JP6978106B2 - Communication equipment and vehicles - Google Patents

Description

The present invention relates to a communication device mounted on a mobile body and a vehicle .

As the above-mentioned communication device, a device that exchanges information with another mobile body by wirelessly transmitting its own position information obtained by using GPS (Global Positioning System) is known (for example, Patent Document). 1).

Japanese Unexamined Patent Publication No. 2013-114573

However, the above-mentioned communication device has a problem that the correct positional relationship cannot be grasped when an error occurs in any of the exchanged positional information.
Therefore, in view of such problems, it is an object of the present invention to enable the communication device mounted on the mobile body to accurately grasp the positions of other moving bodies . Alternatively, it is an object of the present invention to be able to provide information about dangerous vehicles .

The communication device of the present invention made to achieve such an object is
It is a communication device installed in the own vehicle.
Based on the movement of the other vehicle in the captured image obtained from the image pickup unit mounted on the own vehicle, it is determined whether or not the other vehicle is a dangerous vehicle representing another vehicle that may be dangerous to the own vehicle. With the danger judgment unit configured as
A recording unit configured to record vehicle information about the dangerous vehicle in a memory when it is determined that the other vehicle in the captured image is the dangerous vehicle.
When there is a dangerous vehicle indicated by the vehicle information recorded in the memory around the own vehicle, a notification unit for notifying the existence of the dangerous vehicle and a notification unit.
To prepare for.
Further, in order to achieve the above object, it is a communication device mounted on a mobile body.
Communication acquisition means for acquiring data including mobile information that identifies other mobiles by communication,
A specific information extraction means for extracting specific information for identifying another mobile body from an image taken by capturing another moving body located around the moving body on which the communication device is mounted, and a specific information extraction means.
It is determined whether or not the moving body information and the specific information match, and if they match, the position of the other moving body that is the source of the data is the position of the other moving body in the captured image. The location identification means to identify and
May be provided.

According to such a communication device, since the position of the other moving body is detected from the image relative to the position of the own moving body, the position of the other moving body can be accurately grasped. In addition, it is possible to configure the configuration so that it is not necessary to obtain location information by communication.

Further, in the communication device, specific information for identifying the other moving body may be extracted from a plurality of captured images.
According to such a communication device, stereoscopic viewing is possible by using a plurality of images captured while moving, so that the position of another moving body (the position where specific information exists) can be detected more accurately. Can be done. The captured image may be a plurality of captured images obtained from a stereo camera, or may be a plurality of captured images obtained at different timings by one camera.

In addition, in order to achieve the above purpose,
It is a communication device mounted on a mobile body.
A mobile information acquisition means for acquiring mobile information that identifies another mobile, and
A specific information extraction means for extracting specific information for identifying another mobile body from an image taken by capturing another moving body located around the moving body on which the communication device is mounted, and a specific information extraction means.
It is determined whether or not the moving body information and the specific information match, and if they match, the other moving body is combined with the moving body information of another moving body in which the moving body information and the specific information match. Control command transmission means for transmitting control commands to control the behavior of
It may be a communication device characterized by being provided with.

According to such a communication device, since the position of the other moving body is detected from the image relative to the position of the own moving body, the position of the other moving body can be accurately grasped. In addition, it is possible to configure the configuration so that it is not necessary to obtain location information by communication. In this configuration, for example, it is possible to carry out processing such as stopping a violating vehicle such as ignoring a signal from a police car.

In order to achieve the above object, the computer may be a communication program for realizing the computer as each means for constituting the communication device. Moreover, the description of each claim can be arbitrarily combined as much as possible. At this time, some configurations may be excluded within the range in which the object of the invention can be achieved.

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

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

The various cameras 21 to 24 include a front camera 21 that captures the front of the own vehicle 100, a rear camera 22 that captures the rear of the own vehicle 100, a right camera 23 that captures the right side of the own vehicle 100, and the own vehicle 100. It is equipped with a left camera 24 that captures an image on the left side. These various cameras 21 to 24 are configured to be able to detect the position of an object in the captured image, for example, each of them is configured as a stereo camera.

Further, the various cameras 21 to 24 are configured so that the frame rate (imaging cycle) at the time of imaging can be selected from a plurality of frame rates. For example, in the present embodiment, 24 fps (24 frames per second) and 30 fps (30 frames per second) are arbitrarily selected for imaging. The various cameras 21 to 24 send the captured image thus obtained to the control unit 10.

In particular, as shown in FIG. 2, the various cameras 21 to 24 are each vehicle existing around the own vehicle 100 (a preceding vehicle traveling ahead of the own vehicle 100, an oncoming vehicle traveling facing the own vehicle 100). , A side vehicle located on the side of the own vehicle 100, etc.) is imaged. The various cameras 21 to 24 have a resolution that allows the number plates of other vehicles 200 to be extracted from the captured image.

As shown in FIG. 3, for example, the communication unit 31 is configured as a well-known communication module for bidirectional communication with a plurality of other vehicles 200. The communication unit 31 transmits the data instructed to be transmitted from the control unit 10 to the outside (other vehicle 200), and also receives the data obtained from the outside and sends the data to the control unit 10. The data exchanged between the own vehicle 100 and the other vehicle 200 includes, for example, vehicle information for identifying itself (information associated with the vehicle number plate).

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

The accelerator controller 33 controls the opening degree of the accelerator according to a command from the control unit 10. Further, the brake controller 34 controls the pedaling force (hydraulic pressure, etc.) of the brake according to a command from the control unit 10.

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

The plurality of other vehicles 200 are also equipped with the same communication device 1 as the communication device 1 mounted on the own vehicle 100.
[Processing of the first embodiment]
In the communication device 1 configured in this way, the control unit 10 carries out the information transmission process shown in FIG. The information transmission process is, for example, a process started when the power of the communication device 1 is turned on, and is subsequently repeated at regular intervals.

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

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

Further, if an affirmative determination is made in the process of S15 (S15: YES), the captured image is acquired (S25). In this process, when the direction of the other party is specified, the captured image in the specified direction (for example, the image captured by the rear camera 22 if "rear" is specified, and the front if "front" is specified. The image captured by the camera 21) is acquired. Further, when the vehicle information of the other party is specified, the images captured by all the cameras 21 to 24 are acquired.

Subsequently, the number plate (vehicle information) is extracted from the captured image acquired by the image processing (S30). Then, it is determined for each vehicle whether or not the number plate of the vehicle to be communicated with can be extracted (S35).

For a vehicle that is determined to be affirmative (S35: YES), information including its own vehicle information for identifying the transmission source, information generated by the information generation process, and information including the vehicle information of the other party is transmitted (S40). The information generation process is terminated. Further, for the vehicle judged to be negative (S35: NO), the direction of the other party is set to be transmitted as data (S45), and the vehicle information of itself for specifying the transmission source is generated by the information generation process. Information and information including the direction of the other party are transmitted (S40), and the information generation process is terminated.

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

Next, in the communication device 1, the control unit 10 also performs the information reception process shown in FIG. The information reception process is, for example, a process that is started in parallel with other processes when the power of the communication device 1 is turned on, and is then a process that is repeatedly performed at regular intervals.

In this process, first, it is determined whether or not the information from the other vehicle 200 is received via the communication unit 31 (S65). If a negative determination is made (S65: NO), the information reception process is terminated.
If an affirmative determination is made (S65: YES), it is determined whether or not the received information is addressed to the other vehicle 200 (S70). If affirmative determination is made (S70: YES), the information reception process is terminated. If a negative determination is made (S70: NO), it is determined whether or not the received information is unspecified information or information that specifies the direction of the other party (that is, information other than the one addressed to the own vehicle 100). (S75). If a negative determination is made (S75: NO), a non-designated process described later is performed (S105).

If affirmative determination is made (S75: YES), it is determined whether or not the direction of the other party is specified (S80). If a negative determination is made (S80: NO), processing addressed to the own vehicle, which will be described later, is performed (S100).

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

For example, when the information that the direction of the other party is "forward" is transmitted from the other vehicle 200, if the source vehicle exists behind the own vehicle, it is determined that the own vehicle corresponds to the other party. .. Further, if the source vehicle does not exist behind the own vehicle, it is determined that the own vehicle does not correspond to the other party.

If an affirmative judgment is made in the process of S95 (S95: YES), the position of the own vehicle 100 as seen from the other vehicle 200 as the transmission source matches the position of the other party to whom the information is to be transmitted. Car address processing is performed (S100), and information reception processing is completed. If a negative determination is made (S95: NO), a non-designated process described later is performed (S105), and the information reception process is terminated.

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

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

That is, an attempt is made to suppress an accident such as a rear-end collision by notifying the vehicle behind that the sudden braking has been applied. When such processing is completed, the information generation processing is terminated.
Subsequently, the communication device 1 on the receiving side carries out the processing addressed to the own vehicle as shown in FIG. 7. In the processing addressed to the own vehicle, in order to prevent the own vehicle 100 from colliding with the preceding vehicle, a processing for braking the own vehicle 100 is performed. Specifically, as shown in FIG. 7, first, the inter-vehicle distance is detected (S150). In this process, the distance from the image captured by the front camera 21 to the preceding vehicle is detected.

Then, a deceleration (negative acceleration) that does not cause a rear-end collision is set according to the inter-vehicle distance (S155). Here, the deceleration to the extent that it does not collide means an acceleration that does not collide even if the preceding vehicle stops at the current position, for example. Subsequently, the brake is operated at the deceleration set via the brake controller 34 (S160), and the processing addressed to the own vehicle is completed.

Next, the communication device 1 on the receiving side also performs the non-designated process shown in FIG. The undesignated process suppresses that the own vehicle 100 is involved in an accident when the surrounding vehicle suddenly applies the brake even if the preceding vehicle (the vehicle immediately before) of the own vehicle 100 suddenly applies the brake. It is a process.

Specifically, as shown in FIG. 8, first, it is determined whether or not the preceding vehicle (previous vehicle) has activated the brake (S180). If affirmative determination is made (S180: YES), the above-mentioned processing addressed to the own vehicle is performed (S185), and the non-designated processing is terminated.

If a negative determination is made (S185: NO), the accelerator opening of the own vehicle 100 is set for a predetermined time (for example, about 5 seconds) after receiving the notification that the surrounding other vehicle 200 has applied the sudden brake. Is sent to the accelerator controller 33 to suppress the increase (S190). In this case, it is only permitted to maintain the accelerator opening or decrease the accelerator opening.

[Effect of the first embodiment]
In the communication device 1 described in detail as described above, the communication device 1 is mounted on a moving body (own vehicle 100 and another vehicle 200), and the control unit 10 includes moving body information (vehicle information) for identifying the other moving body. Specific information (vehicle) for acquiring data by communication (S65: communication acquisition means) and identifying another mobile body from an captured image of another mobile body located around the mobile body on which the communication device 1 is mounted. Information) is extracted (S90: location information extraction means). Then, it is determined whether or not the moving body information and the specific information match, and if they match, the position of the other moving body that is the source of the data is specified as the position of the other moving body in the captured image. (S95, S100: position specifying means).

According to such a communication device 1, since the position of the other moving body is detected from the image relative to the position of the own moving body, the position of the other moving body can be accurately grasped. In addition, it is possible to configure the configuration so that it is not necessary to obtain location information by communication.

Further, in the communication device 1, the control unit 10 extracts specific information for identifying another moving body from a plurality of captured images together with the distance to the other moving body.
According to such a communication device 1, since it is possible to stereoscopically view another moving body or the like by using a plurality of images captured while moving, the position of the other moving body (specific information exists). Position) can also be detected.

[First modification of the first embodiment]
In the first embodiment, the information indicating that the sudden braking has been applied is transmitted to the other vehicle 200 located in the designated direction, but the information is not limited to this information, and the state of the vehicle or the driver (vehicle speed or driving) is not limited to this information. Information indicating the person's awakening state, etc.) and the surrounding environment (road surface freezing, etc.) may be transmitted. In order to transmit this information, it is sufficient to have a well-known configuration for acquiring the state of the vehicle or the driver and the surrounding environment.

Further, in the first embodiment, the state of the vehicle (information indicating that the sudden braking has been applied) is transmitted to the other vehicle 200, and the vehicle receiving this information determines whether or not to brake by itself. The device on the side of transmitting information may control the behavior of the vehicle on the side of receiving information.

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

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

In the processing addressed to the own vehicle, as shown in FIG. 10, the brake is operated via the brake controller 34 (S230), and the processing is completed. Further, in the non-designated process, as shown in FIG. 11, the process is terminated without performing any process.

In the communication device 1 of the first modification of the first embodiment described in detail as described above, the control unit 10 acquires mobile body information (vehicle information) that identifies another moving body (S210: mobile body information acquisition). means). Then, specific information (vehicle information) for identifying the other mobile body from the captured image of the other mobile body (other vehicle 200) located around the mobile body (own vehicle 100) on which the communication device 1 is mounted. ) (S30: Specific information extraction means). Furthermore, it is determined whether or not the moving body information and the specific information match, and if they match, the behavior of the other moving body is determined together with the moving body information of the other moving body in which the moving body information and the specific information match. A control command to be controlled is transmitted (S40, S50: control command transmitting means).

According to such a communication device 1, since the position of the other moving body is detected from the image relative to the position of the own moving body, the position of the other moving body can be accurately grasped. In addition, it is possible to configure the configuration so that it is not necessary to obtain location information by communication.

Further, since the control command is transmitted to the other moving body confirmed in the captured image, it is possible to prevent the other moving body to be controlled from being mistaken. For example, this configuration can be used when stopping a violating vehicle such as ignoring a signal from a police car.

[Second variant of the first embodiment]
Next, in the configuration of the second modification, the captured image captured in a certain vehicle is provided only to the vehicle in a specific direction. Specifically, in the information generation process of this modification, as shown in FIG. 12, first, images captured by each of the cameras 21 to 24 are acquired (S255), and an image for transmission is generated (S260).

Here, the image for transmission corresponds to, for example, an image obtained by each camera 21 to 24 (an image for one frame) assigned to each area of one image divided into four. Further, each of the images obtained by the cameras 21 to 24 may be used as an image for transmission as it is.

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

Next, in the processing addressed to the own vehicle, as shown in FIG. 13, the transmitted captured image is acquired (S285), and this image is displayed on the display 32 (S290). When displaying the image in this way, for example, an image captured from the direction in which the source vehicle exists (for example, when the vehicle transmitting the image exists in front of the own vehicle 100, the own vehicle 100 is displayed from the front. Only the image captured on the side) is selected and displayed. When such processing is completed, the processing addressed to the own vehicle is completed. In addition, as shown in FIG. 11, the non-designated process of this modification ends without performing any process.

In the communication device 1 of the second modification of the first embodiment described in detail as described above, the control unit 10 acquires (s) captured images including the captured images in which the direction in which the control unit is located is captured (S285). : Captured image acquisition means), the captured image in which the direction in which the self is located is selected and displayed (S290: selective display means).

According to such a communication device 1, it is possible to make up for blind spots in front of and behind the own vehicle 100. Further, in the case of providing an image of an image of a vehicle one vehicle behind the vehicle from a vehicle traveling in front of the vehicle, it is possible to provide an image showing the facial expressions of the occupants of the vehicle.

[Second Embodiment]
[Structure and processing of the second embodiment]
Next, another form of the communication device 1 will be described. In the following embodiments of the present embodiment (second embodiment), only the parts different from the communication device 1 of the first embodiment are described in detail, and the same parts as those of the communication device 1 of the first embodiment have the same reference numerals. The explanation is omitted by adding.

The communication device 1 of the present embodiment includes an idling controller 35 as shown by the broken line portion in FIG. As a general rule, the idling controller 35 has a well-known configuration in which the idling stop is performed when the own vehicle 100 is stopped, and the engine is restarted when the own vehicle 100 is started (when the brake is released, etc.). Further, the idling controller 35 also has a function of controlling the idling state (idling stop and restart of the engine) of the engine (not shown) of the own vehicle 100 in response to a command from the control unit 10.

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

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

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

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

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

Then, a light emission pattern is generated based on each information, and the information is transmitted from the traffic signal 301 via the light emission control unit 303 (S330). Here, as shown in FIG. 15, by providing a large number of LEDs constituting one light color, one that is turned on and one that is not turned on, for example, a plurality of light emitting shape patterns indicating each data for one byte. (8 types in the case of 1 byte) are prepared, and meaningful information is sent by sequentially lighting them in chronological order according to the data arrangement of the information to be transmitted.

Further, as shown in FIG. 16, the light color information (indicated as “light” in FIG. 16) is turned on every 1/30 second for 1/120 second with the specified light emission shape pattern, and the traffic jam information (FIG. 16). Then, for (displayed as "astringent"), the light emission shape pattern is lit every (1/24) seconds for 1/120 seconds. By doing so, it is possible to select and acquire any of a plurality of information by changing the imaging cycle by the various cameras 21 to 24.

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

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

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

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

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

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

If the traffic jam information is acquired (S390: traffic jam), the traffic jam information is notified via the display 32 (S395), and the light color information processing described later is carried out (S400). Further, if the light color information is acquired in the process of S390 (S390: light color), the light color information processing described later is carried out (S400). When the light color information processing is completed, the signal reception process is terminated.

The light color information processing is a process of controlling (driving support) the own vehicle 100 by using the light color information. As shown in FIG. 18, the light color information processing determines whether or not the own vehicle 100 is stopped (S410). In this process, the rate of change in the brightness of each pixel in the captured image (it is determined that the vehicle is stopped if there is no change in the brightness of pixels above the specified ratio) and the own vehicle obtained from a well-known vehicle speed sensor (not shown). It may be determined whether or not the vehicle is stopped based on the vehicle speed of 100.

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

Further, if an affirmative determination is made in the process of S410 (S410: YES), it is determined whether or not the idling stop is in progress (S430). If a negative judgment is made (S430: NO),
End the light color information processing.

If an affirmative determination is made (S430: YES), it is determined whether or not the time until the light color of the traffic signal 301 turns blue is less than a specified value (for example, about 1 second) (S435). If the light color is already blue, it is assumed that the time until the light color becomes blue is 0 seconds.

If a negative determination is made (S435: NO), the light color information processing is terminated. If an affirmative determination is made (S435: YES), the idling controller 35 is made to release the idling stop (S440), and the light color information processing is terminated.

[Effect of the second embodiment]
In the communication device 1 of the second embodiment described in detail as described above, the control unit 10 acquires a distance to the traffic signal 301 (S355: traffic light distance acquisition means), and obtains a captured image according to this distance. The imaging cycle is changed (S360 to S370). However, the traffic signal 301 transmits different information in different cycles by generating the light emission timing and the light emission shape pattern of the signal lamp color in a plurality of different cycles, and these transmission cycles and the imaging cycle by the front camera 21 are used. Are in sync.

According to such a communication device 1, different information can be acquired depending on the distance to the traffic signal 301. Further, the traffic signal 301 can transmit such information only within a range in which the traffic signal 301 can be visually recognized.

Further, in the communication device 1, the control unit 10 acquires light color information using optical communication (S375, S380: light color information acquisition means), and supports the operation of the own vehicle 100 based on the light color information (S375, S380: light color information acquisition means). S410-S440: Driving support means).

In particular, the speed at which the vehicle can enter the intersection when the light color is blue is notified (S420: speed notification means), and the idling stop is released before the light color becomes blue (S440: idling stop release means). ..

According to such a communication device 1, the operability of the own vehicle 100 by the driver can be improved.
[Modified example of the second embodiment]
In the configuration of the second embodiment, the imaging timing by the front camera 21 is changed according to the distance from the traffic signal 301, but the image pickup timing is not limited to the distance from the signal. For example, the traffic signal 301 is used as the front camera 21. The imaging timing by the front camera 21 may be changed according to the time after the confirmation.

[Third Embodiment]
[Structure and processing of the third embodiment]
The communication device 1 of the third embodiment functions as a vehicle control device that performs a process of supporting the driving of the own vehicle 100 by using a plurality of captured images captured by the own vehicle 100.

Specifically, the autonomous processing shown in FIGS. 19 and 20 is carried out. The autonomous process is, for example, a process that is started when the power of the communication device 1 is turned on, and is then repeatedly performed at regular intervals.

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

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

Further, the facial expression of the driver of the other vehicle 200 is extracted from the captured image, and the awake state and the emotional state are analyzed. Then, the driver with a low wakefulness (awakening state close to dozing) and the other vehicle 200 on which the driver with an angry expression is on board are also recognized as other vehicles 200 that can be dangerous.

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

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

Then, it is determined whether or not there is a dangerous vehicle recorded in the vicinity (S485). If a negative determination is made (S485: NO), the process proceeds to S500, which will be described later. If an affirmative determination is made (S485: YES), a warning or the like indicating that there is a dangerous vehicle in the vicinity is notified via the display 32 (S490).

Subsequently, the relative speed of the other vehicle 200 traveling in parallel with the own vehicle 100 in the adjacent lane is detected from the images captured by the left and right cameras 23 and 24 and the rear camera 22 (S500). Then, it is determined whether or not the winker (not shown) of the own vehicle is operating (S505).

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

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

[Effect of the third embodiment]
In the communication device 1 of the third embodiment described in detail as described above, the control unit 10 extracts vehicle information about a dangerous vehicle that may pose a danger to its own vehicle from the captured image (S465: Extraction of dangerous vehicle). Means), vehicle information about this dangerous vehicle is recorded (S475: vehicle information recording means). Then, the vehicle information of the vehicle passing in the vicinity is extracted from the captured image, and the vehicle information is collated with the vehicle information about the dangerous vehicle (S480: collation means). Then, as a result of collation, if there is a dangerous vehicle registered in the vicinity, a warning or the like is notified (S485, 5).
S490: Notifying means).

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

According to such a communication device 1, the relative distance to the other vehicle 200 is detected based on the captured image when guiding the course change, so that the configuration can be simplified.
Further, the control unit 10 detects the inter-vehicle distance to the immediately preceding vehicle and the immediately following vehicle by using the front and rear cameras 21 and 22 (S515: inter-vehicle distance detecting means), and the sum of these inter-vehicle distances is the traveling of the own vehicle. The traveling speed of the own vehicle 100 is controlled so as not to be less than the set distance set according to the speed (S520: inter-vehicle distance control means).

According to such a communication device 1, the sum of the inter-vehicle distances between the immediately preceding vehicle and the immediately preceding vehicle can be maintained. Therefore, when the own vehicle 100 brakes with the braking of the immediately preceding vehicle, the immediately preceding vehicle is used. It is possible to make it easier to avoid a rear-end collision.

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

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

Specific examples of such a configuration will be described with reference to FIGS. 21 and 22.
In the own vehicle 100, a communication device 2 having most of the configurations of the communication device 1 and a smartphone 400 (corresponding to a mobile terminal device) brought into the vehicle by the occupants of the own vehicle are mounted, and the smartphone 400 is a control unit. Carry out part or all of the processing according to 10. The control unit 10 relays the process of sending instructions to the accelerator controller 33, the brake controller 34, and the idling controller 35. That is, in the communication device 2, the communication unit 31 communicates with the smartphone 400.

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

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

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

In the configuration of the present embodiment, when the smartphone 400 transmits information, the identification information is transmitted in place of the vehicle information described above, and when the vehicle information is obtained by the camera 401, the process described later is performed and the server 420 is subjected to the process described later. On the other hand, by requesting the corresponding information corresponding to the vehicle information and recognizing the identification information, it is configured so that the communication specifying the other party can be carried out.

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

In the smartphone request processing, first, the terminal information is requested from the server 420 together with the vehicle information of the vehicle for which the own vehicle information and the terminal information are requested (S560). After requesting the terminal information, it waits until the information which is the response to the request is received (S565).

The server 420 (CPU 421) executes server processing and monitors the presence or absence of a request for terminal information (S605). When the request for terminal information is received (S605: YES), the database 423 is searched based on the vehicle information to extract the requested terminal information, and the smartphone 400 mounted on the corresponding other vehicle 200 based on this terminal information is used. Inquires whether the terminal information may be provided to other vehicles (S610). Then, it waits until the result is obtained (S615).

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

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

When the smartphone 400 of the own vehicle 100 receives the information from the server 420 (S565: YES), when the terminal information is received, the smartphone 400 extracts this information and ends the smartphone request processing.

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

When adopting this configuration, a limit may be set on the timing at which communication with the terminal device of the communication destination is possible. For example, after starting communication with the terminal device of the communication destination, it may be possible to communicate for a specified time set by the terminal device of the communication destination, or to communicate only while the vehicle information can be recognized in the image. In this case, the server 420 determines whether or not the terminal device of the own vehicle 100 can communicate with the terminal device of the other vehicle 200 before the processing of S625, and processes S625 only when communication is possible. You can do it.

Further, the process of requesting permission from the terminal device of the communication destination may be omitted. In this case, all of the smartphone license processing and the processing of S615, S620, and S630 among the server processing become unnecessary, and the configuration can be made simpler.

[Other embodiments]
The present invention is not construed in any way by the above embodiments. Further, it is also an embodiment of the present invention in which a part of the configuration of the above embodiment is omitted as long as the problem can be solved. Further, an embodiment configured by appropriately combining the above-mentioned plurality of embodiments is also an embodiment of the present invention. Further, any aspect that can be considered without departing from the essence of the invention specified only by the wording described in the claims is also an embodiment of the present invention.

For example, in the above embodiment, a plurality of captured images obtained from a stereo camera are used for stereoscopic viewing, but one camera is used to perform stereoscopic viewing from a plurality of captured images obtained at different timings. May be good.

Further, although the communication between the own vehicle 100 and the other vehicle 200 has been described as being a communication by radio waves, it may be an optical communication or the like. In addition, data may be exchanged by exchanging texts and images using an application capable of exchanging e-mails and messages.

Further, the communication device in the above embodiment may be used in combination with a car navigation system or a car audio system except for various cameras 21 to 24. In such a configuration, the notification may be performed by transmitting a voice from a speaker provided in the car navigation system or the cardio.

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

Claims (4)

It is a communication device installed in the own vehicle.
Extracting other vehicles in a plurality of frames of a captured image obtained from an imaging unit mounted on the vehicle, by detecting the movement of the other vehicle, said other vehicles, other that may be dangerous to the vehicle A danger determination unit configured to determine whether or not the vehicle is a dangerous vehicle,
When it is determined that the other vehicle in the captured image is the dangerous vehicle, the recording unit configured to record the vehicle information for identifying the dangerous vehicle in the memory, and the recording unit.
When there is a dangerous vehicle indicated by the vehicle information recorded in the memory around the own vehicle, a notification unit for notifying the existence of the dangerous vehicle and a notification unit.
A communication device equipped with. The communication device according to claim 1.
The danger determination unit is configured to determine whether or not the other vehicle in the captured image is the dangerous vehicle based on the amount of change in the relative distance between the own vehicle and the other vehicle in the captured image. Communication device. It is a communication device installed in the own vehicle.
Extracting other vehicles in a plurality of frames of a captured image obtained from an imaging unit mounted on the vehicle, by detecting the movement of the other vehicle, said other vehicles, other that may be dangerous to the vehicle A first danger determination unit configured to determine whether or not the vehicle is a dangerous vehicle,
By extracting the facial expression of the driver in the other vehicle from the captured image and analyzing the awakening state or emotion of the driver from the facial expression, it is determined whether or not the other vehicle is the dangerous vehicle. The second danger judgment unit configured as
When it is determined that the other vehicle in the captured image is the dangerous vehicle, the notification unit that notifies the other vehicles around the own vehicle of the existence of the dangerous vehicle by communication.
Bei obtain communication device. A vehicle provided with the communication device according to any one of claims 1 to 3.

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