, DVD, or USB memory.

  The input device 213 includes a touch panel, a keyboard, a mouse, other controllers, and the like. The input device 213 receives a user input operation and transmits an operation signal indicating the operation content to the control unit 211.

  The display unit 214 displays various display data under the control of the control unit 211. The display unit 214 includes a graphics controller 214a, a buffer memory 214b including a memory such as a VRAM (Video RAM), a display 214c including a liquid crystal display, and the like. In this configuration, the graphics controller 214 a controls the entire display unit 214 based on control data sent from the control unit 211 via the bus line 215. The buffer memory 214b temporarily stores image information that can be displayed immediately. Based on the image data output from the graphics controller 214a, an image is displayed on the display 214c.

  The camera C is provided on a part of the windshield of the host vehicle and shoots a moving image of the front of the host vehicle. The captured moving image data is recorded in the storage device 212 together with time information. Note that the frame image data constituting the moving image data can specify the time at which the control unit 211 was photographed based on the time information recorded together. That is, the control unit 211 can extract the frame image data captured when t seconds have elapsed after receiving the vehicle data based on the reception time of the vehicle data and the recorded time information.

  The determination light L is provided in the rear part of the host vehicle, and lights up when t seconds have elapsed from the transmission of the vehicle data under the control of the control unit 211.

  The control unit 211 includes a CPU 211a that controls the entire control unit 211, a ROM 211b that stores a control program for controlling the control unit 211, and a RAM 211c that temporarily stores various data. The control unit 211 is connected to the vehicle speed sensor 221, the angular velocity sensor 222, the acceleration sensor 223, the steering angle sensor 224, and the GPS reception unit 225 via the bus line 215 and the input / output interface unit 220, and is output from each of them. Based on the speed data, angular velocity data and relative azimuth data, steering angle data, GPS positioning data, absolute azimuth data of the traveling direction of the vehicle, acceleration data, and the like, the navigation device NV is controlled as a whole, and the display unit 214 and the like are controlled. Control each operation in the component.

  Based on the speed data, angular velocity data and relative azimuth data, steering angle data, GPS positioning data, absolute azimuth data of the traveling direction of the vehicle, acceleration data, and the like, which are periodically output from the control unit 211, The vehicle data of the own vehicle 500A is edited and transmitted to the other vehicles 500B to 500D. Further, when receiving vehicle data from the other vehicles 500B to 500D, the control unit 211 recognizes an image captured by the camera C when t seconds have elapsed from the reception, and the vehicle determination light L that appears in the image is displayed. Whether or not the preceding vehicle 500B is the transmission source is determined based on whether or not it is lit.

[3. Example of operation of navigation device NV]
Next, an operation example of the navigation device NV when transmitting and receiving vehicle data will be described using the flowchart of FIG. FIG. 5 is a diagram illustrating a flowchart at the time of one-time determination in which the reception-side navigation device NV performs determination based on an image only once. The multiple determination will be described later using the flowchart of FIG.

  First, the control unit 211 (hereinafter referred to as the control unit 211B) of the navigation device NV of the vehicle 500B transmits vehicle data to the other vehicles 500A, 500C, and 500D (step S11A).

  Next, the control unit 211B sets the determination light L of the vehicle 500B to be turned on when t seconds have elapsed since the vehicle data was transmitted (step S12A). Thereby, the determination light L of the vehicle 500B is turned on when t seconds have elapsed since the vehicle data was transmitted (step S13A). Note that when the process of step S13A ends, the control unit 211A proceeds to the process of step S11A, periodically edits and transmits vehicle data.

  On the other hand, when control unit 211 (hereinafter referred to as control unit 211A) of navigation device NV of vehicle 500A receives vehicle data (step S11B), it records the vehicle data in storage device 212 in association with the reception time.

  In addition, the control unit 211A acquires a captured image when t seconds have elapsed after receiving the vehicle data (step 12B). Specifically, the time when t seconds elapse after receiving the vehicle data is calculated, and the frame image data corresponding to the calculated time is acquired from the storage device 212.

  Next, the controller 211A recognizes the captured image (frame image data) acquired in the process of step 12B, and determines whether or not the determination light L of the preceding vehicle 500B is lit (step S13B). Then, when the control unit 211A determines that the determination light L of the preceding vehicle 500B is turned on (step S13B: YES), the control unit 211A is the transmission source of the vehicle data received by the process of step S11B. It determines with there (step S14B), and transfers to the process of step S11B. On the other hand, when the control unit 211A determines that the determination light L of the preceding vehicle 500B is not lit (step S13B: NO), the control unit 211A proceeds to the process of step S11B.

  Next, a plurality of determinations (here, n times (n> 1)) determination will be described with reference to FIG. Note that the processing of the control unit 211B on the transmission side is the same as the processing shown in FIG.

  When receiving the vehicle data (step S31B), the controller 211A records the vehicle data in the storage device 212 in association with the reception time. Further, the control unit 211A acquires a captured image when t seconds have elapsed since the vehicle data was received (step S32B). Specifically, the time when t seconds elapse after receiving the vehicle data is calculated, and the frame image data corresponding to the calculated time is acquired from the storage device 212.

  Next, the control unit 211A recognizes the captured image (frame image data) acquired in step S32B, determines whether or not the determination light L of the preceding vehicle 500B is lit, and indicates the determination result. The result data is recorded in the storage device 212 in association with the identification ID included in the vehicle data acquired in step S31B (step S33B).

  Next, the control unit 211A refers to the storage device 212 and determines whether or not there is an identification ID that records the lighting result data for n times within a predetermined time (step S34B). This determination is performed in order to exclude an identification ID for which n times of lighting result data has not been recorded within a predetermined time (that is, an identification ID for which vehicle data has not been received n times within a predetermined time) from the processing target. Do. Although not shown in the flowchart, the control unit 211A can use the storage area of the storage device 212 by erasing the lighting result data for the identification ID that has not received the vehicle data n times within a predetermined time. To spread. If the control unit 211A determines that there is no identification ID that records n times of lighting result data within a predetermined time (step S34B: NO), the control unit 211A proceeds to the process of step S31B.

  On the other hand, when it is determined that there is an identification ID that records n times of lighting result data within a predetermined time (step S34B: YES), the control unit 211A then refers to the n times of lighting result data, It is determined whether or not the determination light L has been turned on a predetermined number of times or more among n times (step S35B). Although the predetermined number of times can be set arbitrarily, for example, it is preferable to set the number of times equal to or more than 70%. When it is determined that the determination light L has been turned on a predetermined number of times or more among n times (step S35B: YES), the control unit 211A determines that the preceding vehicle 500B is present in the corresponding identification ID (step S34B processing). It is determined that the transmission source of the vehicle data including the identification ID) (step S36B), and the process proceeds to step S37B. On the other hand, if the control unit 211A determines that the determination light L is not turned on a predetermined number of times or more among n times (step S35B: NO), the control unit 211A proceeds to the process of step S37B.

  Next, the controller 211A deletes the lighting result data of the corresponding identification ID (identification ID determined to be present in the process of step S34B) from the storage device 212 (step S37B), and proceeds to the process of step S31B.

  As described above, according to the operation of the navigation device NV that moves together with the vehicle (an example of the “moving body”) according to the present embodiment, the control unit 211 (an example of the “reception unit” and the “determination unit”) Turns on when t seconds (an example of “predetermined time”) have elapsed after receiving vehicle data (an example of “moving body information”) including position information from another vehicle 500B different from the own vehicle 500A. The other vehicle 500B provided with the determination light L (an example of “light emission”) (an example of “light emission unit”) is determined to be a transmission source of vehicle data. In addition, the control unit 211A of the navigation device NV according to the present embodiment transmits based on the image of the other vehicle 500B captured by the camera C (an example of “imaging unit”) when t seconds have elapsed since the vehicle data was received. Make the original decision.

  Therefore, according to the navigation apparatus NV according to the present embodiment, the transmission source of the vehicle data received from the other vehicle 500B can be determined. Moreover, by setting t seconds short, the time required from the reception of the vehicle data to the determination can be shortened. Furthermore, since only the image obtained by photographing the other vehicle 500B at the time when t seconds have elapsed is necessary for the determination, it is necessary to perform image processing on each image constituting the moving image obtained by constantly photographing the surroundings after receiving the vehicle data. In addition, the processing burden on the processing unit can be reduced.

  Further, in the navigation device NV according to the present embodiment, the vehicle data includes a unique identification ID (an example of “identification information”) for each transmission source vehicle (or another navigation device NV that moves with the vehicle), and the control unit 211, when a predetermined number of vehicle data of a plurality of vehicle data including the same identification ID is turned on when the same vehicle determination light L is turned on when t seconds have elapsed since the vehicle data was received. The vehicle is determined to be a transmission source of a plurality of vehicle data including the same identification ID. Thereby, the determination accuracy of the transmission source can be improved as compared with the case of the single determination.

  In this embodiment, the starting point for calculating the elapsed t seconds in the navigation device NV on the receiving side is the wireless communication from the time when the control unit 211A receives the reception data (vehicle data) via the wireless communication unit 227. It is assumed that the communication unit 227 subtracts the delay time for passing the reception data (vehicle data) to the control unit 211A. As a result, a frame image that matches the lighting timing of the preceding vehicle 500B can be extracted based on the time in consideration of the time when the received data is transferred from the wireless communication unit 227 to the control unit 211A.

[4. Modified example]
Next, a modification of the above embodiment will be described. Note that the modifications described below can be combined as appropriate.

[4.1. Modification 1]
In the above embodiment, the camera C takes a moving image of the front of the host vehicle, and the receiving side navigation device NV calculates the time when t seconds have elapsed since the vehicle data was received when determining the transmission source vehicle. In the frame image data constituting the moving image data, the frame image data corresponding to the calculated time is acquired from the storage device 212. Instead, the camera C receives vehicle data from another vehicle. Then, the shutter may be released when t seconds have elapsed, and the navigation device NV on the receiving side may acquire still image data captured by the camera C. In this case, when receiving the vehicle data, the navigation device NV on the receiving side calculates a time obtained by adding t seconds to the reception time, and instructs the camera C to perform shooting at the time. According to this modification, the camera C does not always need to shoot (it is not necessary to shoot a moving image), and thus has an advantage of saving an area for storing a photographic image and power consumption.

[4.2. Modification 2]
As the determination light L, an existing brake light or the like in the vehicle may be used. By using an existing brake light or the like, there is no need to install the determination light L only for determining the transmission source of the vehicle data, the installation work can be reduced, and the appearance can be refreshed.

[4.3. Modification 3]
The determination light L may be configured to output infrared rays, and the camera C may be configured with a camera capable of detecting infrared rays. Since the determination light L is used only by the navigation device NV to determine the transmission source of the vehicle data, it is not necessary to output visible light like a brake light or the like. The determination light L is configured to output infrared rays, so that it is not necessary for the driver of the surrounding vehicle to feel the lighting of the determination light L troublesome, and it is misunderstood as lighting of other brake lights or the like. Can be prevented.

[4.4. Modification 4]
In the above embodiment, the navigation device NV of the host vehicle 500A is configured to determine whether or not the preceding vehicle 500B on the same lane is the source of vehicle data. However, the source device is determined from a plurality of vehicles. It is good also as composition to do. Therefore, in the present modification, the control unit 211A of the navigation device NV determines the transmission source of vehicle data from among a plurality (three) of vehicles traveling in front of the host vehicle with reference to FIGS. Will be described. Specifically, as shown in FIG. 7, a case where vehicle data is received from three vehicles 500 </ b> B to 500 </ b> D traveling in the same direction in front of the host vehicle 500 </ b> A and a transmission source of the vehicle data is determined is illustrated. This will be described with reference to the flowchart shown in FIG. In FIG. 8, only the processing example of the control unit 211A on the reception side is shown, but the processing of the control unit 211B on the transmission side is the same as the processing shown in FIG.

  First, when the control unit 211A of the navigation device NV of the vehicle 500A receives the vehicle data (step S101B), the control unit 211A records the vehicle data in the storage device 212 in association with the reception time.

  Next, the control unit 211A acquires a captured image when t seconds have elapsed after receiving the vehicle data (step 102B). Specifically, the time when t seconds elapse after receiving the vehicle data is calculated, and the frame image data corresponding to the calculated time is acquired from the storage device 212.

  Next, the control unit 211A recognizes the captured image (frame image data) acquired in the process of step 102B and determines whether or not the determination light L of the vehicle 500C traveling in front of the same lane is turned on ( Step S103B). When it is determined that the determination light L of the vehicle 500C is lit (step S103B: YES), the control unit 211A determines that the vehicle 500C is the transmission source of the vehicle data received in the process of step S101B. (Step S104B), the process proceeds to Step S101B.

  On the other hand, if the control unit 211A determines that the determination light L of the vehicle 500C is not lit (step S103B: NO), then the determination light L of the vehicle 500D traveling in front of the right lane is lit. It is determined whether or not (step S105B). When it is determined that the determination light L of the vehicle 500D is turned on (step S105B: YES), the control unit 211A determines that the vehicle 500D is the transmission source of the vehicle data received in the process of step S101B. (Step S106B), the process proceeds to Step S101B.

  On the other hand, when it is determined that the determination light L of the vehicle 500D is not lit (step S105B: NO), the control unit 211A then turns on the determination light L of the vehicle 500B traveling in front of the left lane. It is determined whether or not (step S107B). When it is determined that the determination light L of the vehicle 500B is turned on (step S107B: YES), the control unit 211A determines that the vehicle 500B is the transmission source of the vehicle data received in the process of step S101B. (Step S108B), the process proceeds to Step S101B. On the other hand, when the control unit 211A determines that the determination light L of the vehicle 500B is not turned on (step S107B: NO), the control unit 211A proceeds to the process of step S101B.

[4.5. Modification 5]
In the above embodiment, the determination light L is configured to be provided in the rear part of the vehicle. However, the determination light L is installed on the roof of the vehicle so that the lighting can be confirmed from the vehicle traveling in any direction of 360 degrees around the vehicle. May be. Further, in the above embodiment, the camera C is provided on the windshield of the vehicle. However, the camera C is installed on the roof of the vehicle after adopting a lens capable of 360-degree panoramic shooting, and any direction around the vehicle around 360 degrees. You may comprise so that the vehicle which is drive | working can also be image | photographed. According to the modification, the transmission source can be determined for the vehicle data received from the vehicle traveling around the host vehicle. Further, by combining with the above-described modification example 4, the control unit 211A of the navigation device NV of the host vehicle 500A determines the transmission source of the received vehicle data from among a plurality of vehicles traveling around the host vehicle 500A. Can do. In the modification, when the control unit 211A determines the transmission source vehicle, the control unit 211A specifies the position of the vehicle based on the direction and distance based on the position of the host vehicle 500A. Specifically, the direction is specified in advance so that the direction can be specified from the 360-degree panoramic image captured by the camera C, and the control unit 211A calculates the distance from the host vehicle 500A based on the size of the vehicle in the image. Shall. Accordingly, the control unit 211A can determine that the vehicle traveling at any position with reference to the host vehicle 500A is the transmission source of the vehicle data. In ARIB STD-T109, there is only one device that outputs radio waves at the same time, and therefore, the determination lights L for a plurality of vehicles are not lit in principle at the same time. If the lighting timing control is shifted and the plurality of vehicles are lit simultaneously, the determination itself may not be performed. Alternatively, the determination may be performed a plurality of times, and the determination light L A vehicle having a large number of times of lighting may be determined as a transmission source.

[4.6. Modification 6]
In the above-described embodiment, the specific information of the present invention has been described for the case where the information indicating that the determination light L provided on another vehicle emits light after a predetermined time has elapsed since the reception of the vehicle data. The specific information may be other information. For example, the navigation device NV of the vehicle 500B that is the transmission source of the vehicle data separates the vehicle data from lighting timing information indicating that the determination light L is turned on 3 seconds after the transmission of the vehicle data (“ An example of “specific information” is transmitted to a predetermined server device via the data transmission / reception unit 226 together with the GPS information of the host vehicle. Next, the predetermined server device transmits the lighting timing information received from the vehicle 500B to the navigation device NV of the vehicle (including the vehicle 500A) existing within a predetermined range from the position indicated by the received GPS information. And Then, the navigation device NV of the vehicle 500A refers to the lighting timing information received via the predetermined server device, and in the image taken 3 seconds after receiving the vehicle data, the determination light L for the front vehicle 500B. When is lit, it is determined that the preceding vehicle 500B is the transmission source of the vehicle data. Thus, the transmission source of vehicle data can also be determined based on the lighting timing information received via the predetermined server device. In addition, although the example which lights up after 3 second was demonstrated here, it is preferable that the navigation apparatus NV of a transmission side changes a lighting timing whenever it transmits vehicle data. By changing the lighting timing, the receiving-side navigation device NV can appropriately determine the transmission-source vehicle 500 even if it happens to receive vehicle data from the navigation devices NV of the plurality of vehicles 500 at the same time. it can.

DESCRIPTION OF SYMBOLS 1 Determination apparatus 111A Receiving means 111B Determination means 2 Imaging | photography means NV Navigation apparatus 211 Control part 211a CPU
211b ROM
211c RAM
212 Storage Device 213 Input Device 214 Display Unit 214a Graphics Controller 214b Buffer Memory 214c Display 215 Bus Line 220 Input / Output Interface Unit 221 Vehicle Speed Sensor 222 Angular Speed Sensor 223 Acceleration Sensor 224 Steering Angle Sensor 225 GPS Reception Unit 226 Data Transmission / Reception Unit 227 Wireless Communication Part C Camera L Judgment light

Claims (6)

Move with the moving object,
Receiving means for receiving mobile body information including position information from another mobile body different from the mobile body;
Determination means for acquiring the specific information for specifying the other mobile body after receiving the mobile body information, and determining that the other mobile body is a transmission source of the mobile body information;
A determination apparatus comprising: The determination device according to claim 1,
The determination unit acquires information indicating that the light emitting unit included in the other mobile body emits light as the specific information, and determines that the other mobile body is a transmission source of the mobile body information. Characteristic determination device. The determination device according to claim 2,
The determination apparatus according to claim 1, wherein the determination unit performs the determination based on an image of the other mobile unit captured by the imaging unit when a predetermined time has elapsed after receiving the mobile unit information. The determination device according to claim 2 or 3, wherein
The mobile body information includes identification information capable of identifying a transmission source,
The determination means, when a plurality of moving body information including the same identification information, when the light emitting unit of the same moving body emits light after a predetermined time has elapsed since receiving each moving body information Is determined to be a transmission source of a plurality of pieces of mobile body information including the same identification information. A determination method by a determination device that moves with a moving body,
A receiving step of receiving mobile body information including position information from another mobile body different from the mobile body;
A determination step of acquiring specific information for specifying the other mobile body after receiving the mobile body information, and determining that the other mobile body is a transmission source of the mobile body information;
The determination method characterized by including. A computer included in the determination apparatus that moves together with the moving body,
Receiving means for receiving mobile body information including position information from another mobile body different from the mobile body;
Determining means for acquiring the specific information for specifying the other mobile body after receiving the mobile body information, and determining that the other mobile body is a transmission source of the mobile body information;
A judgment program characterized by functioning as