JP4220354B2 - Other vehicle position display device and other vehicle information presentation method - Google Patents

Description

  The present invention relates to a technology for presenting information about other vehicles in the vicinity of a host vehicle.

  In the automobile, as a technique for presenting information about other vehicles around the own vehicle, a peripheral search for recognizing the position of the other vehicle around the own vehicle from a photographed image around the vehicle is performed, and wireless communication with other vehicles is performed. By exchanging the position of the other vehicle recognized by the surrounding search in each vehicle with the position of the own vehicle via communication, the position of the other vehicle is recognized in a range wider than the range that the own vehicle can recognize by the surrounding search. A technique for displaying the recognized position of another vehicle to a user is known (for example, Patent Document 1).

In addition, as a technique for recognizing the position of another vehicle around the own vehicle, a technique for recognizing another vehicle and calculating its position by combining a radar device and a camera is also known (for example, Patent Document 2).
Prior art document information relating to the invention of this application includes the following.
JP-A-11-195196 JP-A-10-187930

According to the technology for displaying the position of the other vehicle while exchanging the position of the own vehicle and the position of the other vehicle recognized by the surrounding search in each vehicle via wireless communication with the other vehicle, There is a problem that the vehicle may be recognized as a plurality of vehicles.
That is, for example, in FIG. 4a, vehicle A and vehicle B are vehicles having functions of recognizing other vehicle positions around the host vehicle and searching for the surroundings and wireless communication, and vehicle C does not have such a function. In the case of a vehicle, if there is an error between the position X of the vehicle C recognized by the surrounding search in the vehicle A and the position Y of the vehicle C recognized by the surrounding search in the vehicle B, the position of the vehicle C from the vehicle B 4A, this position is recognized as a position of a vehicle different from the vehicle C recognized by the surrounding search by the vehicle A itself, and as shown in FIG. The position display C1 and C2 of the two vehicles may be performed. Note that reference numeral 402 in FIG. 4B denotes a mark representing the position of the vehicle in the vehicle A.
Similarly, when there is an error between the position of the vehicle B received from the vehicle B and the position of the vehicle B recognized by the surrounding search in the vehicle A, the positions of the two vehicles with respect to the single vehicle B are also the same. Display may occur.

  Therefore, the present invention performs multiple recognition of other vehicles when displaying other vehicle positions while exchanging the other vehicle positions recognized by the surrounding search in each vehicle via wireless communication with the other vehicles. It is an object of the present invention to display other vehicle positions more appropriately.

  In order to achieve the above object, the present invention provides another vehicle position display device that displays the position of another vehicle, an inter-vehicle communication device that communicates with another vehicle via wireless communication, and a position of another vehicle around the host vehicle. The other vehicle position detecting means for detecting the vehicle, the other vehicle image photographing means for photographing the image of the other vehicle around the own vehicle, and the characteristics of the other vehicle around the own vehicle are extracted from the image photographed by the other vehicle image photographing means. Other vehicle information including the position of the other vehicle and the feature extracted by the other vehicle feature extraction unit for the other vehicle with respect to the other vehicle whose position is detected by the other vehicle position detecting unit. Generate and notify other vehicle information including the generated other vehicle information to other vehicles via wireless communication, and notification notified from other vehicles via the wireless communication Other vehicle information included in the other vehicle information, and other vehicle information generated by the other vehicle information generating means. For each of the sets, a set of other vehicle information consisting of a plurality of other vehicle information whose positions and features are mutually matched or approximated as a set of other vehicle information corresponding to the same other vehicle, Included in the multiple recognition exclusion means for determining the position of the other vehicle corresponding to the set based on at least one other vehicle information of the other vehicle information belonging to the set, and the notification other vehicle information notified from the other vehicle Each other vehicle information, and each position indicated by each other vehicle information whose position and characteristics included in the other vehicle information generated by the other vehicle information generation means do not match and approximate other vehicle information, Each position determined by the multiple determination means is configured to include other vehicle position presenting means for displaying the position as the position of the other vehicle.

According to such another vehicle position display device, since the vehicle searched by the surrounding search in the own vehicle and the other vehicle is identified based on the characteristics of each vehicle obtained from the image obtained by photographing each vehicle, the other vehicle This eliminates the multiple recognition of the vehicle and makes it possible to display the position of the other vehicle more appropriately.
Here, in such other vehicle position presentation device, the other vehicle feature extraction means extracts from the image taken by the other vehicle image photographing means in the feature of the other vehicle around the own vehicle. In the multiple recognition exclusion means, including the color and the size of the other car or the type as the car, the other car information included in the notice other car information notified from the other car and the other car information generating means generated A set of other vehicle information consisting of a plurality of other vehicle information in which the included position matches or is close to the other vehicle information and the included vehicle color matches the size of the other vehicle or the type of the vehicle. As a set of other vehicle information corresponding to the car, for each of the sets, the position of the other vehicle corresponding to the set is determined based on at least one other vehicle information of the other vehicle information belonging to the set. It may be.

  As described above, the combination of the color of the vehicle and the size of the other vehicle or the type of the vehicle is extracted as a feature of each vehicle and included in the other vehicle information from the image obtained by photographing each vehicle. By using it for the determination of the difference between vehicles, it is possible to eliminate multiple recognition of other vehicles with relatively good accuracy by a relatively simple feature extraction process.

  Alternatively, in the other vehicle position presenting device described above, the other vehicle feature extracting unit extracts the vehicle registration number of the other vehicle in the feature of the other vehicle around the own vehicle, which is extracted from the image captured by the other vehicle image capturing unit. In the multiple recognition exclusion means, the position included in the other vehicle information included in the notification other vehicle information notified from the other vehicle and the other vehicle information generated by the other vehicle information generation unit match or A set of other vehicle information composed of a plurality of other vehicle information that is close and includes the same vehicle registration number is set as a set of other vehicle information corresponding to the same other vehicle, and for each of the set, other vehicles belonging to the set The position of another vehicle corresponding to the set may be determined based on at least one other vehicle information of the information.

In this way, from the images taken of each vehicle, an automobile registration number that takes a unique value for each vehicle is extracted as a feature of each vehicle and included in the other company's information. By using it for the determination, it becomes possible to eliminate multiple recognition of other vehicles with higher accuracy.
In addition, as such a feature, the combination of the car registration number and the car color and the size of the other car or the type as the car is extracted, and both are used in combination, so that the other car corresponding to the other car information is different. It may be used for determination.
In the other vehicle position display device described above, any information about the other vehicle may be presented instead of the position of the other vehicle.

  As described above, according to the present invention, when the other vehicle position is displayed while exchanging the other vehicle position recognized by the surrounding search in each vehicle via wireless communication with the other vehicle, Multiple recognition can be abolished, and a more appropriate position of other vehicle can be displayed.

Hereinafter, embodiments of the present invention will be described.
FIG. 1 a shows the configuration of an in-vehicle system mounted on a car in this embodiment.
As shown in the figure, the in-vehicle system includes a navigation device 1, an inter-vehicle communication device 2 that performs wireless communication with an in-vehicle system mounted in another vehicle, and a plurality of other vehicle sensor units 3.
The navigation device 1 includes a GPS receiver 11, a vehicle state sensor 12, a road map data storage unit 13 that is a storage device such as a DVD drive or HDD that stores road map data, a current state calculation unit 14, and a route search unit. 15, a surrounding other vehicle search unit 16, a memory 17, a control unit 18, a guide image generation unit 19, an operation unit 20, and a display device 21. Here, the vehicle state sensor 12 is a sensor group that detects a vehicle state such as an azimuth sensor such as an angular acceleration sensor or a geomagnetic sensor, or a vehicle speed sensor such as a vehicle speed pulse sensor.

The other vehicle sensor unit 3 is a unit composed of a pair of a radar device 31 and a camera 32. As shown in FIG. 1b, the vehicle periphery can be scanned in the circumferential direction with respect to the horizontal direction by a plurality of radar devices 31. In addition, a plurality of cameras 32 are arranged so that a plurality of cameras 32 can capture images in the circumferential direction with respect to the horizontal direction. The camera 32 is a camera 32 that captures a color image.
Then, the surrounding other vehicle search unit 16 of the navigation device 1 recognizes other vehicles around the vehicle position from the output of each other vehicle sensor unit 3 and recognizes the position and characteristics thereof.

  In such a configuration, the current state calculation unit 14 has a current position estimated from the outputs of the vehicle state sensor 12 and the GPS receiver 11 and the vicinity of the previously determined current position read from the road map data storage unit 13. A map matching process with this map is performed, and the process of calculating the current position and the traveling direction of the vehicle is repeated.

Further, the route search unit 15 searches the route from the current position calculated by the current position calculation unit to the destination designated by the user via the operation unit 20 as the recommended route.
In addition, the guide image generation unit 19 generates a guide image representing the current position calculated by the current state calculation unit 14 and the recommended route searched by the route search unit 15 on the road map stored in the map data recording unit. Is displayed on the display device 21.
The guide image generation unit 19 also displays other vehicle marks representing the position of other vehicles on the guide image in accordance with instructions from the control unit 18.
Hereinafter, the operation of presenting the position of the other vehicle to the user in such an in-vehicle system will be described.
First, the other nearby vehicle search process performed by the nearby other vehicle search unit 16 will be described.
FIG. 2 shows a procedure of the surrounding other vehicle search process.
As shown in the figure, in this process, the surrounding other vehicle search unit 16 checks whether or not another vehicle is detected in the radar device 31 of each other vehicle sensor unit 3 (step 202), and if another vehicle is detected. The following processing is performed for each detected other vehicle (steps 204, 224, and 230).

  That is, first, the relative position (distance, direction) of the other vehicle detected by the radar device 31 with respect to the own vehicle is acquired as the vehicle position of the other vehicle (step 206). Next, the current position of the host vehicle is acquired from the current state calculation unit 14 (step 208). And the image which the camera 32 contained in the radar apparatus 31 and the other vehicle sensor unit which detected the other vehicle image | photographed is acquired. Then, based on the vehicle position of the other vehicle, the image portion of the other vehicle in the acquired image is cut out (step 210). In addition, the number plate image of the other vehicle included in the cut out image portion is extracted, and the character recognition process is performed on the extracted number plate image to identify the number (vehicle registration number) of the number plate of the other vehicle. (Step 212), the process proceeds to step 214. Here, in step 212, if the number identification fails due to the fact that the number plate image is not included in the photographed image of the camera 32, the process proceeds to step 214 as it is.

  Next, in step 214, based on the cut-out image portion of the other vehicle, the color (body color, exterior color) of the other vehicle is identified as the vehicle color. In addition, based on the cut-out image portion of the other vehicle, the vehicle type of the other vehicle is estimated (step 216). Here, as a vehicle type to be estimated, a rough vehicle type such as a small vehicle, a large vehicle, or a minivan is estimated. Here, this estimation is performed by classifying the silhouette of the other vehicle extracted from the image portion of the other vehicle into one of the vehicle types by the pattern matching technique while considering the vehicle position of the other vehicle. Alternatively, the vehicle type of the other vehicle may be estimated based only on the vehicle width, vehicle height, etc. obtained from the image portion of the other vehicle in consideration of the vehicle position of the other vehicle. For example, the rear lamp interval of the other vehicle is calculated from the image portion of the other vehicle, the vehicle width of the other vehicle is recognized from the calculated interval, and the vehicle type of the other vehicle is classified based on the recognized vehicle width. You can do it.

  Next, the vehicle position, which is the relative position of the other vehicle with respect to the own vehicle, is converted into a geographical absolute position based on the current position of the own vehicle (step 218). Then, vehicle information including the converted vehicle position, number, vehicle color, and vehicle type is generated (step 220) and stored in the memory 17 (step 222).

  When the above processing is completed for all other vehicles detected by the radar device 31 of each other vehicle sensor unit 3 and vehicle information for each other vehicle is generated (step 224), the data is stored in the memory 17. A set of all stored vehicle information is set as detected other vehicle information (step 226). At this time, the detected other vehicle information on the memory 17 generated in the previous process is deleted.

Then, the detected other vehicle information is transmitted in the broadcast format together with the own vehicle or the in-vehicle system identifier as detected other vehicle notification information via the inter-vehicle communication device 2 (step 228).
And it returns to step 202 and repeats the above process.
Next, processing performed by the control unit 18 will be described.
The control unit 18 is the vehicle position calculated by the current state calculation unit 14, the number of the vehicle registration number of the vehicle that has been set in advance, and the color of the vehicle that has been set in advance. Vehicle information including the type of the car as a vehicle type that has been set in advance is transmitted as a communication other vehicle notification information in the broadcast format together with the identifier of the vehicle or the vehicle-mounted system via the inter-vehicle communication device 2 This process is repeated periodically.

  In addition, the control unit 18 stores the detected other vehicle notification information received by the inter-vehicle communication device 2 in the memory 17 together with the identifier of the transmission source of the detected other vehicle notification information, and the communication other vehicle notification information. A process of storing in the memory 17 together with the identifier of the information transmission source is performed. In addition, when the detected other vehicle notification information and the communication other vehicle notification information are received, the detected other vehicle notification information and communication received in the past from the same other vehicle as the transmission source of the detected other vehicle notification information. A process of deleting other vehicle notification information from the memory 17 is also performed. Moreover, the process which erase | eliminates the thing whose reception time is more than predetermined period among the detection other vehicle notification information and communication other vehicle notification information stored in the memory 17 is also performed.

  As a result, in the memory 17, the vehicle information of the other vehicle surrounding other vehicle that has been searched by the surrounding other vehicle searching unit 16 of the own vehicle and the other vehicle that has been recently searched by the surrounding other vehicle searching unit 16 of the other vehicle. The vehicle information of other vehicles in the vicinity and the vehicle information of other vehicles that could be communicated in the near future are stored as detected other vehicle information, detected other vehicle notification information, and communication other vehicle notification information, respectively.

Therefore, the control unit 18 performs other vehicle position display processing described below using these pieces of vehicle information.
FIG. 3 shows the procedure of this other vehicle position display process.
As shown in the figure, in this process, first, the detected other vehicle information stored in the memory 17 is acquired, and each other vehicle information included in the detected other vehicle information is stored in the other vehicle list together with the identifier of the own vehicle or the in-vehicle system. (Step 302). Further, the communication other vehicle notification information stored in the memory 17 is acquired, and the vehicle information included in the communication other vehicle notification information is additionally registered at the tail of the other vehicle list together with the identifier of the transmission source of the communication other vehicle notification information (step). 304). Also, the detected other vehicle notification information stored in the memory 17 is acquired, and each vehicle information included in the detected other vehicle notification information is additionally registered together with the identifier of the transmission source of the detected other vehicle notification information at the tail of the other vehicle list. (Step 306).

  Each vehicle information included in the detected other vehicle information registered in the other vehicle list is the order in which the vehicle information includes the number but the vehicle information does not include the number. Each vehicle information included in the detected other vehicle notification information registered in the other vehicle list includes the number in the vehicle information, but the vehicle information includes the number. Rearrange them so that they are in the order before those that do not exist (step 308). In addition, the vehicle information of the own vehicle is registered at the top of the other vehicle list together with the identifier of the own vehicle or the in-vehicle system (step 310).

Then, the vehicle information registered in the other vehicle list is set to n (step 312), and the following processes are performed in order for the i-th to n-1st vehicle information (steps 320 and 334).
That is, first, it is checked whether or not the number is included in the i-th vehicle information (step 314). If it is not included, the process proceeds to step 326. On the other hand, when the number is included, the vehicle information includes the same number as the i-th vehicle information, and the distance to the vehicle position indicated by the i-th vehicle information is within a predetermined distance (for example, within 1.7 m). ) Is searched from the i + 1th to nth vehicle information in the other vehicle list (step 316). If such vehicle information is not found, the process proceeds to step 318 as it is. If searched, the searched vehicle information is deleted from the other vehicle list (step 330) and then the process proceeds to step 318. .

  Next, in step 318, the vehicle information does not include a number, the i-th vehicle information is different from the identifier of the transmission source, and the distance from the vehicle position indicated by the i-th vehicle information is within the predetermined distance. All the vehicle information including the vehicle position and including the same vehicle color and vehicle type as the i-th vehicle information is searched from the i + 1-th to n-th vehicle information in the other vehicle list. If such vehicle information is not found, the process for the i-th vehicle information is terminated as it is, and if searched, the searched vehicle information is deleted from the other vehicle list (step 332). Then, the process for the i-th vehicle information is terminated. However, when a plurality of vehicle information having the same transmission source identifier is searched for the i-th vehicle information, only the vehicle information whose position is closest to the vehicle position of the i-th vehicle information is deleted. Like that.

  On the other hand, if it is determined in step 314 that the number is not included in the i-th vehicle information, the i-th vehicle information differs from the transmission source identifier in step 326, and the i-th vehicle information is All the vehicle information including the same color and model as the i-th vehicle information is included in the other vehicle list from the (i + 1) th vehicle to the nth vehicle. Search from information. If such vehicle information is not found, the process for the i-th vehicle information is terminated as it is, and if searched, the searched vehicle information is deleted from the other vehicle list (step 328). Then, the process for the i-th vehicle information is terminated. However, when a plurality of vehicle information having the same transmission source identifier is searched for the i-th vehicle information, only the vehicle information whose position is closest to the vehicle position of the i-th vehicle information is deleted. Like that.

  When the above processing is completed for the i-th to n-1-th vehicle information in the other vehicle list (step 320), the vehicle information of the own vehicle is deleted from the other vehicle list (step 322), and at that time The other vehicle mark indicating the presence of the other vehicle is drawn on the guide image generating unit 19 at the position on the guide image corresponding to the vehicle position of each vehicle information remaining in the other vehicle list (step 324). Then, the processing returns to step 302.

  In accordance with an instruction from the control unit 18, the guidance image generation unit 19 displays an other vehicle mark representing another vehicle at a position corresponding to the vehicle position of each other vehicle information included in the other vehicle list on the guidance image. . Here, the other vehicle marks may all be the same mark, but marks having different shapes and colors may be displayed in accordance with the vehicle type and vehicle color indicated by the other vehicle information.

FIG. 4c shows the guide image displayed in this way.
As shown in the figure, the guide image includes a current position mark 402 representing the current position and another vehicle mark 403 drawn based on the other vehicle list on the road image 401 around the own vehicle position.
As described above, according to the present embodiment, based on the number, vehicle color, and vehicle type of each vehicle, the vehicle searched by the surrounding search in the own vehicle and other vehicles is identified, so that multiple recognition of other vehicles is abolished. This makes it possible to display the position of the other vehicle more appropriately.
For example, as shown in FIG. 4d, a vehicle A and a vehicle B are vehicles having functions of recognizing other vehicle positions around the host vehicle and searching for the surroundings and wireless communication, and the vehicle C has such a function. Even if there is an error between the position X of the vehicle C recognized by the surrounding search in the vehicle A and the position Y of the vehicle C recognized by the surrounding search in the vehicle B in the case of the vehicle A, Based on the number, vehicle color, and vehicle type of the vehicle C recognized by the vehicle A, and the vehicle C number, vehicle color, and vehicle type recognized by the vehicle B, the position of the vehicle C received from the vehicle B, and the vehicle A itself Recognize that the position of the vehicle C recognized by the peripheral search is the same vehicle position, and display only the single other vehicle mark 403 for the single vehicle C as shown in FIG. Can do. Similarly, when there is an error between the position of the vehicle B received from the vehicle B and the position of the vehicle B recognized by the surrounding search in the vehicle A, a single other vehicle mark is similarly applied to the single vehicle B. Only 403 can be displayed.

  By the way, in the above embodiment, based on the vehicle number detected from the image photographed by the camera 32, the vehicle color and the vehicle type, the identity of the vehicle corresponding to the vehicle position that is close or the same position is determined. However, based on only the vehicle color and the vehicle type of the vehicle detected from the image photographed by the camera 32, the identity of the vehicle that is close to or corresponds to the same vehicle position may be determined.

  Further, instead of the vehicle number, the vehicle color, and the vehicle type detected from the image captured by the camera 32, or in combination with these or a part thereof, a single vehicle that can be detected from the image captured by the camera 32 or A plurality of arbitrary appearance features may be used to determine the identity of the vehicle. Here, appearance characteristics of such a vehicle include a vehicle width, a vehicle height, a vehicle length, a bonnet grill shape, an emblem shape, and the like.

  Further, in the above embodiment, the position of the other vehicle is the display target. However, in the case of displaying information of any other vehicle other than the position of the other vehicle, the multiple recognition exclusion of the other vehicle of this embodiment is also excluded. Technology can be applied as well.

It is a block diagram which shows the structure of the vehicle-mounted system which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the periphery other vehicle search process which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the other vehicle position display process which concerns on embodiment of this invention. It is a figure which shows the example of the guidance image displayed in embodiment of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Navigation apparatus, 2 ... Inter-vehicle communication apparatus, 3 ... Other vehicle sensor unit, 11 ... GPS receiver, 12 ... Vehicle state sensor, 13 ... Road map data storage part, 14 ... Current state calculation part, 15 ... Route search 16, a peripheral other vehicle search unit, 17 a memory, 18 a control unit, 19 a guide image generation unit, 20 an operation unit, 21 a display device, 31 a radar device, and 32 a camera.

Claims (4)

Another vehicle position display device for displaying the position of another vehicle,
A vehicle-to-vehicle communication device that communicates with other vehicles via wireless communication;
Other vehicle position detecting means for detecting the position of the other vehicle around the own vehicle;
Other vehicle image photographing means for photographing images of other vehicles around the own vehicle;
Other vehicle feature extraction means for extracting features of other vehicles around the own vehicle from the image taken by the other vehicle image photographing means,
For other vehicles whose position is detected by the other vehicle position detection means, other vehicle information including the position of the other vehicle and the features extracted by the other vehicle feature extraction means for the other vehicle is generated and the generated other vehicle Other vehicle information generation notification means for notifying other vehicles via wireless communication, including other vehicle information including information,
Of the other vehicle information included in the notification other vehicle information notified from the other vehicle via the wireless communication and the other vehicle information generated by the other vehicle information generation notification means , the position and characteristics included in each other A set of other vehicle information consisting of a plurality of other vehicle information that coincides or approximates is set as a set of other vehicle information corresponding to the same other vehicle, and for each of the set, at least one of the other vehicle information belonging to the set. Multiple recognition exclusion means for determining the position of the other vehicle corresponding to the set based on the other vehicle information;
The other vehicle information included in the other vehicle information included in the notification other vehicle information notified from the other vehicle and the other vehicle information generated by the other vehicle information generation notifying means matches the other vehicle information. And other vehicle position display means for displaying each position indicated by each other vehicle information not approximated and each position determined by the multiple determination means as the position of the other vehicle. . The other vehicle position display device according to claim 1,
The other vehicle feature extracting means extracts from the image taken by the other vehicle image photographing means, the features of the other vehicle around the own vehicle are the color of the other vehicle and the size of the other vehicle or the type of the vehicle. Including
The multiple recognition exclusion means includes a position where the position included in the other vehicle information included in the notification other vehicle information notified from the other vehicle and the other vehicle information generated by the other vehicle information generation notification means match or approach each other. A set of other vehicle information consisting of a plurality of other vehicle information in which the color of the vehicle included and the size of the other vehicle or the type of the vehicle coincides with each other as a set of other vehicle information corresponding to the same other vehicle. The position of the other vehicle corresponding to the set is determined based on at least one other vehicle information of the other vehicle information belonging to the set. The other vehicle position display device according to claim 1,
The other vehicle feature extracting unit extracts from the image captured by the other vehicle image capturing unit, the characteristics of the other vehicle around the own vehicle include a vehicle registration number of the other vehicle,
The multiple recognition exclusion means includes a position where the position included in the other vehicle information included in the notification other vehicle information notified from the other vehicle and the other vehicle information generated by the other vehicle information generation notification means match or approach each other. , A set of other vehicle information consisting of a plurality of other vehicle information with the same vehicle registration number is included as a set of other vehicle information corresponding to the same other vehicle, and for each of the set, other vehicle information belonging to the set An other vehicle position display device that determines the position of another vehicle corresponding to the set based on at least one other vehicle information. An other vehicle information presentation method for presenting information of another vehicle in an in-vehicle device mounted on an automobile,
Detecting the position of other vehicles around the vehicle;
Extracting features of other vehicles around the own vehicle from an image of other vehicles around the own vehicle; and
For each other vehicle whose position is detected, other vehicle information including the position of the other vehicle and the special feature extracted for the other vehicle is generated, and the notification other vehicle information including the generated other vehicle information is wirelessly communicated. Via the step of notifying other vehicles,
Receiving notification other vehicle information from another vehicle via wireless communication;
Other vehicle information including other vehicle information included in the notification other vehicle information received from the other vehicle and a plurality of other vehicle information whose positions and features are mutually matched or approximated among the generated other vehicle information. As a set of other vehicle information corresponding to the same other vehicle, for each of the sets, the other vehicle corresponding to the set based on at least one other vehicle information of the other vehicle information belonging to the set Determining the position of
Each other vehicle information whose position and characteristics included in the other vehicle information included in the notification other vehicle information notified from the other vehicle and the generated other vehicle information do not match or approximate other other vehicle information. And presenting each determined position as the position of the other vehicle.

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