JP2018045732A - Moving body identification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To identify whether the other vehicle located in the vicinity of an own vehicle is a vehicle which has transmitted which vehicle information.SOLUTION: An own vehicle A receives vehicle transmission information from the other vehicles. Among many pieces of received vehicle transmission information, on the basis of GPS measurement information included in them, a moving body identification device extracts only pieces of vehicle transmission information of neighboring vehicles existing in a predetermined distance range around a current location of the vehicle A. Further, the device collates captured images taken by an on-vehicle camera 17 of the own vehicle A with external images of the other vehicles as pieces of vehicle identification information included in the received pieces of vehicle transmission information. Thus, from among the pieces of extracted vehicle transmission information of the neighboring vehicles, the device identifies respective pieces of vehicle transmission information of neighboring vehicles B, C and D which especially have direct relevance to travel environment of the vehicle A and locate in relative positions of a front, a rear and a diagonally right rear of the vehicle A.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a mobile object identification device that performs identification between vehicles using inter-vehicle communication.

  In recent years, development and maintenance of an intelligent transportation system using information communication has been promoted in order to improve the safety of traveling of vehicles such as automobiles. As one form, a vehicle-to-vehicle cooperation system using vehicle-to-vehicle communication that does not require a large-scale infrastructure has been proposed. This inter-vehicle communication is communication for directly exchanging vehicle information between vehicles, and wireless communication is mainly assumed.

  On the other hand, for example, Patent Document 1 calculates the relative positional relationship between the two vehicles based on the current position of the other vehicle and the current position of the host vehicle received using inter-vehicle communication. A technique is described in which a collision determination is made based on information such as the positional relationship and the driving skills of both drivers. Examples of means for detecting the current position of each vehicle include a GPS receiver and a gyro converter.

JP 2004-164315 A

  However, although the above-described positioning technology using GPS and gyro has improved in recent years, it is still accurate enough to accurately detect the lane distinction and the vehicle's front-rear relationship due to the influence of multipath. It is not done. For this reason, when the receiving device of the own vehicle receives vehicle information transmitted from a plurality of other vehicles traveling in parallel lanes or oncoming lanes at a time, in which direction each vehicle information is viewed from the own vehicle. It is difficult to accurately identify whether the transmission is from a vehicle located. Therefore, there has been a demand for a technique that can identify which vehicle information is transmitted from at least another vehicle located in the vicinity of the host vehicle.

  The problem to be solved by the present invention includes the above-described problem as an example.

  In order to solve the above-mentioned problem, the invention according to claim 1 is transmitted from a second moving body different from the first moving body on which the moving body identifying device is mounted, and the second moving body is moved in a predetermined direction. Receiving means for receiving mobile body transmission information including an appearance image viewed from the above, imaging means for acquiring a picked-up image obtained by picking up a third moving body from the first moving body in a plurality of predetermined directions, and Identification means for identifying the mobile body that has transmitted the mobile body transmission information based on the appearance image and the captured image.

It is an example of the top view which shows the structural example of the vehicle carrying the vehicle identification system of embodiment provided with the moving body identification device of this invention. It is an example of the block diagram which shows the hardware structural example of the vehicle identification system of embodiment. It is an example of the figure showing the content of the information contained in vehicle transmission information. It is a figure showing an example of the content of vehicle identification information. It is an example of the figure which assumes the case where the own vehicle is drive | working on the road of one side 2 lanes. 6 shows an example of a latest vehicle information management table that records and manages vehicle transmission information received by the host vehicle in the traveling environment of FIG. 5 and vehicle information of the host vehicle. The example of the display of the display which alert | reports the change of driving environment to the driver | operator of the own vehicle is shown. It is a flowchart showing the control content which CPU of a vehicle identification unit performs. It is a flowchart showing the detailed procedure of step S100 in FIG. It is an example of the figure showing the content of the information contained in vehicle transmission information in a modification. An example of a vehicle-specific vehicle information management table that records and manages only vehicle transmission information received from a specific neighboring vehicle is shown.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is an example of a plan view showing a configuration example of a vehicle on which a vehicle identification system according to this embodiment equipped with a moving body identification apparatus according to the present invention is mounted.

  In FIG. 1, a vehicle identification system 100 is provided on the rear surface of a rearview mirror (room mirror) 101 in the host vehicle A corresponding to a first moving body, and behind the host vehicle A. The rear camera 2 and the right rear camera 3 provided on the right door mirror 102 have three in-vehicle cameras 17. The imaging direction of each vehicle-mounted camera 17 is fixed, the front camera 1 shows a landscape in front of the front of the host vehicle A, the back camera 2 shows a landscape in the rear of the host vehicle A, and a diagonally right rear camera 3. Can image the landscape of the vehicle A diagonally right behind. Here, each camera is a separate camera, but a movable camera or an all-around camera capable of shooting in a required direction may be used. In addition, the vehicle identification system 100 includes a wireless communication antenna 13 for performing inter-vehicle communication with other vehicles (corresponding to one or a plurality of moving objects) located around the host vehicle A.

  FIG. 2 is an example of a block diagram illustrating a hardware configuration example of the vehicle identification system 100. In FIG. 2, the vehicle identification system 100 includes a vehicle identification unit 11, a display 12, a wireless communication antenna 13, a vehicle speed sensor 14, a brake switch 15, a blinker switch 16, an in-vehicle camera 17, and a GPS 18.

  The vehicle identification unit 11 includes a CPU 21, a storage device 22, a graphic controller 23, and a wireless communication control unit 24.

  The CPU 21 has a function of controlling the entire navigation apparatus by performing various calculations according to the operation of a predetermined program and exchanging information with other units and outputting various control instructions.

  The storage device 22 includes a ROM 22a, a RAM 22b, and a storage medium 22c. The ROM 22a is an information storage medium in which various processing programs and other necessary information are written in advance. The RAM 22b is an information storage medium on which information necessary for executing the various programs is written and read. The storage medium 22c is a non-volatile information storage medium such as a flash memory or a hard disk.

  The graphic controller 23 has a function of acquiring image data from a video RAM (not shown) and the GPS 18 under the control of the CPU 21 and displaying an image signal based on the image data on the display 12.

  The wireless communication control unit 24 has a function of controlling transmission / reception of information with other vehicles by inter-vehicle communication by wireless communication via the wireless communication antenna 13.

  The display 12 corresponds to notification means, and is composed of, for example, an LCD panel, and has a function of displaying various information images based on image signals input from the graphic controller 23 of the vehicle identification unit 11.

  As shown in FIG. 1, the wireless communication antenna 13 is attached outside the vehicle A and transmits an information signal input from the wireless communication control unit 24 and a wireless communication control unit 24 for an information signal received from another vehicle. It has a function to output to.

  The vehicle speed sensor 14 corresponds to state information detection means, and the CPU 21 having a function of detecting the traveling speed and acceleration, the traveling direction and the turning direction of the host vehicle A determines the traveling speed based on the detection signal of the vehicle speed sensor 14. It is possible to recognize whether the vehicle is traveling, how much acceleration or deceleration is occurring, in which direction it is traveling, and in which direction it is steered.

  The brake switch 15 corresponds to a state information detection means, and whether or not the brake of the host vehicle A is depressed and enters an operating state, that is, whether or not the host vehicle A is in a state of being decelerated by a braking operation. It has a function to detect.

  The blinker switch 16 corresponds to state information detection means, and has a function of detecting the presence or absence of either the right direction or the left direction of the own vehicle A.

  Each in-vehicle camera 17 corresponds to a detection unit and an imaging unit, for example, using a CCD imaging device or the like to capture a landscape image in each imaging direction from the host vehicle A described above, and a corresponding image signal is transmitted to the vehicle identification unit. It has the function to output to CPU21.

  The GPS 18 corresponds to positioning information detection means, measures the current location of the host vehicle A, acquires current position information expressed in latitude and longitude, and performs predetermined route search and route based on map information stored in advance. Has the function of performing guidance. Note that the travel speed, acceleration, travel direction, and steering direction detected by the vehicle speed sensor 14 are not directly detected by the vehicle speed sensor 14, but the current position information acquired by the GPS 18 for any one of them. You may calculate from a time change. Alternatively, as described later, on the other vehicle side that has received the vehicle transmission information transmitted by the host vehicle A in time series, the travel speed, acceleration, and the like of the host vehicle A from the time change of the GPS positioning information included in the vehicle transmission information. The traveling direction and the turning direction may be calculated.

  The vehicle recognition system 100 according to the present embodiment transmits vehicle transmission information including identification information of the own vehicle A and information related to the running state to other vehicles existing within the communicable range of the wireless communication antenna 13. FIG. 3 is an example of a diagram showing the contents of information included in the vehicle transmission information. In the example of this embodiment shown in FIG. 3, the vehicle transmission information corresponds to mobile body transmission information, and includes GPS positioning information, vehicle identification information, and vehicle state information.

  The GPS positioning information corresponds to the first positioning information, and is the current position information of the host vehicle A detected by the GPS 18, and in this example is coordinate information represented by latitude and longitude.

  The vehicle identification information corresponds to the moving body identification information, and is information that can be used to identify the own vehicle A by showing characteristics obtained when the own vehicle A is detected from a predetermined direction. In the example of the present embodiment, the vehicle identification information includes a vehicle rear image, a vehicle front image, and a vehicle left oblique front image. This vehicle identification information will be described in detail later with reference to FIG.

  The vehicle state information corresponds to the first state information, and is information related to the current traveling state of the host vehicle A. In this example, the vehicle speed detected by the vehicle speed sensor 14 and the brake detected by the brake switch 15 are used. The presence / absence of an operation and the presence / absence of a blinker operation detected by the blinker switch 16 are included.

  FIG. 4 shows an example of the contents of the vehicle identification information. As described above, the vehicle identification information includes the vehicle rear image, the vehicle front image, and the vehicle left oblique front image.

  The vehicle rear image is an image obtained by capturing an appearance of the rear side of the host vehicle A in advance. In other words, this is almost the same as the image obtained when the vehicle ahead of the host vehicle A is taken as the predetermined direction and the subsequent vehicle immediately after the host vehicle A images the host vehicle A when viewed from the front (predetermined direction). Same image information. This vehicle rear image needs to represent the characteristics of the own vehicle A to the extent that the succeeding vehicle that has received the vehicle can use it to identify the own vehicle A located in front of it. For example, characters drawn on the vehicle body such as vehicle type, color, vehicle width, vehicle height, or company name, or registered license plate are useful because they are unique identification information that can be specified in the country. Although the image information is used here, even if it is not the image information itself, the visual information obtained when the succeeding vehicle immediately after the own vehicle A captures the own vehicle A when viewed from the front (predetermined direction). Information that can be acquired from (image processing of an image) may be indicated. For example, numerical information or code indicating vehicle type, color, vehicle width, vehicle height information, characters drawn on the vehicle body such as company name, or character information indicating registered license plate information (for example, text information) It may be.

  The vehicle front image is an image obtained by capturing an appearance of the front side of the host vehicle A in advance. In other words, this is substantially the same as the image obtained when the preceding vehicle immediately before the host vehicle A images the host vehicle A when viewed from the rear (predetermined direction) with the rear of the host vehicle A in the traveling direction as the predetermined direction. Image information.

  The vehicle left oblique front image is an image obtained by capturing an appearance of the vehicle A on the left oblique front side in advance. In other words, with the predetermined right direction being the right rear side of the traveling direction of the host vehicle A, another vehicle traveling slightly forward in the driving lane on the left side of the host vehicle A is viewed from the right rear side (predetermined direction). The image information is almost the same as the image obtained when the host vehicle A is imaged.

  Note that the vehicle rear image, the vehicle front image, and the vehicle left oblique front image described above correspond to an appearance image of the second moving body viewed from a predetermined direction.

  The vehicle identification system 100 according to the present embodiment broadcasts the vehicle transmission information having the above contents to all the vehicles existing within the wireless communication range. In addition, it continues to transmit at a predetermined short time interval so that the change of the vehicle state information can be transmitted in real time. The receiving side receives a plurality of continuous vehicle transmission information from the same vehicle, so that the subsequent (next) traveling position and vehicle state of the vehicle can be estimated. Specifically, it is possible to estimate the acceleration, the moving direction, and how many seconds later the position will be reached.

  In this embodiment, all the vehicles are equipped with the same vehicle identification system 100 as described above, and the vehicle transmission information including the corresponding vehicle identification information is broadcast all at once. It is assumed. In such an inter-vehicle communication environment, the vehicle identification system 100 mounted on the host vehicle A transmits the vehicle transmission information of the host vehicle A described above, and all the radio communication antennas 13 within the wireless communication range. The vehicle transmission information (equivalent to mobile body transmission information) of the vehicle is received. Then, by comparing the received vehicle state information of the other vehicle (corresponding to the second moving body) and the vehicle state information of the host vehicle A, there is a risk of collision, restriction of the traveling operation, release thereof, etc. Determine changes in driving environment.

  Here, for example, it is assumed that the host vehicle A is traveling on a two-lane road on one side as shown in FIG. In the inter-vehicle communication described above, the wireless communicable range 31 extends from several tens of meters to several hundreds of meters. Therefore, not only parallel vehicles traveling in parallel lanes but also vehicles from many other vehicles including oncoming vehicles traveling in oncoming lanes. Receive outgoing information. In order to determine the change of the traveling environment around the host vehicle A described above, the vehicles B, C, and the like located in the vicinity of the front, the rear, the side, etc. of the host vehicle A from among a lot of received vehicle transmission information. It is necessary to specify the vehicle transmission information transmitted from D. However, the GPS positioning information has a rough accuracy enough to recognize the presence of the vehicle A around the vehicle A, but it can detect the lane distinction and the vehicle's front and rear relations strictly from the influence of the multipath environment. Cannot be expected.

  Therefore, in the vehicle identification system 100 of the present embodiment, the surroundings that exist within a predetermined distance range centered on the current position of the host vehicle A based on the GPS positioning information included in the received vehicle transmission information. Narrow down only the vehicle transmission information of the vehicle. In addition, the range which narrows down this surrounding vehicle is called the surrounding vehicle extraction range 32 below, and considers the error contained in GPS positioning information, and is set a little larger. Furthermore, the captured image captured by the in-vehicle camera 17 of the host vehicle A is collated with each image of the vehicle identification information included in the received vehicle transmission information. As a result, the neighboring vehicles B, C, and D located at the relative positions of the front, rear, and right diagonally rear sides that are directly related to the traveling environment of the host vehicle A from among the narrowed vehicle transmission information of the surrounding vehicles. Vehicle transmission information is identified.

  FIG. 6 shows the latest vehicle transmission information that the host vehicle A in the traveling environment of FIG. 5 has received most recently from all other vehicles within the wireless communicable range 31 and the vehicle information of the host vehicle A. An example of the latest vehicle information management table for recording and managing the above is shown. In this FIG. 6, the latest vehicle information management table is No. indicating the reception order. , GPS positioning information, vehicle identification information match determination, relative position, and vehicle status information. The item of GPS positioning information is “No. GPS positioning information included in the vehicle transmission information corresponding to is recorded, and in this example, it is represented by latitude and longitude as described above. The vehicle identification information coincidence determination item is that the vehicle rear image, the vehicle front image, and the vehicle left oblique front image of the vehicle identification information described above are the front camera 1, the back camera 2, and the right oblique rear camera 3 of the own vehicle A, respectively. Is recorded in the collation with the front captured image, the rear captured image, and the right diagonally rear captured image captured. The item of relative position indicates whether the corresponding vehicle transmission information is transmitted from another vehicle at which relative position of the own vehicle A based on the result of the vehicle identification information coincidence determination. The item of vehicle state information is No. In this example, the vehicle speed, the presence / absence of brake operation, and the presence / absence of blinker operation are recorded as described above.

  After creating this latest vehicle information management table, the vehicle identification unit 11 of the present embodiment creates GPS positioning information (corresponding to the first positioning information) of the own vehicle A and GPS positioning information (second positioning information) of the other vehicle. The vehicle transmission information of surrounding vehicles that are estimated to exist within the predetermined distance range of the own vehicle A, that is, the surrounding vehicle extraction range 32 is extracted. In the example shown in the figure, what is estimated as vehicle transmission information of surrounding vehicles is shown surrounded by a double frame.

  Next, the three vehicle images of the vehicle identification information included in the vehicle transmission information of the surrounding vehicles and the images captured by the three in-vehicle cameras 17 of the host vehicle A are collated with each other in the corresponding directions. By this collation, it is determined whether or not the vehicle characteristics (corresponding to the characteristic information) obtained from each captured image match those of each vehicle image in the vehicle identification information, and neighboring vehicles B, C, D (third moving body) Is equivalent). This collation may be performed using a known so-called image recognition processing technique, and detailed description thereof is omitted here. For example, if the vehicle front image and the front captured image match, the corresponding vehicle transmission information is regarded as being transmitted from another vehicle located in front of the host vehicle A, and the relative position item is Record “forward”. In the illustrated example, the information specified as the vehicle transmission information of the neighboring vehicle is indicated by a shaded display.

  Next, the vehicle state information (corresponding to the moving body state information) included in the vehicle transmission information of these neighboring vehicles is compared with the vehicle state information of the host vehicle A (corresponding to the first state information), and A change in the traveling environment of the host vehicle A is determined in consideration of the relative position. For example, as shown in FIG. 5, it is assumed that the other vehicle D located diagonally right behind the host vehicle A accelerates to pass the host vehicle A. In this case, as shown in FIG. = 5 The vehicle speed of the vehicle transmission information (53 km / h in the illustrated example) is faster than the vehicle speed of the own vehicle A (46 km / h in the illustrated example), that is, diagonally right behind the own vehicle A It can be seen that the relative speed of the other vehicle D located is accelerated. In this case, it is determined that the host vehicle A has changed to a driving environment in which the lane change to the right lane is restricted, and for example, as shown in FIG.

  In this way, the vehicle identification system 100 according to the present embodiment identifies information transmitted from a neighboring vehicle located in a predetermined direction of the host vehicle A from among the vehicle transmission information received from a number of other vehicles. A change in driving environment can be automatically determined based on vehicle state information of neighboring vehicles.

  FIG. 8 is an example of a flowchart showing control contents executed by the CPU 21 of the vehicle identification unit 11 in order to realize the operation mode described above. This flow is called and started to be executed, for example, at an appropriate time interval while the vehicle identification system 100 is powered on.

  In FIG. 8, first, in step S5, the current position of the host vehicle A is measured by the GPS 18 to obtain current position information, which is detected as GPS positioning information.

  Next, the process proceeds to step S10, where the vehicle speed, the brake switch 15 and the winker switch 16 are detected from the vehicle speed sensor 14, the brake switch 15 and the winker switch 16, respectively, and the vehicle state information of the host vehicle A is collectively collected. Detect as.

  Next, the process proceeds to step S15, where the vehicle positioning information and the vehicle state information detected in steps S5 and S10 as well as the vehicle identification information of the vehicle A stored in the storage medium 22c and the like are also included. The information is transmitted from the wireless communication antenna 13. Note that the procedure of step S15 corresponds to a transmission unit.

  Next, the process proceeds to step S20, and on the contrary, all the vehicle transmission information transmitted from the other vehicles existing in the wireless communicable range 31 is received via the wireless communication antenna 13. The procedure of step S20 corresponds to a receiving unit.

  Next, the process proceeds to step S25, and the latest vehicle information management shown in FIG. 6 is performed based on the vehicle transmission information of the own vehicle A transmitted in step S15 and the vehicle transmission information of all other vehicles received in step S20. Create a table.

  Next, the process proceeds to step S30, where the GPS positioning information of the own vehicle A and other vehicles recorded in the latest vehicle information management table is compared, and it is estimated that the vehicle exists within the surrounding vehicle extraction range 32 centered on the own vehicle A. Only the vehicle transmission information of the surrounding vehicles (double frame display in FIG. 6) is extracted. Note that the procedure of step S30 corresponds to an extracting unit.

  Next, the process proceeds to step S100, where each vehicle image of the vehicle identification information of the other vehicle and the captured image captured by each in-vehicle camera 17 of the host vehicle A are collated, so that the vehicles of the surrounding vehicles extracted in step S30 above. Neighboring vehicle identification processing is performed for identifying which of the transmission information is transmitted from which neighboring vehicle at which relative position (see FIG. 9 described later). The procedure of step S100 corresponds to an identification unit.

  Next, the process proceeds to step S35, where the vehicle status information of the neighboring vehicle identified in step S100 and the own vehicle A is compared, and it is determined whether or not the traveling environment of the own vehicle A has changed in consideration of the relative position. . The procedure of step S35 corresponds to a determination unit.

  Next, the process proceeds to step S40, and it is determined whether the determination result in step S35 is so important that it is necessary to notify the user. If notification is not necessary, the determination is not satisfied, and the process returns to step S5 and the same procedure is repeated.

  On the other hand, if notification is necessary, the determination is satisfied, and the routine goes to Step S45.

  In step S45, the change in the driving environment determined in step S35 is notified by display on the display 12, sound generation through a speaker (not shown) or the like. And it returns to step S5 and repeats the same procedure.

  FIG. 9 is an example of a flowchart showing details of the control content performed in the neighboring vehicle identification process of step S100.

  In FIG. 9, first, in step S105, the front camera 1 captures a front captured image, the back camera 2 captures a rear captured image, and the right oblique rear camera 3 captures a right oblique rear captured image.

  Next, the process proceeds to step S110, where the vehicle rear image of the vehicle identification information included in the vehicle transmission information of all surrounding vehicles extracted in step S30 is collated with the front captured image captured in step S105. Specifically, feature information is detected from each of the vehicle rear image and the front captured image, and the extent to which they match is collated.

  Next, the process proceeds to step S115, and it is determined whether or not there is a vehicle rear image whose characteristics match those of the front captured image in the collation in step S110. If there is no vehicle rear image that matches the front captured image, the determination is not satisfied, and the routine goes to Step S125. In this case, it is considered that there is no other vehicle ahead of the host vehicle A.

  On the other hand, if there is a vehicle rear image that matches the front captured image, the determination is satisfied, and the routine goes to Step S120.

  In step S120, the vehicle transmission information including the matched vehicle rear image is registered as corresponding to the preceding vehicle. Specifically, in the latest vehicle information management table of FIG. 6 described above, a code corresponding to “front” is recorded in the item of relative position of the vehicle transmission information (shaded display in FIG. 6).

  Next, the process proceeds to step S125, where the vehicle front image of the vehicle identification information included in the vehicle transmission information of all surrounding vehicles extracted in step S30 is compared with the rear captured image captured in step S105.

  Next, the process proceeds to step S130, and it is determined whether or not there is a vehicle front image whose characteristics match the rear captured image in the collation in step S125. If there is no vehicle front image that matches the rear captured image, the determination is not satisfied, and the routine goes to Step S140. In this case, it is considered that there is no other vehicle behind the host vehicle A.

  On the other hand, if there is a vehicle front image that matches the rear captured image, the determination is satisfied, and the routine goes to Step S135.

  In step S135, the vehicle transmission information including the matched vehicle front image is registered as corresponding to the rear vehicle. Specifically, in the latest vehicle information management table of FIG. 6 described above, a code corresponding to “rear” is recorded in the item of relative position of the vehicle transmission information (shaded display in FIG. 6).

  Next, the process proceeds to step S140, and the vehicle left oblique front image of the vehicle identification information included in the vehicle transmission information of all surrounding vehicles extracted in step S30 is compared with the right oblique rear captured image captured in step S105. .

  Next, the process proceeds to step S145, and it is determined whether or not there is a vehicle left diagonal front image whose characteristics match the right diagonal rear captured image in the collation in step S140. If there is no vehicle left diagonal front image that matches the right diagonal rear captured image, the determination is not satisfied, and this flow ends. In this case, it is considered that there is no other vehicle diagonally right behind the host vehicle A.

  On the other hand, if there is a vehicle left diagonal front image that matches the right diagonal rear captured image, the determination is satisfied, and the routine goes to Step S150.

  In step S150, the vehicle transmission information including the matched vehicle left oblique front image is registered as corresponding to the right oblique rear vehicle. Specifically, in the latest vehicle information management table of FIG. 6 described above, a code corresponding to “diagonally to the right” is recorded in the item of relative position of the vehicle transmission information (shaded display in FIG. 6). Then, this flow ends.

  As described above, the vehicle identification system 100 is a vehicle identification system 100 (corresponding to a mobile object identification device) that identifies a vehicle (corresponding to a mobile object), and the vehicle identification system 100 is mounted. Other vehicles (corresponding to the second moving body) included in the one or more vehicles that are transmitted from one or a plurality of vehicles different from the own vehicle A (corresponding to the first moving body), respectively. Step S20 of receiving vehicle transmission information (corresponding to mobile body transmission information) including vehicle identification information (corresponding to mobile body identification information) that is a characteristic obtained by detection from a predetermined direction and can be used for identification of the other vehicle. Detects characteristic information that can be used to identify a procedure (corresponding to receiving means) and a neighboring vehicle (corresponding to a third moving body) included in the one or more vehicles from the own vehicle A toward the predetermined direction. Car When the camera 17 (corresponding to the detecting means) matches the vehicle identification information received in the step S20 and the feature information detected by the in-vehicle camera 17, the vehicle A sends the predetermined information. The procedure of Step S100 (corresponding to the identification means) for identifying that the neighboring vehicle located in the direction is the other vehicle that has transmitted the vehicle transmission information including the vehicle identification information.

  If it does in this way, the own vehicle A will receive vehicle transmission information from many other vehicles which exist in the radio | wireless communicable range 31, respectively. When the vehicle identification information included in each of the vehicle transmission information matches the feature information of the other vehicle detected by the in-vehicle camera 17 from the own vehicle A toward the predetermined direction, the vehicle identification information is included. It can be specified that the vehicle transmission information is transmitted by the neighboring vehicle. In other words, it is possible to identify which vehicle transmission information is transmitted from the neighboring vehicle located in the predetermined direction. Thereby, by referring to other information included in the vehicle transmission information, it is possible to know various states relating to the neighboring vehicle quickly and in detail other than by visual observation, and it can be used to support driving safety and comfort. . It is transmitted from another vehicle (corresponding to the second moving body) different from the own vehicle A (corresponding to the first moving body) on which the vehicle identification system 100 (corresponding to the moving body identifying device) is mounted. The procedure of step S20 (corresponding to receiving means) for receiving vehicle transmission information (corresponding to mobile body transmission information) including an appearance image viewed from a predetermined direction, and neighboring vehicles (corresponding to receiving means) from the own vehicle A toward a plurality of predetermined directions ( A vehicle-mounted camera 17 (corresponding to an imaging unit) that acquires a captured image obtained by capturing a captured image obtained by capturing a third moving body) and a vehicle (corresponding to the moving body) that transmits vehicle transmission information based on the appearance image and the captured image. Even in the configuration including the procedure of identifying step S100 (corresponding to the identifying means), the transmission source in the vehicle transmission direction can be identified based on the appearance image and the captured image. Further, in this case, a plurality of in-vehicle cameras 17 can be imaged in a plurality of predetermined directions by being provided in a plurality corresponding to different imaging directions around the host vehicle A, respectively. Further, in this case, when the appearance image and the captured image are matched in the procedure of step S100, the vehicle that has transmitted the vehicle transmission information is identified, whereby the vehicle is identified by the match between the appearance image and the captured image. it can. In this case, the predetermined direction of the in-vehicle camera 17 is determined by identifying that the neighboring vehicle located in the predetermined direction acquired by the in-vehicle camera 17 is another vehicle that has transmitted the vehicle transmission information in the procedure of step S100. It is possible to identify the transmission source of the vehicle transmission information.

  In addition, for example, there is a method in which a front vehicle located immediately before the host vehicle A transmits a front captured image of the host vehicle A captured by the back camera 2 attached to the vehicle transmission information. In this case, when the own vehicle A that has received the information can recognize that the attached forward captured image is an image of the front part of the own vehicle A, the vehicle transmission information to which the forward captured image is attached is That is, it can be specified that the signal is transmitted from the vehicle ahead. As described above, a technique of transmitting vehicle transmission information with images captured between neighboring vehicles and presenting the relative position of the own vehicle A with respect to the other vehicle is also useful.

  In the vehicle identification system 100, the vehicle transmission information includes GPS positioning information (corresponding to second positioning information) indicating the current position of the other vehicle that transmits the vehicle transmission information. Has a GPS 18 (corresponding to positioning information detecting means) for detecting GPS positioning information (corresponding to the first positioning information) relating to the current position of the host vehicle A.

  If it does in this way, the arrangement relation between self-vehicles A and other vehicles can be recognized roughly.

  Further, in the vehicle identification system 100, the current position indicated by the GPS positioning information included in the vehicle transmission information received in the procedure of Step S20 is the vehicle A detected by the GPS 18. Step S30 for extracting only vehicle transmission information located in the surrounding vehicle extraction range 32 (corresponding to a predetermined distance range) from the current position indicated by the GPS positioning information (corresponding to extraction means), and the step S100 This procedure is collated with the feature information detected by the in-vehicle camera 17 only for the vehicle identification information of the vehicle transmission information extracted in the procedure of step S30.

  In this way, even when the wireless communicable range 31 of the own vehicle A is set widely for inter-vehicle communication, the surrounding vehicle extraction range 32 of the own vehicle A is selected from a lot of vehicle transmission information received therefrom. Only vehicle transmission information corresponding to surrounding vehicles that can be located and can be candidates for identification of neighboring vehicles can be extracted. Thereby, in the neighboring vehicle identification process in step S100, the number of objects to be collated using the image recognition process with a large processing load can be reduced, so that the processing efficiency of the entire vehicle identification process can be improved.

  When the vehicle transmission information includes a vehicle ID (for example, an identification ID such as registered vehicle number information) that can identify the individual vehicle, the vehicle transmission including the same vehicle ID after the neighboring vehicle is identified once. By extracting only the information, more rapid processing is possible. When it is detected that the neighboring vehicle has changed at an intersection or the like, the identification of the neighboring vehicle may be started again from the beginning.

  In the vehicle identification system 100, the vehicle transmission information includes vehicle state information (corresponding to second state information) indicating a traveling state of the other vehicle that transmits the vehicle transmission information. Includes a vehicle speed sensor 14 for detecting vehicle state information (corresponding to first state information) relating to the traveling state of the host vehicle A, a brake switch 15 and a blinker switch 16 (corresponding to state information detecting means), and the vehicle speed sensor 14. The vehicle state information of the own vehicle A detected by the brake switch 15 and the blinker switch 16, the vehicle state information of the neighboring vehicle received in the step S20, and the neighboring vehicle identified in the step S100 are The procedure of step S35 for determining a change in the traveling environment of the host vehicle A based on the predetermined direction that is located (in the determination means) Having a person), a display 12 for notifying the judgment result of the step S35 (corresponding to the notification unit), a.

  In this way, the user, particularly the driver, can automatically know changes in the driving environment in each direction other than the traveling direction, even when the traveling direction of the host vehicle A is mainly visually observed. For example, in addition to the situation shown in FIG. 5 described above, if the relative speed is high when the vehicle speeds of the own vehicle A and the following vehicle are compared, the occurrence of the possibility that the own vehicle A will collide with the following vehicle This can be determined as an environmental change, and this can be automatically notified to the user or the driver. The change in the driving environment is not only the possibility of such contact between the vehicles, but also, for example, the lane change to the parallel lane is caused by the deceleration of another vehicle that has been running in parallel in the parallel lane until then. It also includes cancellation of travel restrictions such as making it possible.

  Further, the vehicle identification system 100 includes an in-vehicle camera 17 that captures an appearance image of a neighboring vehicle from the own vehicle A toward the predetermined direction, and the vicinity is obtained by image recognition processing from the appearance image captured by the in-vehicle camera 17. Detects vehicle feature information.

  In this way, detailed feature information such as the vehicle type, color, vehicle width, vehicle height, characters and figures drawn on the vehicle body, and registered vehicle number can be detected, and the identification accuracy can be improved. In the present invention, the vehicle width is not limited to the in-vehicle camera 17, and the vehicle width, the vehicle height, and the like may be detected as the feature information using, for example, sonar or radar.

  In the vehicle identification system 100, the vehicle identification information is an appearance image of the other vehicle as viewed from the predetermined direction. In the procedure of step S100, the in-vehicle camera 17 captures the neighboring vehicle. The feature information detected from the image is collated with the appearance image of the vehicle identification information received in the step S20.

  In this way, since the feature information of both the appearance image and the captured image of the vehicle identification information can be detected specifically and in detail, the identification accuracy can be improved.

  In addition to the appearance image, the vehicle identification information may include feature information itself as abstract information such as codes and numerical values. In this case, since the image identification process for the vehicle identification information can be omitted, the load on the entire process can be reduced.

  Further, as the vehicle identification information, information regarding the behavior of the vehicle may be configured as the feature information. For example, with respect to the feature information that “the brake is now applied”, a vehicle whose brake lamp is lit at the same timing by the camera of the own vehicle A may be identified as the vehicle.

  The vehicle identification system 100 is a vehicle identification system 100 that is mounted on a vehicle (corresponding to a moving body) and transmits information, and the host vehicle A (first movement) on which the vehicle identification system 100 is mounted. Vehicle transmission information (corresponding to mobile body transmission information) including vehicle identification information (corresponding to mobile body identification information) that can be used for identification of own vehicle A. The procedure of step S15 (corresponding to a transmission means) is transmitted.

  In this way, since the vehicle transmission information is transmitted also from the own vehicle A, it is possible to mutually specify the vehicle transmission information and identify the vehicle from the neighboring vehicles viewed from the own vehicle A.

  The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and technical idea of the present invention.

(1) When correcting GPS positioning information received from other vehicles As described above, strict accuracy cannot be expected from GPS positioning information detected by all vehicles including the host vehicle A, and there is a difference in degree. Each thing is considered to contain some errors. For this reason, the GPS positioning information cannot be used as it is for determining the possibility of contact between the host vehicle A and a neighboring vehicle. Therefore, for example, when a neighboring vehicle is imaged by the in-vehicle camera 17 in the above-described neighboring vehicle identification process, the relative positional relationship with each own vehicle A is accurately detected simultaneously by image processing and the detected positional relationship. The GPS positioning information corresponding to each neighboring vehicle that has been subjected to the neighboring vehicle identification process described above may be corrected. The GPS positioning information of the neighboring vehicle corrected in this way is corrected by reflecting the relative positional relationship described above based on the positioning information of the own vehicle A acquired by the GPS 18 of the own vehicle A. The own vehicle A can accurately determine the possibility of contact between the own vehicle A and each neighboring vehicle based on the corrected GPS positioning information of the neighboring vehicle and the positioning information of the own vehicle A.

  In this case, for example, as shown in FIG. 10 corresponding to FIG. 3, vehicle ID information is added to the vehicle transmission information. The vehicle ID is information that can uniquely identify an individual vehicle that transmits the vehicle transmission information, and a registration number is used in this modification.

  In addition to the latest vehicle information management table of FIG. 6, a vehicle-specific vehicle information management table as shown in FIG. 11 as an example may be created. This vehicle-specific vehicle information management table is a table that manages all vehicle transmission information received from the same other vehicle up to that point, that is, vehicle transmission information including the same vehicle ID, in a time series. The vehicle-specific vehicle information management table in the example shown in FIG. 2 shows a summary of vehicle transmission information transmitted from two preceding vehicles (neighboring vehicle B in FIG. 5). In addition to this, the same applies to at least other vehicles including each neighboring vehicle. A vehicle-specific vehicle information management table is created (not shown).

  In FIG. 11, the vehicle-specific vehicle information management table includes items of vehicle ID, reception order, GPS positioning information as received, relative position, inter-vehicle distance, corrected positioning information, and vehicle state information. ing. In the vehicle state information, only the vehicle speed is shown, and the information about the operation of other brakes and winkers is not shown. Among these items, the inter-vehicle distance item is the inter-vehicle distance between the vehicle A and the vehicle A detected by image processing when the on-vehicle camera 17 (corresponding to the relative arrangement detection means; in this case, the front camera 1) images the front neighboring vehicle B. The distance (corresponding to the relative arrangement relationship) is recorded. By creating such a vehicle-specific vehicle information management table, the host vehicle A can detect the acceleration / deceleration, traveling direction, and turning direction of the corresponding other vehicle.

  In this modification, based on the positioning information of the own vehicle A acquired by the GPS 18 of the own vehicle A (see the GPS positioning information of the own vehicle in FIG. 6) and the above-mentioned inter-vehicle distance, the GPS positioning of the neighboring vehicle B Correct the information. The processing procedure for performing this correction corresponds to the correcting means. At this time, the correction may be made more accurately in consideration of the traveling direction of the host vehicle acquired by the GPS 18 of the host vehicle A and the relative position, and the vehicle width direction shift of the neighboring vehicle B may be further performed in the image processing. May also be detected and added to the correction. In addition to detection by imaging with the in-vehicle camera 17 and image processing, the inter-vehicle distance or the like may be detected by a separately provided radar or sonar.

  Each time vehicle transmission information is received from the neighboring vehicle B, such GPS positioning information is corrected and recorded in the item of corrected positioning information in the vehicle-specific vehicle information management table. Then, by comparing the positioning information of the own vehicle A and the corrected positioning information of the other vehicle, it is possible to accurately determine a change in the traveling environment such as contact between the two vehicles. A processing procedure for performing this determination corresponds to a determination unit.

  As described above, in the vehicle identification system 100 of the present modification, the in-vehicle camera 17 (directly detecting the inter-vehicle distance (corresponding to the relative arrangement relationship) of the neighboring vehicle with respect to the host vehicle A identified in the procedure of Step S100 ( Received from the neighboring vehicle based on the GPS positioning information of the host vehicle A detected by the GPS 18 (corresponding to the first positioning information) and the inter-vehicle distance detected by the in-vehicle camera 17. A processing procedure for correcting the GPS positioning information (second positioning information) included in the vehicle transmission information based on the GPS positioning information of the host vehicle A is executed.

  In this way, in order to correct the GPS positioning information of the neighboring vehicle on the basis of the GPS positioning information of the own vehicle A, these two GPS positioning information have a correct arrangement relationship reflecting the inter-vehicle distance detected by the in-vehicle camera 17. Show. In other words, since the GPS positioning information of the neighboring vehicle and the positioning information of the own vehicle A were originally detected by different GPSs and included errors of different modes, the modes of those errors can be unified. Thereby, the relative positional relationship between the two vehicles can be accurately detected.

  In addition to detecting the inter-vehicle distance and correcting the corresponding GPS positioning information every time vehicle transmission information is received from a neighboring vehicle, the GPS positioning information corresponding to the same neighboring vehicle (same vehicle ID) is used. On the other hand, the correction based on the first detected inter-vehicle distance may continue to be applied.

  Further, in the vehicle identification system 100 of the present modification, a change in the traveling environment of the own vehicle A is determined based on the GPS positioning information of the own vehicle A detected by the GPS 18 and the corrected GPS positioning information of the neighboring vehicle. And a display 12 (corresponding to notification means) for notifying the determination result.

  In this way, for example, changes in the traveling environment of the host vehicle A, such as the possibility of contact with a nearby vehicle, can be accurately detected and reported, reflecting the inter-vehicle distance detected by the in-vehicle camera 17.

  In addition, although the front camera 1, the back camera 2, and the right diagonal rear camera 3 were provided as the vehicle-mounted camera 17, it is not restricted to these. For example, when the host vehicle A is traveling in the overtaking lane with the left diagonal rear camera, the left diagonal rear may be imaged, and safety confirmation is required according to the traveling state and behavior state of the host vehicle A. You may provide the movable camera and omnidirectional camera which can image by direction.

  Moreover, in the said embodiment, although vehicle-to-vehicle communication which transmits / receives information directly between vehicles was assumed, this invention is not limited to this. For example, the same effect can be obtained by applying to so-called road-to-vehicle communication via infrastructure such as a base station or a server. Further, the communication means is not limited to wireless communication, and communication via optical means may be used. Further, lane identification information for identifying the lane in which the host vehicle A is traveling with the in-vehicle camera 17 may be included in the vehicle transmission information. In this case, an error in the GPS positioning information can be compensated. In addition, the present invention is not limited to a vehicle, and the present invention may be applied to a device that is equipped and carried by a motorcycle, a bicycle, a person, an animal, or the like as a moving body.

  In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

1 Front camera (equivalent to detection means, relative arrangement detection means, and imaging means)
2 Back camera (equivalent to detection means, relative arrangement detection means, and imaging means)
3 Right diagonal rear camera (corresponding to detection means, relative arrangement detection means, and imaging means)
11 Vehicle identification unit 12 Display (notification means)
13 Wireless communication antenna 14 Vehicle speed sensor (equivalent to status information detection means)
15 Brake switch (equivalent to status information detection means)
16 blinker switch (equivalent to status information detection means)
17 On-vehicle camera (corresponding to detection means, relative arrangement detection means, and imaging means)
18 GPS (Positioning information detection means)
21 CPU
22 storage device 23 graphic controller 24 wireless communication control unit 31 wireless communication possible range 32 surrounding vehicle extraction range (corresponding to predetermined distance range)
100 vehicle identification system (equivalent to a moving object identification device)
A own vehicle (equivalent to the first moving body)
B, C, D Neighboring vehicles (corresponding to the third mobile unit)

Claims (1)

Receiving means for receiving mobile body transmission information that is transmitted from a second mobile body different from the first mobile body on which the mobile body identification device is mounted and includes an appearance image of the second mobile body viewed from a predetermined direction. When,
Imaging means for acquiring a captured image obtained by imaging the third moving body in a plurality of predetermined directions from the first moving body;
Identification means for identifying the mobile body that has transmitted the mobile body transmission information based on the appearance image and the captured image;
A mobile object identification device comprising:

Images