JP4752669B2 - Vehicle identification device, position calculation device - Google Patents

Description

  The present invention relates to a vehicle identification device that determines whether or not other vehicles detected in different systems are the same, and position calculation that calculates the position of the host vehicle using the position of the other vehicle when the other vehicles are the same. Relates to the device.

  Vehicle position information is important as information for supporting the driver, and map display, route guidance to the destination, vehicle control, and the like are performed using this position information. Radio wave positioning such as GPS (Global Positioning System) is used for detecting position information. However, the position detected by GPS includes an error, and if the number of GPS satellites to be captured is not sufficient, the position accuracy is further increased. Will fall. In order to improve the position accuracy of the vehicle, map matching is used to estimate the position by autonomous navigation using an autonomous sensor and associate the position with the position on the map. Accurate mapping becomes difficult when driving on a gently curved road or traveling straight ahead for a long time in map matching.

  Therefore, in order to accurately detect the position of the host vehicle, a positioning method using position information of the other vehicle and a positioning result of the other vehicle by the other vehicle has been proposed (for example, refer to Patent Document 1). In the positioning method described in Patent Document 1, the distance to the other vehicle ahead of the host vehicle is measured by the autonomous sensor, and the position information of the other vehicle measured by the other vehicle is received from the other vehicle by inter-vehicle communication. The position of the host vehicle is calculated based on the information. And when the positioning accuracy of the own vehicle falls, the position of the own vehicle is corrected using the calculation result based on the information of the other vehicle. According to such a positioning method, even if the positioning accuracy of the host vehicle is lowered, the position detection accuracy of the vehicle can be increased in a short time.

In addition, in order to identify other vehicles that have communicated between vehicles, a vehicle determination method that uses information on the position, number, vehicle type, and color of other vehicles around the host vehicle acquired by an autonomous sensor and a camera has been proposed (for example, , See Patent Document 2).
JP 2004-251822 A JP 2005-141515 A

  However, the positioning method described in Patent Document 1 does not describe the determination as to whether or not the other vehicle detected by the autonomous sensor and the other vehicle that has acquired the position information through communication are the same. When the other vehicle that has acquired the position information through communication is not the other vehicle in front of the own vehicle detected by the autonomous sensor, there arises a problem that the position of the own vehicle is erroneously calculated.

  With respect to this problem, although it is assumed in Patent Document 2 that another vehicle can be specified by image data from the camera, there is a problem that a camera that captures the periphery of the vehicle is required to specify the other vehicle.

  In view of the above problems, an object of the present invention is to provide a vehicle identification device and a position calculation device that can identify another vehicle that matches another vehicle detected by an autonomous sensor from a communication target of inter-vehicle communication. .

In order to solve the above problems, the present invention provides a speed change detecting means (for example, the surrounding vehicle information processing unit 15) for detecting a first speed change in a predetermined section of the first other vehicle, and a second other vehicle. Speed change acquisition means (for example, an inter-vehicle information processing unit 18) that acquires a second speed change in a predetermined section by communication, and divides each predetermined section into a common cycle time, and increases or decreases every corresponding cycle time. A coincidence vehicle determination means for determining whether the first other vehicle and the second other vehicle are the same based on whether the directions are the same and the difference in increase / decrease amount is within a certain ratio ; It is characterized by providing.

  ADVANTAGE OF THE INVENTION According to this invention, the other vehicle which corresponds to the other vehicle detected by the autonomous sensor can be identified based on the vehicle speed change from the communication object of inter-vehicle communication. If the other vehicle can be identified, the detection accuracy of the position of the own vehicle can be improved by combining the information of the own vehicle and the information of the other vehicle.

  It is possible to provide a vehicle identification device and a position calculation device that can identify another vehicle that matches the other vehicle detected by the autonomous sensor from a communication target of inter-vehicle communication.

  The best mode for carrying out the present invention will be described with reference to the drawings. The vehicle identification device 1 of the present embodiment compares the vehicle information of other vehicles obtained by inter-vehicle communication with the surrounding vehicle information of other surrounding vehicles obtained by an autonomous sensor (vehicle state sensor 11, radar device 13). Then, the other vehicle that has acquired the surrounding vehicle information by the autonomous sensor is identified from the other vehicle that has communicated between the vehicles (Example 1).

  If they are found to be the same, the vehicle information obtained by inter-vehicle communication and the vehicle information obtained by the autonomous sensor can be combined to calculate the position of the own vehicle, and even if the positioning accuracy of the own vehicle is reduced, the own vehicle (Example 2) which can suppress the fall of the detection accuracy of the position of this.

  Fig.1 (a) shows an example of the system block diagram of the vehicle identification device 1 of a present Example, FIG.1 (b) shows an example of a block diagram, respectively. The vehicle identification device 1 is preferably applied to, for example, a navigation system (hereinafter simply referred to as a navigation system 3). Therefore, in the present embodiment, the navigation system 3 will be described. However, the vehicle identification device 1 is configured by an ECU different from the navigation system 3. May be.

  The navigation system 3 is controlled by the navigation ECU 10, and the navigation ECU 10 is a CPU for executing a program, a RAM for storing a program, or a RAM for temporarily storing data, and an NV (non-volatile) that retains data even when the ignition is turned off. -RAM, various sensors or input device 21, input / output interface serving as an interface with output device 22, communication controller for communicating with other ECUs, ROM for storing programs, etc., constituted by a microcomputer connected by a bus Is done. When the CPU executes the program, the current state calculation unit 14, the surrounding vehicle information processing unit 15, the inter-vehicle information processing unit 18, and the coincidence vehicle determination unit 20 described below are realized.

  The input device 21 is a known input means such as a touch panel or a keyboard, and the output device 22 is a known output means such as a display device such as a liquid crystal display and a speaker. The map DB 23 is composed of a storage device such as a hard disk drive or DVD, and stores road map information such as road networks and intersections in association with latitude and longitude.

  Moving to FIG. 1 (b), the GPS (Global Positioning System) receiver 12 selects a plurality of GPS satellites that enter a predetermined elevation angle from the current vehicle position among a plurality of GPS satellites that orbit the predetermined orbit. The distance to each GPS satellite is calculated from the arrival time of radio waves transmitted from the GPS satellite. Since the position of the GPS receiver 12 (the position of the host vehicle) is considered to be one point on the three dimensions specified by latitude, longitude, and altitude, the spherical surfaces whose radius is the distance from each GPS satellite intersect. Position a point. By such positioning, the position of the host vehicle is specified on a two-dimensional plane or a three-dimensional space.

  The accuracy of positioning by the GPS receiver is greatly influenced by the number of captured GPS satellites, and preferably by capturing four or more, the clock error can be corrected and the position can be detected in a three-dimensional space. Further, the position detected by the GPS receiver 12 includes an error due to delay or noise when the radio wave passes through the atmosphere, the position of the GPS satellite, and the like.

  The vehicle state sensor 11 is a so-called INS (Inertial Navigation System) sensor that includes at least a vehicle speed sensor and further includes at least one of a gyro sensor, a yaw rate sensor, and a rudder angle sensor.

  The current state calculation unit 14 accurately estimates the current position of the host vehicle by autonomous navigation while accumulating the travel distance by the vehicle speed sensor and the travel direction by the gyro sensor or the like at the position measured based on the radio wave from the GPS satellite. The current position may be further corrected by map matching that associates the estimated position of the host vehicle with the road map.

  The radar device 13 is a millimeter wave radar sensor or a laser radar sensor, and basically transmits a radar to receive a radar reflected on another vehicle in the same lane or another vehicle in another lane. For example, in the case of a millimeter wave radar sensor, the relative distance to the other vehicle is detected according to the difference between the transmitted millimeter wave frequency and the millimeter wave frequency reflected and received by the other vehicle. The relative velocity is detected using the calculation result of the above or the interference between the transmission wave and the reception wave. The millimeter wave radar sensor has a plurality of receiving antennas in the vehicle width direction, and detects the direction in which the preceding vehicle exists by analyzing the strength of reflected radio waves received by the left and right receiving antennas. Note that the direction of the three-dimensional object may be detected by scanning the preceding vehicle while changing the transmission direction of the radar. The radar device 13 calculates the capture rate of the other vehicle from the reflection intensity of the radar based on the own vehicle speed, the steering angle (curve radius), etc. of the own vehicle acquired from the navigation ECU 10 or another ECU. It can be determined whether or not exists in the own lane.

  The surrounding vehicle information processing unit 15 uses the position and speed of the host vehicle calculated by the current state calculation unit 14 and the relative distance and relative speed of other vehicles detected by the radar device 13 (hereinafter simply referred to as surrounding vehicle information). Based on this, the position / velocity of the other vehicle is calculated and stored in the peripheral vehicle memory 16 for each predetermined cycle time. The peripheral vehicle memory 16 corresponds to, for example, the RAM of the navigation ECU 10, and is overwritten in order from the old peripheral vehicle information. Accordingly, the following peripheral vehicle information is stored in the peripheral vehicle memory 16. Note that time information may be added and stored.

Surrounding vehicle information: “Position, speed, relative distance, and relative speed of other vehicles”
The inter-vehicle communication device 17 is a communication device having a known configuration for communicating with other vehicles within a predetermined range from the own vehicle. The inter-vehicle communication device 17 transmits and receives vehicle information from an antenna using a relatively high frequency radio wave or an optical beacon as a carrier wave. The vehicle information transmitted from the other vehicle or the vehicle information transmitted by the own vehicle is, for example, as follows. Note that time information may be added and stored.

Vehicle information: “Vehicle ID / position information / speed measured by GPS”
The inter-vehicle communication device 17 demodulates a signal received via the antenna, extracts vehicle information, and outputs the vehicle information to the inter-vehicle information processing unit 18. The vehicle ID is an identifier for distinguishing the vehicle, and is a unique number assigned to each vehicle, such as a serial number or a vehicle body number of the inter-vehicle communication device 17.

  The vehicle information transmitted from the host vehicle is accumulated from the navigation ECU 10 or another ECU, and the inter-vehicle communication device 17 forms a predetermined format and transmits it to the other vehicle via the antenna every predetermined time. When there are a plurality of other vehicles in the communicable area, the vehicle information of the host vehicle is transmitted in order for each vehicle ID, and the vehicle information is transmitted to all other vehicles in the communicable area. Send again and repeat this many times.

  The inter-vehicle information processing unit 18 stores the vehicle information transmitted from other vehicles in the inter-vehicle information memory 19 in time series in association with the vehicle ID. The inter-vehicle information memory 19 corresponds to, for example, the RAM of the navigation ECU 10, and is overwritten in order from the old surrounding vehicle information.

  Based on the vehicle information stored in the vehicle-to-vehicle information memory 19 and the surrounding vehicle information stored in the surrounding vehicle memory 16, the coincidence vehicle determination unit 20 communicates the other vehicle that is the sensing target of the autonomous sensor between vehicles. Identify from the vehicle.

[Identification of other vehicles]
The identification of other vehicles will be described in detail. FIG. 2 is a diagram showing the relationship between the positions of the host vehicle and the other vehicles A and B. The own vehicle and the other vehicles A and B are traveling in the same lane, and the other vehicle A is traveling on the front side of the own vehicle and the vehicle B is traveling far away. The other vehicles A and B are both traveling in a communicable area, and the inter-vehicle information memory 19 stores vehicle information of the other vehicles A and B for the past T seconds.

  In the state shown in FIG. 2, the radar apparatus 13 detects the other vehicle A on the near side from the characteristic of receiving the reflected radio wave. Therefore, the coincidence vehicle determination unit 20 identifies an other vehicle that matches the vehicle speed change of the other vehicle detected by the radar device 13 from the other vehicle communicated by inter-vehicle communication.

  That is, the coincident vehicle determination unit 20 detects a change in vehicle speed (re) of the other vehicle A based on a change in the vehicle speed of the other vehicle A stored in the surrounding vehicle memory 16 at a predetermined time interval (re is an abbreviation for radar). Further, the coincidence vehicle determination unit 20 detects a change in vehicle speed (communication) based on the “speed” of all other vehicles (other vehicle A and other vehicle B in FIG. 2) stored in the inter-vehicle information memory 19 (communication). Stands for Inter-Vehicle Communication). Then, of the vehicle speed change (communication) of the other vehicle A or B, the other vehicle that matches the vehicle speed change (L) is identified as the other vehicle A.

  Hereinafter, another vehicle identification procedure of this embodiment will be described in detail with reference to the flowcharts of FIGS. 3A shows a procedure in which the inter-vehicle information processing unit 18 stores the vehicle information in the inter-vehicle information memory 19, and FIG. 3B shows a procedure in which the peripheral vehicle information processing unit 15 stores the peripheral vehicle information in the peripheral vehicle memory 16. Each procedure is shown below. Each process starts when the ignition is turned on.

  3A and 3B are performed at the same time and it is preferable to store one vehicle information and neighboring vehicle information at the same time interval. However, if the respective acquisition times are known, The acquisition timing of vehicle information and surrounding vehicle information may be shifted. For example, the process of FIG. 3B may be alternately repeated after the process of FIG. 3A, or FIGS. 3A and 3B may be independently processed in parallel.

  The inter-vehicle communication device 17 periodically receives vehicle information of other vehicles (S1). As described above, the received vehicle information is, for example, “vehicle ID / position information / speed measured by GPS”, but there may be a plurality of other vehicles in the communicable area. Store information. For this reason, the vehicle-to-vehicle information processor 18 determines whether or not the vehicle information having the same vehicle ID is already stored in the vehicle-to-vehicle information memory 19 (S2).

  When the vehicle information with the matching vehicle ID is already stored (Yes in S2), the inter-vehicle information processing unit 18 stores the vehicle information of the vehicle ID by adding the position information / speed (S3).

  When the vehicle information with the matching vehicle ID is not yet stored (No in S2), the inter-vehicle information processing unit 18 stores the received vehicle information as new vehicle information in the inter-vehicle information memory 19 (S4). The inter-vehicle information processing unit 18 repeats the above processing.

Next, the process of FIG. 3B for storing the surrounding vehicle information will be described.
The surrounding vehicle information processing unit 15 repeats the determination as to whether or not the radar device 13 detects another vehicle (S10).

  When another vehicle is detected (Yes in S10), the current state calculation unit 14 calculates the state of the host vehicle (S20). The state of the host vehicle is the position of the host vehicle, the vehicle speed, the traveling direction, and the like, which are detected from the GPS receiver 12 and the vehicle state sensor 11.

  Moreover, the surrounding vehicle information processing part 15 calculates the state of another vehicle (S30). The radar device 13 detects the relative distance, relative speed, direction of existence, and the like between the other vehicle and the host vehicle. Further, the position and speed of the host vehicle have already been detected. The surrounding vehicle information processing unit 15 calculates the position of the other vehicle by adding the relative distance from the position of the own vehicle in the direction in which the other vehicle exists. Similarly, the speed of the other vehicle is calculated by adding the relative speed to the speed of the host vehicle. The calculated state of the other vehicle is the above-described peripheral vehicle information “position / speed of the other vehicle”.

  Next, the surrounding vehicle information processing unit 15 determines whether there is previous detection information (S40). The pre-detection information is information indicating that the radar apparatus 13 has detected another vehicle one cycle before, and is information for determining whether or not the other vehicle calculated in step S30 has already been detected. . Therefore, it is simply determined whether or not the radar device 13 detects another vehicle one cycle before. If there is no previous detection information (No in S40), the surrounding vehicle information processing unit 15 stores the surrounding vehicle information calculated in step S30 in the surrounding vehicle memory 16 as new surrounding vehicle information (S70).

  When there is previous detection information (Yes in S40), the surrounding vehicle information processing unit 15 determines whether or not the calculated surrounding vehicle information is data within the normal travel range (S50). If there is previous detection information, there will be surrounding vehicle information one cycle before, so the data within the normal driving range is detected this time compared to the position and speed indicated by the surrounding vehicle information one cycle before. It is said that the surrounding vehicle information of the peripheral vehicle is within a valid range as the data of the same surrounding vehicle. The appropriate range is, for example, whether or not the speed of the other vehicle one cycle before is within ± 1 to 10%, for example, and a value obtained by multiplying the position of the other vehicle one cycle before by the speed. In addition, it means whether it is the same level as the current position information, that is, whether it is the predicted surrounding vehicle information.

  When the data is not within the normal travel range (No in S50), the surrounding vehicle information processing unit 15 stores the surrounding vehicle information calculated in Step S30 in the surrounding vehicle memory 16 as new surrounding vehicle information (S70).

  If the data is within the normal travel range (Yes in S50), the surrounding vehicle information processing unit 15 adds and stores the surrounding vehicle information calculated in step S30 to the surrounding vehicle information already stored in the surrounding vehicle memory 16. (S60). The surrounding vehicle information processing unit 15 repeats the above processing.

  Next, another vehicle identification process will be described with reference to the flowchart of FIG. The process of FIG. 4 starts when the processes of FIGS. 3A and 3B are completed, and thereafter is repeated every time the vehicle information and the surrounding vehicle information are stored.

  The matching vehicle determination unit 20 refers to the surrounding vehicle memory 16 stored in the surrounding vehicle memory 16 and extracts the latest position information of the other vehicle (S100). For the sake of distinction, the position information in the peripheral vehicle memory 16 is referred to as position information (re), and the position information in the inter-vehicle information memory 19 is referred to as position information (communication).

  Next, the coincidence vehicle determination unit 20 extracts another vehicle having position information (communication) close to the position information (re) of the other vehicle from the inter-vehicle information memory 19 and generates another vehicle list (S200). Since both the position information (re) and the position information (communication) include an error caused by position detection, such as the GPS receiver 12, the other vehicle list is generated in consideration of the error. For example, the matching vehicle determination unit 20 lists other vehicles having position information (communication) within a radius of 30 m with respect to the position information (re).

  Next, the coincidence vehicle determination unit 20 refers to the surrounding vehicle memory 16 to calculate the speed change (re) for the past T seconds, and refers to the inter-vehicle information memory 19 to register the speed of the other vehicle registered in the other vehicle list. A change (through) is calculated (S300). Each of the past T seconds is preferably in the same time zone.

  FIG. 5 is a diagram illustrating an example of a change in vehicle speed during a predetermined time. In FIG. 5, the cycle time is 0.1 seconds, and the cycle time × n is T seconds. Speed change (re) and speed change (through) are recorded for each cycle time.

  The coincident vehicle determination unit 20 compares the speed change (L) and the speed change (T) (S400). Although it is considered that there is a slight difference between the speed detected by the radar device 13 and the speed of the vehicle speed sensor mounted on the other vehicle, the speed change can be reduced by reducing the influence of the measurement method by comparing not the speed itself but the speed change. (Le) and speed change (through) can be compared. For example, when the increase / decrease direction for each cycle time is the same and the difference between the increase / decrease amounts is within a certain ratio, the coincidence vehicle determination unit 20 determines that the speed change (re) and the speed change (through) match. . The total amount of change for T seconds may be compared.

  As a result of the comparison, the coincidence vehicle determination unit 20 determines that the vehicle whose speed change coincides is the same vehicle as the other vehicle detected by the radar device 13 (S500).

  Further, as a result of the comparison, it is determined that the other vehicle whose speed change does not match is a different vehicle (S600). Since there are a plurality of other vehicles registered in the other vehicle list, the coincident vehicle determination unit 20 repeats the comparison in step S400 until there are no other vehicles not compared in the other vehicle list (S700). If there is no matching other vehicle even if the speed change is compared for all other vehicles in the other vehicle list (Yes in S600), the matching vehicle determination unit 20 performs inter-vehicle communication with the other vehicle detected by the radar device 13. It is determined that there is no other vehicle that is not the same (S800).

  As described above, the vehicle identification device 1 according to the present embodiment can detect another vehicle that matches the vehicle of the vehicle information acquired by the inter-vehicle communication only with the information of the simple autonomous sensor as in the radar device 13. .

  If the other vehicle is identified by the vehicle identification device 1 according to the first embodiment, the detection accuracy of the position of the own vehicle can be improved by using the vehicle information of the identified other vehicle.

  FIG. 6 is a diagram illustrating an example of position errors detected by the GPS receiver 12 mounted on the host vehicle and the other vehicle. In FIG. 6, the magnitude of the error is indicated by a solid circle, but the position error of the vehicle A is larger than the position error of the vehicle B. Originally, the position of the vehicle A can be detected with the same accuracy as the vehicle B (dotted circle), but the error may increase depending on the number of GPS satellites to be captured. In such a case, if the vehicle A can detect the position of the vehicle A based on the position of the vehicle B detected by a GPS satellite mounted on the vehicle B (hereinafter simply referred to as a positioning position of another vehicle), the position of the vehicle A is determined. The detection accuracy can be improved as compared with detection by the GPS receiver 12 with a large error mounted on the vehicle A.

  FIG. 7 shows an example of a block diagram of the position calculation device 2 in which the host vehicle detects the position using the positioning position of the other vehicle. In FIG. 7, the same components as those in FIG. 1B are denoted by the same reference numerals, and the description thereof is omitted. 7 is different from FIG. 1B in that the position detection unit 25 is provided. The position detection unit 25 extracts the vehicle information (particularly position information) of other vehicles determined by the coincidence vehicle determination unit 20 as the same vehicle from the inter-vehicle information memory 19 and the surrounding vehicle information (particularly relative). (Distance). Then, the relative distance is added to the position information of the other vehicle to detect the position of the own vehicle (hereinafter referred to as the other vehicle use position). The position detecting means 25 is realized by the CPU of the navigation ECU 10 executing a program.

  FIG. 8 is a flowchart illustrating a procedure for the position detection unit 25 to calculate the other vehicle use position. The other vehicle use position starts when it is determined that the same vehicle is used in step S300 of FIG.

  The position detection unit 25 first determines whether or not the detection accuracy of the positioning position of the other vehicle is better than that of the own vehicle (S11). The other vehicle is, for example, the vehicle B in FIG. The detection accuracy of the positioning position of the other vehicle is detected based on, for example, the number of GPS satellites that have been captured, or the time since the radio wave was blocked if the number of satellites that have been captured is zero. Further, since the approximate error can be estimated when the GPS receiver 12 detects the position, the error itself (standard deviation, variance, error A [m], etc.) may be used. The own vehicle receives information for detecting such a positioning position detection accuracy from another vehicle. If the detection accuracy of the positioning position of the other vehicle is not better than that of the own vehicle (No in S11), it is not necessary to use the positioning position of the other vehicle, and the process is terminated as it is.

  When the detection accuracy of the positioning position of the other vehicle is better than that of the own vehicle (Yes in S11), the position detection unit 25 extracts the position information of the other vehicle detected by the radar device 13 from the inter-vehicle information memory 19, Further, the relative distance is extracted from the surrounding vehicle memory 16 (S12).

  Then, the position detection unit 25 calculates the other vehicle use position by adding the relative distance based on the position information of the other vehicle (S13). As described above, the positioning accuracy of the host vehicle can be improved by using the positioning position of the other vehicle even when the error of the position accuracy measured by the host vehicle is large.

  According to the present embodiment, even if the positioning accuracy of the GPS device 12 of the host vehicle is poor, if there is another vehicle with good positioning accuracy in an area where inter-vehicle communication is possible, the relative position by the positioning position of the other vehicle and the radar device 12 The detection accuracy of the position of the host vehicle can be improved using the distance.

An example of the block diagram of a vehicle identification device is shown. It is a figure which shows the relationship between the position of the own vehicle and the other vehicles A and B. It is a flowchart figure which shows the procedure which memorize | stores vehicle information or surrounding vehicle information. It is a flowchart figure which shows the identification procedure of another vehicle. It is a figure which shows an example of the change of the vehicle speed in predetermined time. It is a figure which shows an example of the error of the position detected by the GPS receiver with which the own vehicle and the other vehicle were respectively mounted. It is an example of the block diagram of the position calculation apparatus in which the own vehicle detects a position using the positioning position of another vehicle. It is a flowchart figure which shows the procedure in which a position detection part calculates an other vehicle utilization position.

Explanation of symbols

1 vehicle identification device 2 position calculation device 3 navigation system 10 navigation ECU
DESCRIPTION OF SYMBOLS 11 Vehicle state sensor 12 GPS receiver 13 Radar apparatus 14 Current state calculation part 15 Peripheral vehicle information processing part 16 Peripheral vehicle memory 17 Inter-vehicle communication apparatus 18 Inter-vehicle information processing part 19 Inter-vehicle information memory 20 Matching vehicle determination part

Claims (3)

Speed change detecting means for detecting a first speed change in a predetermined section of the first other vehicle;
Speed change acquisition means for acquiring a second speed change in a predetermined section of the second other vehicle by communication;
Each of the predetermined sections is divided into a common cycle time, the first increase / decrease direction for each corresponding cycle time is the same, and the difference between the increase / decrease amounts is within a certain ratio. A matching vehicle determination means for determining whether the vehicle and the second other vehicle are the same;
A vehicle identification device comprising: A position detecting means for detecting the position of the first other vehicle;
The coincidence vehicle determination means compares the second speed change of the second other vehicle within a predetermined range from the position detected by the position detection means with the first speed change.
The vehicle identification device according to claim 1. Speed change detecting means for detecting a first speed change and a relative distance in a predetermined section of the first other vehicle;
Speed change acquisition means for acquiring a second speed change and position information in a predetermined section of the second other vehicle by communication;
A coincidence vehicle determination means for determining whether the first other vehicle and the second other vehicle are the same by comparing the first speed change and the second speed change;
Position calculating means for calculating the position of the host vehicle based on the position information and the relative distance of the second other vehicle determined to be the same by the coincident vehicle determining means;
A position calculation device comprising:

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