WO2008001503A1

WO2008001503A1 - Communication party identifying apparatus, communication party identifying method, and communication party identifying program

Info

Publication number: WO2008001503A1
Application number: PCT/JP2007/000712
Authority: WO
Inventors: Shohei Nomoto
Original assignee: Nec Corporation
Priority date: 2006-06-30
Filing date: 2007-06-28
Publication date: 2008-01-03
Also published as: JP2009255600A

Abstract

A communication means allows a self-device and the other device to perform mutual information exchange. An appearance feature extraction means allows an image obtained by photographing an appearance of the other device positioned around the self-device to be analyzed to extract appearance features of the other device from the image. An appearance feature comparison means allows the appearance information extracted by the appearance feature extraction means of the self-device and the appearance features held by the other device to be compared with each other. An identification unit allows the other device of the communication party to be identified according to the comparison result transmitted from the appearance feature comparison means of the other device.

Description

Specification

Communication partner identification device, communication partner identification method, and communication partner identification program

Technical field

TECHNICAL FIELD [0001] The present invention relates to a communication partner identification device, a communication partner identification method, and a communication partner identification program, and in particular, a communication partner identification device and a communication partner identification for identifying a communication partner using shape information of the communication partner. Method, Background Art Regarding Communication Partner Identification Program

In recent years, in mobile radio communication devices, services that exchange information only with a specific partner have attracted attention. In particular, in the field of ITS (Intelligent Transport System), a mobile wireless communication device is installed in a vehicle, and local information is exchanged between the vehicles to improve the safety and convenience of the driver. A system has appeared.

For example, in Patent Document 1, vehicle control information and position information acquired by GPS (Global Positioning System) are transmitted to a base station via wireless communication, and the base station receives position information received by wireless communication. Based on this, the positional relationship with respect to a plurality of vehicles is specified, and the control information of the preceding vehicle is transmitted to a specific succeeding vehicle via wireless communication. The specific succeeding vehicle receives the preceding vehicle received by wireless communication. The vehicle is automatically controlled based on the control information. As a result, when the preceding vehicle suddenly brakes, the brakes of the following vehicle are automatically activated, thereby avoiding a crushing accident.

[0004] Further, in Patent Document 2, an image of the surroundings of the vehicle taken by the camera and the position information acquired by the GPS are transmitted to the surrounding vehicles via wireless communication. The vehicle that has received the image and the position information via wireless communication compares the position information of the host vehicle acquired by GPS with the position information received by wireless communication, thereby determining the position of the transmission source and the host vehicle. The relationship is identified and the image received via wireless communication is Display on the display according to the relationship. As a result, it is possible to intuitively understand where the image is seen from the vehicle around the vehicle, and it is possible to determine from the image the status of the position that is a blind spot from the vehicle.

[0005] However, in the inventions described in Patent Document 1 and Patent Document 2, the position information of each vehicle is acquired using GPS, and the position relationship between the vehicles is grasped using the position information. However, GPS location information includes an error of several hundred meters. For this reason, in the invention (DGPS) described in Patent Document 3, error correction information broadcast by FM multiplexing is received and the position information obtained by GPS is corrected, but the position information calculated by DGPS is also An error of several tens of meters occurs.

[0006] For this reason, in the invention described in Patent Document 1, the control information of the vehicle that has actuated the sudden brake is also transmitted to a vehicle that is unrelated to the sudden brake operation of the vehicle. There arises a problem of erroneous vehicle control. In addition, the invention of Patent Document 2 presents a problem that an image received from a surrounding vehicle is displayed at an incorrect position on the display, causing the driver to make an incorrect determination.

Therefore, in Patent Document 4, the camera unit monitors the number plate of the following vehicle from the preceding vehicle, and transmits an ID signal, a synchronization signal, and information to be transmitted from the preceding vehicle to the following vehicle. On the other hand, when the information from the preceding vehicle is the information on the own vehicle, technology has been developed to communicate between the vehicles and avoid accidents.

[0008] Further, in Patent Document 5, the current orientation and size of the subject from the calculated orientation and size of the subject, the vehicle speed, and the steering angle in the image before the comparison target image is taken. A technique for predicting the length and selecting a template to be used for comparison using the prediction information is disclosed.

Patent Document 1: Japanese Patent Application Laid-Open No. 2 00 2 _ 2 2 2 4 9 1

Patent Document 2: Japanese Patent Laid-Open No. 2 0 0 6 _ 0 3 1 3 2 8

Patent Document 3: Japanese Patent Laid-Open No. 5-2700 Patent Document 4: Japanese Patent Laid-Open No. 9-9 8 1 2 5

Patent Document 5: Japanese Unexamined Patent Publication No. 2 0 0 5 _ 3 1 8 5 4 6

Disclosure of the invention

Problems to be solved by the invention

[0009] Certainly, if the technique according to Patent Document 4 is used, it is possible to establish a communication transmission path between the preceding vehicle and the succeeding vehicle and perform mutual communication to avoid an accident or the like. The mutual communication is limited to the vehicles located in the front and rear, and it becomes impossible to establish communication with the vehicle traveling diagonally behind the host vehicle. Therefore, the technique of Patent Document 4 has a problem that it is impossible to avoid danger in advance when a vehicle traveling forward and backward changes lanes.

[0010] Further, in Patent Document 5, the criterion for selecting a template is limited to information about only the own vehicle, and there remains a problem that it is difficult to cope with the traffic state of the vehicle that changes from moment to moment. .

[001 1] An object of the present invention is to provide a communication partner identification device, a communication partner identification method, and a communication partner identification program that solve the above-mentioned problems in consideration of the protection of personal information.

Means for solving the problem

[0012] In order to achieve the above object, a communication partner identifying device according to the present invention is arranged in each of its own and other devices, and identifies another device that is a communication partner from any other device located around the own device. A communication partner identification device,

A communication means for exchanging information between itself and other devices;

An external feature extraction unit that analyzes an image obtained by capturing an external shape of another device located around the device, and extracts features of the external shape of the other device from the image;

Appearance feature comparison means for comparing the appearance shape information extracted by the appearance feature extraction means of the other device and the features of the appearance shape possessed by the own device;

And an identification unit that identifies the other device of the communication partner based on the comparison result transmitted from the appearance feature comparison means of the other device.

[0013] The communication means of the own device is the appearance of the other device extracted by the appearance feature extracting means of the own device. The feature data of the shape may be transmitted to the other device, and the comparison result by the appearance feature comparison unit of the other device may be received.

[0014] Imaging region detection means for analyzing position data of another device in an image obtained by photographing the periphery of the device, and a relative position for calculating the relative position of the other device with respect to the device based on the position data of the other device The personality having the position calculating means may be used.

[0015] Using the information on the relative position as a key, the feature data of the appearance shape corresponding to the relative position is selected, and the feature data of the selected appearance shape is transmitted to the appearance feature extraction unit of another device. It is good also as a structure which has a means

[001 6] A configuration may be adopted in which a communication partner is selected based on the information on the relative position, and information on the selected communication partner is transmitted to the communication unit of the own apparatus.

[001 7] The communication partner specifying method of the present invention is a communication partner specifying method for specifying another device as a communication partner from any other device located around the own device,

Analyzing an image obtained by photographing the external shape of another device located in the periphery of the own device, and extracting the feature of the external shape of the other device from the image, and the external feature extracting means of the other device. The other device of the communication partner is identified based on the external feature comparison step that compares the external shape information with the external shape characteristics of the device itself, and the comparison results sent from the external feature comparison means of other devices. And an identification step to execute.

[0018] The feature data of the external shape of the other device extracted by the own device may be transmitted to the other device, and the external feature comparison result in the other device may be received.

[001 9] Based on the imaging region detection step of analyzing the position data of the other device in the image of the periphery of the own device and the position data of the other device, the relative position of the other device to the own device is determined. A relative position calculating step for calculating, and a configuration for executing are also possible.

[0020] Using the information on the relative position as a key, the characteristic of the external shape corresponding to the relative position It is also possible to select a 徵 data and compare the features of the appearance shape based on the feature data of the selected appearance shape.

[0021] A communication partner may be selected based on the information on the relative position, and the information may be transmitted to the selected communication partner.

[0022] The communication partner specifying program according to the present invention includes a computer constituting a communication partner specifying device that specifies another device serving as a communication partner from any other device located around the own device.

A function of analyzing an image obtained by photographing the external shape of another device located in the periphery of the own device, and extracting a feature of the external shape of the other device from the image;

A function for comparing the external shape information extracted by the external feature extraction means of the other device with the external shape features possessed by the device;

And a function of identifying the other device of the communication partner based on the comparison result transmitted from the appearance feature comparison means of the other device.

[0023] The computer may transmit the feature data of the appearance shape of the other device extracted by the own device to the other device, and may receive the appearance feature comparison result in the other device, and It is.

[0024] Based on the function of analyzing the position data of the other apparatus in the image obtained by photographing the periphery of the own apparatus and the position data of the other apparatus, the computer calculates the relative position of the other apparatus with respect to the own apparatus. It is good also as a structure which performs the function to perform and.

[0025] Using the information on the relative position as a key, the computer selects feature data of the outer shape corresponding to the relative position, and compares the features of the outer shape based on the selected feature data of the outer shape. It is also good as a configuration for executing the function to be performed.

[0026] The computer may be configured to execute a function of selecting a communication partner based on the relative position information and transmitting the information to the selected communication partner.

[0027] The communication partner identification device of the present invention is arranged in each of its own and other devices, A communication partner specifying device for specifying another device as a communication partner from any other device located in the enclosure,

Analyze the communication means for exchanging information between the self-other devices and the image of the external shape of the other devices located around the self-device, and extract the features of the external shape of the other devices from the images Sent from the appearance feature comparison means, the appearance feature comparison means for comparing the appearance shape information extracted by the appearance feature extraction means of the device itself, and the feature of the appearance shape acquired from the other device. And an identification unit for identifying another device of the communication partner based on the comparison result.

[0028] The communication partner specifying method of the present invention is a communication partner specifying method for specifying another device as a communication partner from any other device located around the own device,

An external feature extraction step of analyzing an external shape image of another device located around the own device and extracting features of the external shape of the other device from the image; and external shape information extracted by the own device; An external appearance feature comparison step for comparing external appearance features acquired from other devices, and an identification step for identifying other communication partner devices based on the comparison results. .

[0029] The communication partner specifying program according to the present invention includes a computer constituting a communication partner specifying device that specifies another device serving as a communication partner from any other device located around the own device.

Analyzing the image of the external shape of the other device located around the device itself, extracting the features of the external shape of the other device from the image, the external shape information extracted by the device, and from the other device It is characterized by executing a function of comparing the acquired appearance shape characteristics, and a function of identifying another device of the communication partner based on the comparison result.

The invention's effect

[0030] According to the present invention, the communication device of the communication partner can be accurately identified by using the image information of the external shape of the communication device.

[0031] Further, according to the present invention, communication is performed by using an image of the appearance of the communication device. The other party's communication device can be specified with high accuracy. In addition, by calculating the relative position of the communication partner from the image, the positional relationship with the communication device of the communication partner can be accurately identified. Also, it is possible to communicate only with a specific communication device by broadcasting the appearance image of the communication device that communicated.

The above-described object and other objects, features, and advantages will be further clarified by the preferred embodiments described below and the following drawings attached thereto.

FIG. 1 is a block diagram for explaining an operation of specifying a communication partner using the communication partner specifying apparatus according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram showing a configuration of a communication partner identifying apparatus according to Embodiment 1 of the present invention.

FIG. 3 is a diagram for explaining a positional relationship among a plurality of communication partner identifying apparatuses.

FIG. 4 is a flowchart explaining a communication partner specifying method according to Embodiment 1 of the present invention.

FIG. 5 is a flowchart explaining a communication partner specifying method according to Embodiment 1 of the present invention.

FIG. 6 is a block diagram for explaining an operation of identifying a communication partner using the communication partner identifying apparatus according to Embodiment 2 of the present invention.

FIG. 7 is a block diagram showing a configuration of a communication partner identifying apparatus according to Embodiment 2 of the present invention.

FIG. 8 is a diagram for explaining a positional relationship among a plurality of communication partner specifying devices.

FIG. 9 is a diagram illustrating a process of calculating a relative position.

FIG. 10 is a flowchart for explaining a communication partner specifying method according to Embodiment 2 of the present invention.

FIG. 11 is a flowchart for explaining a communication partner specifying method according to Embodiment 2 of the present invention. FIG. 12 is a block diagram for explaining an operation of specifying a communication partner using the communication partner specifying apparatus according to Embodiment 3 of the present invention.

FIG. 13 is a block diagram showing a configuration of a communication partner identifying apparatus according to Embodiment 3 of the present invention.

FIG. 14 is a flowchart for explaining a communication partner specifying method according to Embodiment 3 of the present invention.

FIG. 15 is a block diagram illustrating an operation of specifying a communication partner using the communication partner specifying apparatus according to Embodiment 4 of the present invention.

FIG. 16 is a block diagram showing a configuration of a communication partner identifying apparatus according to Embodiment 4 of the present invention.

FIG. 17 is a flowchart for explaining a communication partner specifying method according to Embodiment 4 of the present invention.

FIG. 18 is a block diagram showing a configuration of a communication partner identifying apparatus according to Embodiment 5 of the present invention.

FIG. 19 is a diagram for explaining a positional relationship among a plurality of communication partner specifying devices.

FIG. 20 is a flowchart for explaining a communication partner specifying method according to Embodiment 5 of the present invention.

FIG. 21 is a flowchart for explaining a communication partner specifying method according to Embodiment 5 of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)

[0034] The first embodiment is arranged in each of its own and other devices (automobiles), and from any other device (other automobile) located around the own device (own automobile) to another device (others) Communication partner identification devices A to C for identifying a vehicle).

The communication partner identification devices A to C are communication means 1 1 for exchanging information between themselves and other devices (automobiles), and other devices (other automobiles) located around the own device (own automobile). ) Analyze the image taken of the appearance shape of the other device from the image (other Appearance feature extraction means 1 2 that extracts features of the appearance shape of automobiles, appearance shape information extracted by appearance feature extraction means 1 2 of other devices (other automobiles), and own device (own automobile) Appearance feature comparison means 1 3 for comparing features of external shapes to be performed and control means for identifying another device of the communication partner based on the comparison result transmitted from the appearance feature comparison means 1 3 of another device (another automobile) 1 0 and

As shown in FIG. 2, the communication partner specifying apparatus according to the first embodiment includes a control unit 10, a communication unit 11, an appearance feature extraction unit 12, an appearance feature comparison unit 13, Means 1 to 4 are provided. The control means 10, the communication means 1 1, the appearance feature extraction means 1 2, the appearance feature comparison means 1 3, and the storage means 1 4 are connected by a system bus. As shown in Fig. 1, the communication partner identification device shown in Fig. 2 is installed in its own device and in the other device as the communication partner. In Fig. 1, the block indicated by a dotted line indicates that the communication partner is in a suspended state, and the block indicated by a solid line indicates that it is in an operating state.

In addition, the X on communication path R in Fig. 1 indicates that no personal information is sent.

[0036] The control means 1 0 0 included in the communication partner specifying device A shown in FIG. 1, the control means 2 0 0 included in the communication partner specifying device B, and the control means 3 0 0 included in the communication partner specifying device C are: Corresponds to the control means 10 of FIG. The communication means 1 0 1 included in the communication partner specifying device A shown in FIG. 1, the communication means 2 0 1 included in the communication partner specifying device B, and the communication means 3 0 1 included in the communication partner specifying device C are shown in FIG. Corresponds to communication means 1 1. Appearance feature extraction means 1 0 2 included in communication partner identification device A shown in FIG. 1, appearance feature extraction means 2 0 2 included in communication partner identification device B and appearance feature extraction means 3 included in communication partner identification device C 3 0 2 corresponds to appearance feature extraction means 1 2 in FIG. Appearance feature comparison means 1 0 3 included in communication partner identification device A shown in FIG. 1, appearance feature comparison means 2 0 3 included in communication partner identification device B and appearance feature comparison means 3 included in communication partner identification device C 3 0 3 corresponds to the appearance feature comparison means 13 in FIG. Storage means 1 0 4 included in communication partner identification device A shown in FIG. 1, storage means 2 0 4 included in communication partner identification device B, and communication partner identification device The storage means 30 04 included in the device C corresponds to the storage means 14 in FIG.

The control means 10 controls the operation of the communication means 1 1, appearance feature extraction means 12, appearance feature comparison means 13, and storage means 14. Further, the control means 10 has an interface with an external device (not shown), and receives an image of the surroundings of the device and various sensor information via the interface, and specifies a communication partner. Send data such as results. Further, the control means 10 identifies the other device of the communication partner based on the comparison result transmitted from the external feature comparison means of the other device.

[0038] For example, a camera is used as an external device that captures an image around the device itself. When the camera (external device) is an automobile, the camera (external device) is attached to the rear and images other vehicles that are traveling right behind and obliquely behind the vehicle. In addition, the camera is attached to a posture that goes around the vehicle and images the surrounding situation. Since a general technique is applied to a camera that captures the periphery of its own device, detailed description of its configuration and imaging method is omitted.

[0039] The communication means 11 1 uses the communication standards such as IEEE 802.11b and UWB to extract the extracted feature data of the outer shape and the comparison result of the features of the outer shape. Send and receive.

[0040] The appearance feature extraction unit 12 extracts the feature of the external shape of the other device that is reflected in the image around the own device received by the control unit 10 from the external device. Images taken around the device include unnecessary backgrounds as well as other devices. Therefore, the appearance feature extraction unit 12 cuts out the target other device from the image, and extracts the feature of the appearance shape of the other device from the cut out image. Since a general technique is applied to a configuration and method for extracting features of another target device from an image, detailed description of the configuration and extraction method is omitted. The external feature extraction unit 12 sends the extracted external shape feature data of the other device to the communication means 11.

[0041] For example, the outer shape of the vehicle, the vehicle type, and the license plate are used as the characteristics of the vehicle outer shape. Examples of the outer shape of the vehicle include a vehicle silhouette, Use the tail lamp mounting position, front grille, rear grille shape, vehicle width and height, front and rear tire mounting width, and window frame shape. In addition, it is estimated whether the vehicle type of the vehicle is a truck, a motorcycle, or a sedan by pattern matching with respect to the outer shape of the vehicle. Also, the appearance color is extracted as a feature of the vehicle.

[0042] The appearance feature comparison unit 13 receives the feature of the external shape of the other device extracted by the communication unit 11 1 and received from the communication unit 11 1 and the self stored in the storage unit 14 The characteristics of the external shape of the device are compared, and the comparison result is transmitted to the communication partner via communication means 11.

[0043] The appearance feature comparison means 13 includes the appearance shape feature of the other device extracted by the communication partner appearance feature extraction means 12 and the appearance shape feature of the own apparatus stored in the storage means 14. -If it matches, the communication means 11 sends the comparison result that the object captured in the image captured by the communication partner is the device itself to the communication partner.

Appearance feature comparison means 1 3 is used when the appearance feature of the other device extracted by the appearance feature extraction means 1 2 of the communication partner does not match the appearance shape feature of the own device stored in the storage means 14 The communication means 11 sends the comparison result that the object reflected in the image taken by the communication partner is not the device itself to the communication partner.

[0044] In the following, the features of the external shape of the other device extracted by the external feature extraction unit 12 of the communication partner received by the communication unit 11 1 by the external feature comparison unit 13 and stored in the storage unit 14 Shows an example of a method to compare the appearance shape characteristics of the device

[0045] The own device receives the appearance characteristics of the communication device (vehicle) extracted from the image by other devices that travel around, and compares the received appearance features with the appearance features of the own device held by the own device. Determine if the received appearance features match your own appearance features. This operation is performed by starting the comparison from the rough features (color, size, shape, etc.) and calculating the degree of coincidence in each feature. If the calculated degree of coincidence is less than the specified value, it is determined that the sent image and itself are inconsistent. If the degree of coincidence is greater than the specified value, compare other features. Storage means 1 If all the features stored in 4 are not judged to be inconsistent, it is judged that the sent image matches itself.

[0046] As the above-mentioned matching / non-matching determination method, when using color as a feature of the appearance shape of the vehicle, the color can be digitized, and the color difference can be calculated and evaluated. When using the outer shape as a feature, perform a predetermined analysis and compare the parameters of the features with the outer shape. For this parameter comparison, for example, a region where a certain change in the pixel value (density value) of the image is extracted as a vehicle outline and partial line, and the area value of the part surrounded by the line is calculated. Thus, the outer shape portion can be specified.

By quantifying the features of the appearance shape in this way, it is possible to compare the features of the appearance shape extracted from the image acquired by the other device with the features of the appearance shape of the corresponding own device. The value obtained as a result of this comparison is taken as the degree of coincidence. For example, assuming that 100% corresponds to 100% and the specified value is 60%, it is possible to determine that the features of both external shapes are inconsistent if the degree of match is 6 0 <½ or less. .

[0047] Note that this determination method is merely an example, and various other modes can be adopted.

[0048] If the features of the external shape of the other device extracted by the external feature extraction means 12 of the communication partner and the features of the external shape of the own device stored in the storage means 14 match, the communication partner The communication means 11 sends the comparison result that the object reflected in the image taken by is the own device to the communication partner.

[0049] In the process of identifying the communication partner, when another device is photographed from the own device, if the other device is a car, the image of the occupant of the car is included in the image of the appearance of the car There is. In this case, there is a problem of portrait rights in the occupant image. Further, when the own device and the other device are mobile phones, if the mobile phone of the other device of the communication partner is photographed from the own device's mobile phone, the user of the mobile phone is included in the photographed image. Even in this case, the user's image has a problem of portrait rights. Most Recently, the Personal Information Protection Law has been enforced, and it has become important to handle information related to personal information carefully. The handling of personal information becomes a problem even when identifying the communication partner.

[0050] In the first embodiment, the appearance feature comparison unit 13 is a communication partner appearance feature extraction unit.

In order to compare the feature of the external shape of the other device extracted in 12 and the feature of the external shape of the own device stored in the storage unit 14, the feature of the external shape is compared with the own device. For this reason, external appearance feature data including personal information is not sent to the device that captures the image. Therefore, the personal information is not leaked to the communication partner because it is included in the feature of the external shape, and the present invention is excellent in terms of protecting personal information.

[0051] Further, in the first embodiment, the external shape feature of the other device extracted by the external feature extraction unit 12 of the communication partner is compared with the external shape feature of the own device stored in the storage unit 14 The result is sent to the communication partner. However, the comparison result is information on whether or not the object captured in the image taken by the communication partner is the device itself, that is, information of “YES” or “NO”, Does not contain personal information. Therefore, even if the comparison result of the feature of the external shape is exchanged, the personal information is not leaked to the other party of communication, and the present invention is excellent in terms of protecting the personal information.

[0052] It should be noted that the comparison between the external shape feature of the own device read from the storage means 14 and the external appearance feature of the device transmitted from the external appearance feature extraction means 12 of the communication partner is Since general techniques are applied, detailed description of the configuration and comparison method is omitted.

The storage means 14 provides a working storage area required when the control means 10, the communication means 11, the appearance feature means 12, and the appearance feature comparison means 13 execute operations. . Further, the storage means 14 stores data on the appearance shape of the own device and identification ID data for identifying the other device. The information stored in the storage means 14 is the minimum necessary data of the external appearance feature and the data of the identification ID, and the storage capacity is extremely small. Note that the communication partner identifying apparatus according to the first embodiment shown in FIG. 1 is constructed as hardware, but is not limited thereto. The communication partner identifying apparatus according to Embodiment 1 may be constructed as software. In this case, the communication partner specifying program is incorporated in the computer constituting the communication partner specifying device shown in FIG. 1, and the computer program is read out and executed by the computer CPU, so that the control means 10 is controlled by the computer. And the appearance feature extraction means 1 2 and the appearance feature comparison means 1 3.

Next, a communication partner specifying method for specifying a communication partner using the communication partner specifying apparatus shown in FIG. 2 will be described with reference to FIGS.

[0056] The communication partner identification method according to the first embodiment uses a vehicle (automobile) traveling on a road as its own device and other devices, and each vehicle is equipped with the communication partner identification device shown in FIG. The case will be described.

[0057] As shown in Fig. 3, in the first embodiment, the host vehicle (own device) is inclined rearward.

It is assumed that two other vehicles (other devices) are traveling. In FIG. 3, the communication partner specifying device mounted on the own device is referred to as self communication device A, and the communication partner specifying device mounted on the other device is referred to as other communication devices B and C.

In FIG. 3, it is assumed that a communication path R is formed between the own communication device A and the other communication device B, and communication is performed between the own communication device A and the other communication device B. . The same applies when a communication path R is formed between the own communication apparatus A and the other communication apparatus C instead of the other communication apparatus B.

First, the control means 10 0 of the own communication device A acquires an external device (camera etc.) force << an image obtained by photographing the periphery of the own vehicle, and the obtained image data is an appearance feature extraction means 1 0. 2 (Step S1 in Fig. 4).

[0060] The appearance feature extraction means 10 0 2 of the own communication device A is the feature of the appearance shape of the other communication device (B or C) reflected in the image acquired from the external device transmitted from the control means 100. And the extracted feature data of the external shape is transmitted to the communication means 101 (step S2 in FIG. 4). [0061] The communication unit 101 transmits the feature data of the outer shape transmitted from the appearance feature extraction unit 102 to the other communication device B of the communication partner (step S3 in Fig. 4).

[0062] The communication means 2 0 1 of the other communication device B in communication with the own communication device A (connected by the communication path R) receives the feature data of the external shape extracted by the own communication device A, and The received external appearance feature data is transmitted to the external feature comparison means 20 3 of the other communication device B (step S 4 in FIG. 5).

[0063] The appearance feature comparison means 20 03 of the other communication device B includes the appearance shape feature data transmitted from the own communication device A and the appearance shape of the other communication device B stored in the storage means 20 04 in advance. The feature data is compared (step S 5 in FIG. 5).

In step S 5 of FIG. 5, the appearance feature comparison means 2 0 3 stores the appearance feature of the other device extracted by the appearance feature extraction means 1 0 2 of the communication partner and the storage means 2 0 4. If the stored external communication device (own device) B matches the feature of the external shape, it is compared with the other communication device (self device) B that is the object captured in the image captured by the communication partner. The result and the identification ID for identifying the other communication device B stored in the storage means 204 are transmitted to the communication partner by the communication means 2011 (step S6 in FIG. 5).

In step S 5 of FIG. 5, the appearance feature comparison means 2 0 3 stores the appearance feature of the other device extracted by the appearance feature extraction means 1 0 2 of the communication partner and the storage means 2 0 4. If the external appearance feature of the other communication device (own device) B does not match, the comparison result is that the object reflected in the image captured by the communication partner is not the other communication device (self device) B. The communication means 11 sends the identification ID for identifying the other communication device B stored in the storage means 2 0 4 to the communication partner (step S 6 in FIG. 5).

) o

[0066] The communication means 1 0 1 of the own communication apparatus A connected to the communication means 2 0 1 of the other communication apparatus B via the communication path R is the communication means 2 0 1 of the other communication apparatus B of the communication partner. Therefore, the comparison result and the identification ID for identifying the other communication device B are received, and the received comparison result and the identification ID are transmitted to the control means 100 (step S 7 in FIG. 4). [0067] The control means 100 of own communication device A is characterized by the appearance shape extracted by appearance feature extraction means 10 2 of own communication device A based on the comparison result transmitted from communication means 1001. , It is detected whether it matches or does not match the feature of the external shape of the other communication device B (step S 8 in FIG. 4).

[0068] In step S8 of Fig. 4, if the control means 100 of own communication device A is a comparison result that the comparison results transmitted from other communication device B match, that is, the own communication device When it is determined that the appearance shape feature transmitted from device A matches the appearance shape feature of other communication device B copied in the image (step S8 in Fig. 4; YES), the image captured by the external device is displayed. The fact that the imprinted vehicle is the other communication device B of the communication partner is stored in the storage means 104 in association with the identification ID of the other communication device B (step S 9 in FIG. 4).

[0069] In step S8 of Fig. 4, the control means 1 0 0 of the own communication device A has a comparison result that the comparison result transmitted from the other communication device B is inconsistent, that is, the own communication device A If it is determined that the feature of the external shape transmitted from is inconsistent with the feature of the external shape of the other communication device B imprinted in the image (step S 8 in FIG. 4; NO), the process is the step of FIG. Returning to S 1, the image around the own communication device A is acquired again from the external device, and the processing is continued (steps S 1 to S 3 in FIG. 4).

[0070] As described above, according to the first embodiment, by using the image information of the external shape of the communication device, the communication device of the communication partner can be accurately identified.

[0071] According to the first embodiment, the communication partner is specified based on the feature of the appearance shape that appears on the external appearance of the self-other device without focusing on the characteristic portion that appears in the specific part of the self-other device. The communication partner can be identified without being affected by the relative position of the device.

[0072] According to the first embodiment, the process of capturing an image of a specific object and the process of extracting features from the captured image are performed by one device, and the features are compared by the other device. There is no excessive burden on the processing in each device. Therefore, even if the communication partner identification device is applied to a car navigation system for vehicle guidance, Does not affect the work. In addition, the storage means only stores the data of the features of the external appearance of the device itself and the data of the identification ID, and the information stored in the storage means becomes the minimum necessary, so that the storage capacity can be kept extremely low. it can. Therefore, the present invention can be applied without changing the specifications of the existing Chikichi navigation system.

[0073] In the process of identifying the other party of communication, when another device is photographed from the own device, if the other device is a vehicle, the image of the occupant riding in the vehicle is included in the image of the appearance of the vehicle Sometimes. In this case, there is a problem of portrait rights in the crew image. However, in the first embodiment, the external feature comparison unit of the other communication device includes the external shape feature extracted by the external feature extraction unit of the communication partner's own communication device, and the external shape stored in the storage unit of the other communication device. In order to compare with the features of the device, the comparison of the features of the external shape is performed by the own device. For this reason, feature data of the external shape including personal information is not transmitted to the imaging device. Therefore, it is possible to prevent personal information from being unnecessarily diffused in the features of the external shape, and to strengthen the protection of personal information.

In Embodiment 1, the comparison result compared by the appearance feature comparison means of the other communication device of the communication partner is transmitted to the own communication device. However, the comparison result is information on whether or not the object captured in the image taken by the communication partner is the device itself, that is, information of “YES” or “NO”, and this information includes personal information. Is not included. Therefore, it is possible to enhance the protection of personal information even if the comparison results of the appearance shape characteristics are exchanged.

[0075] (Embodiment 2)

Next, an example in which the relative position between the own communication device that is the communication target and the other communication device is calculated will be described as a second embodiment. In the second embodiment, an expiration date is set for the calculated relative position data, and the relative position data is managed.

As shown in FIG. 7, the communication partner specifying apparatus according to the second embodiment includes an imaging unit 15, an imaging region detection unit 16, and a relative position calculation unit 1 7 in the circuit configuration shown in FIG. The circuit configuration is as described above. Control means 1 0, communication means 1 1 and Appearance feature extraction means 1 2, appearance feature comparison means 1 3, storage means 1 4, imaging means 1 5, imaging area detection means 1 6, and relative position calculation means 1 7 Connected by. As shown in FIG. 6, the communication partner identification device shown in FIG. 7 is installed in the own device and the other device as the communication partner. In FIG. 6, the block indicated by the dotted line indicates that the communication partner is in a suspended state, and the block indicated by a solid line indicates that it is in an operating state.

The control means 1 0 0 included in the communication partner specifying device A shown in FIG. 6, the control means 2 0 0 included in the communication partner specifying device B, and the control means 3 0 0 included in the communication partner specifying device C are shown in FIG. Corresponds to the control means 10 of the above. The communication means 1 0 1 included in the communication partner specifying device A shown in FIG. 6, the communication means 2 0 1 included in the communication partner specifying device B, and the communication means 3 0 1 included in the communication partner specifying device C are shown in FIG. Corresponds to communication means 1 1. Appearance feature extraction means 1 0 2 included in communication partner identification device A shown in FIG. 6, appearance feature extraction means 2 0 2 included in communication partner identification device B and appearance feature extraction means 3 included in communication partner identification device C 3 0 2 corresponds to appearance feature extraction means 1 2 in FIG. Appearance feature comparison means 1 0 3 included in communication partner identification device A shown in FIG. 6, appearance feature comparison means 2 0 3 included in communication partner identification device B and appearance feature comparison means 3 included in communication partner identification device C 3 0 3 corresponds to the appearance feature comparison means 13 in FIG. The storage means 10 04 included in the communication partner specifying device A shown in FIG. 6, the storage means 20 04 included in the communication partner specifying device B, and the storage means 30 04 included in the communication partner specifying device C are shown in FIG. This corresponds to the storage means 1 of 4. The imaging means 10 05 included in the communication partner identification device A shown in FIG. 6, the imaging means 20 05 included in the communication partner identification device B, and the imaging means 30 0 included in the communication partner identification device C are shown in FIG. Corresponds to shooting means 1-5. Imaging area detection means 1 0 6 included in communication partner identification apparatus A shown in FIG. 6, imaging area detection means 2 0 6 included in communication partner identification apparatus B and imaging area detection means 3 0 included in communication partner identification apparatus C 6 corresponds to the imaging region detection means 16 in FIG. Relative position calculation means 1 0 7 included in communication partner identification device A shown in FIG. 6, relative position included in communication partner identification device B The calculating means 2 07 and the relative position calculating means 3 0 7 included in the communication partner specifying device C correspond to the relative position calculating means 17 in FIG.

Note that the X on communication path R in Fig. 6 indicates that no personal information is sent.

The photographing means 15 obtains image data obtained by photographing the entire surroundings of the own device with the entire periphery of the own device as the photographing range. The imaging means 15 adds imaging parameters to the acquired image data, and transmits these data to the imaging area detection means 16. The shooting parameters include information about the camera that has captured the image to be transmitted, and the shooting parameters include information such as the position information of the camera attached to the device and the direction when the camera shot. Since general camera technology is applied to the imaging means 15, details of the configuration, imaging method, imaging parameters, etc. are omitted.

[0079] The imaging means 15 has a configuration in which a plurality of cameras are installed around the own device and the image of the entire surroundings of the own device is acquired to acquire image data, or a single camera is installed on the own device. Any configuration may be employed in which image data is acquired by photographing the situation around the entire device while moving to the surroundings. In short, the configuration of the imaging means 15 may be any configuration as long as it can acquire image data by capturing the situation around the entire device.

In the embodiment shown in FIG. 7, the photographing means 15 is installed as one component of the communication partner specifying device, but the present invention is not limited to this. Captures image data such as image position information and image position information corresponding to the image data from the external device via the interface, and the image data of the entire surroundings of the device. It may be.

[0081] The imaging region detection means 16 analyzes the image based on the imaging parameters and images transmitted from the imaging means 15 to detect an area where another device is captured in the image, and The position of the other device in the image of the area is transmitted to the relative position calculation means 17, and the section image cut out from the area is transmitted to the appearance feature extraction means 12. [0082] The position of the other device is determined by using the coordinates of the center of gravity of the detected other device, the coordinate group of the point sequence that constitutes the detected silhouette of the other device, or the coordinates of the rectangular area that includes the silhouette. Identify. It is not limited to this. Since a general technique is applied to specify the position of the other device, a detailed description thereof will be omitted.

[0083] Relative position calculation means 17 uses the position of the other apparatus in the image transmitted from imaging area detection means 16 and the imaging parameter transmitted from imaging means 15 to The relative position of is calculated. The relative position data calculated by the relative position calculation means 17 is stored in the storage means 14.

An example in which the relative position calculation means 17 calculates the relative position will be described. The image received by the relative position calculating means 1 7 from the imaging means 15 is displayed on the coordinate of the horizontal axis X g and the vertical axis Y g at the position (xg, _ yg), for example, another device such as a vehicle. (Fig. 9 (a)).

[0085] Relative position calculation means 17 uses the screen coordinate system shown in Fig. 9 (a) to perform the projection transformation shown in Fig. 9 (b), as shown in Fig. 9 (c) (X p, Y p Projective transformation on the real world camera coordinate system.

[0086] Relative position calculation means 17 derives the relationship between yp and yg based on the following equation when performing projective transformation to the real-world camera coordinate system shown in Fig. 9 (c).

f: -y g = (f + yp): h where f << yp.

[Number 1]

β

yp ^-"—

yg

[0087] When the relative position calculation means 17 is projected to the real world camera coordinate system shown in Fig. 9 (c), the relationship between χ ρ, yp, and χ ρ F: X g = (f + yp): X p where f <<yp.

[Equation 2]

xg yp h xg

f ys [0088] As shown in Fig. 9 (c), the relative position calculation means 17 converts the image coordinate system shown in Fig. 9 (a) into a real world camera coordinate system by projective transformation shown in Fig. 9 (b). Then, the relationship between the own device (for example, the own vehicle) and the other device (for example, another vehicle) is plotted on the real world coordinate system with the camera (imaging means 15) as the center.

[0089] In Fig. 9 (c), (X p, Y p) is the real world camera coordinate system, and (X

V, Y v) is the real-world vehicle coordinate system. In the real world coordinate system shown in FIG. 9 (c), the relative position calculation means 17 calculates the coordinate position (X V, y v) of the other vehicle of the communication partner based on the following equation.

[Equation 3]

cosiO) + sin (^)

vv = sin (^) + cos (^)

Note that the relative position calculation method described above is merely an example, and the present invention is not limited to this. Since a general technique is applied to the relative position calculation method, detailed description of the relative position calculation methods other than those described above is omitted.

[0091] The appearance feature extraction means 12 receives the slice image cut out from the area where the other apparatus is transmitted, which is transmitted from the imaging area detection means 16 and the appearance shape of the other apparatus from the received slice image Extract features. Note that the data relating to the feature of the external shape of the other device extracted by the appearance feature extraction means 12 is stored in the storage means 14.

The storage means 14 relates to the relative position data of the other apparatus calculated by the relative position detection means 17 of the own apparatus with respect to the same other apparatus detected by the imaging region detection means 16 of the own apparatus. The feature data of the appearance shape of the other device extracted by the appearance feature extraction means 12 of the own device is stored as a pair, and the data of this pair is transmitted to the communication means 11. In addition, the storage unit 14 stores the relative position regarding the same other device transmitted from the communication unit 11 and the feature of the external shape of the other device as a pair. The storage means 14 includes an identification ID for identifying the communication partner, the relative position of the other device of the communication partner transmitted from the control means 10, and the relative position data of the other device set by the control means 10. Is stored as a pair. Storage means 1 4 Stores in advance the features of the external shape of its own device. The storage means 14 includes a control means 10, a communication means 1 1, an appearance feature extraction means 1 2, and an appearance feature comparison means.

1 3, storage means 14, imaging means 15, imaging area detection means 16, and relative position calculation means 17 provide a working storage area necessary for executing operations.

[0093] The communication unit 1 1 identifies the pair of the relative position and the external shape feature stored in the storage unit 1 4 with respect to other devices located around the own device, and the communication unit 1 1 of the own device. Send the identification ID to the communication partner. In addition, the communication means 11 includes a pair of features of the relative position and appearance shape with respect to another device provided around the other device from another device equipped with the same communication partner identifying device, and a communication device of the other device.

1 Identification ID for identifying 1 is received, and these data are transmitted to storage means 14.

[0094] The communication means 1 1 has a communication partner identifying apparatus shown in Fig. 7, and a pair of relative position data and external appearance feature data for other apparatuses located in the vicinity, and communication means 1 of the other apparatus. An identification ID for identifying 1 is received. The information received by the communication unit 11 is stored in the storage unit 14.

[0095] The communication of the communication means 1 1 includes ad hoc communication in which direct communication is performed between the own device and another device, or a part or all of a communication path between the own device and the other device is used as road-to-vehicle communication. Communication between vehicles is also included. Since a general technique is applied to the communication of the communication means 11, the detailed description of the configuration and the communication method is omitted.

[0096] The identification ID is an identifier assigned to the own device and the other device. When the own device is a car navigation device, the identifier is assigned to each power navigation device. Any device can be used as long as it can identify the device and the other device, such as an identifier assigned to the device and the other device by the communication protocol between them.

[0097] The communication means 11 transmits an identification ID for identifying its own device to the communication partner. The communication unit 11 receives the identification ID for identifying the communication unit 11 of the other device of the communication partner, and transmits the identification ID to the control unit 10. [0098] The communication means 11 transmits the comparison result of the appearance characteristic comparison means 13 of its own device to the communication partner. The communication unit 11 receives the comparison result of the appearance feature comparison unit 13 of the other device of the communication partner, and transmits the comparison result to the control unit 10.

[0099] Appearance feature comparison means 13 is a storage means 1 of its own device that is transmitted from another device having the same communication partner specifying device as the feature of the appearance shape of its own device stored in storage means 14 A comparison with the features of the external shape stored in 4 is performed. The appearance feature comparison unit 13 transmits the comparison result to the communication unit 11 and the control unit 10 of its own device.

[0100] The control means 10 is an imaging means 15, an imaging area detection means 16, a communication means 11, an appearance feature extraction means 12, an appearance feature comparison means 13, a storage means 14, a relative position calculation means 1 Control each operation of 7. The control means 10 has an interface with an external device, and receives an image around the device and various sensor information, and outputs a communication partner identification result.

Specifically, the control means 10 collates the identification ID transmitted from the communication means 11 for identifying the communication partner and the identification ID stored in the storage means 14. If there is no matching identification ID or the expiration date of the relative position stored as a pair with the matching identification ID is invalid, the control means 1 0 acquires the relative position data for the communication partner's own device, Store the data of position and identification ID in memory unit 14.

[0102] The control means 1 0 refers to the expiration date of the relative position data of the communication partner stored in the storage means 14 at regular intervals. If the expiration date is invalid, the control means 1 0 The position data is acquired, and the data of the relative position and the identification ID are stored in the storage means 14.

[0103] The communication partner specifying apparatus according to the second embodiment shown in FIG. 7 is constructed as hardware, but is not limited to this. The communication partner specifying apparatus shown in FIG. By incorporating the identification program, and reading and executing the communication partner identification program by the CPU of the computer, the imaging area detection means 16, the control means 10, the appearance feature extraction means 12, and Appearance feature comparison means 1 3 and relative position calculation means 1 7 It may be constructed to perform a function.

[0104] Next, the communication partner identification device shown in Fig. 7 is mounted on the vehicle as the own / other device, and the relative position between the communication partner identification devices mounted on the own / other device is identified. An example of the method will be described with reference to FIG. 8, FIG. 10, and FIG.

[0105] As shown in Fig. 8, in the second embodiment, the communication partner is specified even when another device exists behind, diagonally rearward, or diagonally forward of the own device. In Fig. 8, the communication partner identification device of Fig. 7 installed in the vehicle as its own device is the own communication device A, and the communication partner identification device of Fig. 7 installed in the vehicle traveling in the rear is the other communication device of the communication partner. B. In FIG. 8, there is a communication partner identifying device C in FIG. 7 mounted on a vehicle traveling diagonally backward or a vehicle traveling diagonally forward in addition to other communication device B of the communication partner in the vicinity of the communication device A. , D and E exist.

In the second embodiment, the own communication device A performs the processing shown in FIG. 10 and the other communication device B performs the processing shown in FIG. Calculate the position. Note that the local communication device A performs the process shown in FIG. 11 and the other communication device B performs the process shown in FIG. 10 so that the communication partner is identified and the relative position with the communication partner is calculated. It may be. In addition, the communication partner is specified between the own communication device A and the other communication device C, or between the other communication device B and the other communication device C, and the relative position with respect to the communication partner is calculated. It's good.

First, when the control means 1 0 0 of the own communication apparatus A acquires an identification ID for identifying communication with another communication apparatus B via the communication means 1 0 1 (step S in FIG. 10). 1 0; YES), the process proceeds to step S 11 in FIG. 10 and if the identification ID is not obtained (step S 10 in FIG. 10; NO), the process proceeds to step S 13 in FIG. 10. Proceed to

In step S 11 of FIG. 10, the control means 1 0 0 of the own communication device A obtains the identification ID that matches the identification ID acquired from the other communication device B from the storage information of the storage means 1 0 4. Search for. [0109] In step S11 of FIG. 10, the control means 100 of the own communication device A does not have the identification ID acquired from the other communication device B in the storage information of the storage means 104, or If it is determined that the validity period of the matching identification ID has passed and is invalid (S 1 2 in FIG. 10; YES), the process proceeds to step S 15 in FIG. In addition, the control means 100 of the own communication device A is valid if the identification ID acquired from the other communication device B is within the validity period of the identification ID that is present in or coincides with the storage information of the storage device 104. If so, the process returns to step S 1 0 in FIG.

In step S 13 of FIG. 10, the control unit 100 of the own communication device A confirms the expiration date of the relative position data stored in the storage unit 104. If the expiration date has passed (YES in S1 3), the control means 100 advances the process to step S15 in FIG. 10, and if the expiration date has not passed, the process proceeds to the step in FIG. Proceed to step S 1 0.

[0111] In step S15 of Fig. 10, the imaging means 1 05 captures the image of the surroundings of the own communication device A under the control of the control means 100, and acquires the image data. The image data is transmitted to the imaging region detection means 106.

[0112] The shooting area detection means 106 detects the area in which the other communication device B appears in the image data transmitted from the shooting means 105 (step S16 in FIG. 10), and vehicle information Assuming that the number is n (step S 17 in FIG. 10), the following processing (steps S 18 to S 22 in FIG. 10) is performed for each other communication device.

First, since i = 1 is set (step S 1 8 in FIG. 10; Y ES), the process proceeds to S 19. The relative position calculating means 107 calculates the relative position of the other communication device B with respect to the own communication device A. Here, the relative position calculation means 107 is the position in the image of the other communication device B detected by the imaging area detection means 106, and the camera that has taken the image provided by the imaging means 105 Based on the mounting position information attached to communication device A and the shooting parameters indicating the direction the camera is facing, the relative position of other communication device B with respect to own communication device A is calculated (step S in FIG. 10). 1 9).

[0114] It should be noted that the camera parameters are stored in advance in the storage means 104 and stored. The means 104 may provide the camera parameter to the relative position calculation means 107.

[0115] The appearance feature extraction means 10 2 extracts the feature of the appearance shape of the other communication device B whose relative position has been calculated (step S 2 0 in FIG. 10). Here, the external shape of the vehicle, vehicle type, color, license plate, etc. are used as features of the external shape of the vehicle. As the outer shape of the vehicle, vehicle seat, rear tail lamp mounting position, front grille, rear grille shape, vehicle width and height, front and rear tire mounting width, window frame shape, and the like are used. The vehicle type of the vehicle is estimated to be a truck, a minivan, or a sedan by pattern matching with respect to the outer shape of the vehicle.

[0116] The control means 1 0 0 is the relative position of the other communication device B calculated by the relative position calculation means 1 0 7 and the external shape feature of the other communication device B calculated by the external feature extraction means 1 0 2 Are stored in the storage means 104 as a pair (step S 2 1 in FIG. 10).

[01 17] Next, the control means 3 0 2 increments (step S 2 2 in FIG. 10) and returns the processing to step S 1 8 in FIG. 10, and exists around the next self-communication device A. The other communication devices C, D, E are caused to execute the above-described processing.

[0118] With respect to the other communication devices B 1, C 2, D 3 and E existing in all the surroundings detected by the imaging region detection means 10 6, the above processing (steps S 19 to S 2 2 in FIG. 10) Is completed (step S 1 8 in FIG. 10; NO), the control means 100 of the own communication device A sends all other communication devices B, C, D, The communication ID of the communication device A is determined by a pair of the relative position of E (No. 1 to n) and the feature of the appearance of the vehicle (other device) and the identification ID for identifying the communication means 1 0 1 of the communication device A. The data is transmitted to the other communication device B through the device 1001 (step S2 3 in FIG. 10).

[0119] Next, a communication partner specifying method in the other communication device B of the communication partner will be described with reference to FIG.

[0120] First, the control means 2 0 0 of the other communication device B is characterized by the external shape related to the vehicle around the communication device A via the communication device 1 0 1 from the communication device 1 0 And relative position pair data and identification ID data for identifying communication means 1 0 1 of own communication device A (step S 2 4 in FIG. 11). The position pair data and the number of transmitted vehicle information (n) data are stored in the storage means 204 (steps S 25 and S 26 in FIG. 11).

[0121] The control means 20 0 of the other communication device B performs the following processing for each received vehicle (steps S 27 to S 30 in FIG. 11).

First, since i = 1 is initially set (step S 2 7 in FIG. 11), the process proceeds to S 28 and i is incremented (step S 2 8 in FIG. 11). The external feature comparison means 2 0 3 of the other communication device B is stored in the storage means 2 0 4 in advance and the characteristics of the external shape of the vehicle relating to the i-th vehicle stored in the storage means 2 0 4. The characteristics of the external shape of the vehicle of the other communication device B are compared (step S 29 in FIG. 11).

[0123] Appearance feature comparison means When it is determined that there is a feature of the appearance of the vehicle that has passed the action (step S3 0 in Fig. 11; YES), processing is performed in step S3 1 in Fig. 11 Proceed to

[0124] When the appearance feature comparison means 2 0 3 determines that the features of the vehicle exterior shape do not match (step S 3 0 in FIG. 11; NO), the process returns to step S 2 7 in FIG. The above process is performed for all received vehicles. If the appearance feature comparison means 20 3 determines that the features of the appearance of the vehicles do not match for all the received vehicles, the process proceeds to step S 33 in FIG.

In step S 3 1 of FIG. 11, the control device 2 00 of the other communication device B stores the data of the relative position paired with the matched feature data of the appearance of the vehicle. Read from 2 0 4 Since the relative position is information on the position of the other communication device B as viewed from the own communication device A, the control means 20 0 performs the reverse calculation of the relative position and the own communication device A as viewed from the other communication device B. The relative position of is calculated.

[0126] After calculating the relative position, the control means 20 0 of the other communication device B uses the identification ID for identifying the communication device A as the communication partner, the calculated relative position, and the calculated relative position. Save the expiration date as a pair in the storage means 2 0 4 (Fig. 1 Step 1 of S 3 2).

[0127] By the way, the relative position of the communication partner changes with time, and the error between the relative position of the communication partner estimated at an arbitrary time and the actual relative position of the communication partner becomes large. 2 0 0 is set to an appropriate number (for example, 10) corresponding to the expiration date of the relative position information. If the relative position is not updated, the number is set for each appropriate time (for example, 1 OO ms). Decrement (1 0) and decrement until the numerical value is reduced. The control means 2 0 0 sequentially updates the relative position where the expiration date becomes 0 after decrementing using this communication partner identification method.

[0128] In step S3 3 of Fig. 1 1, the control means 2 0 0 compares the result of comparing the external appearance characteristics of the vehicle acquired in step S29 of Fig. 1 1 with the identification ID of the other communication device Β. Is transmitted to the own communication device して via the communication means 2 0 1.

Through the above processing steps, the processing in own communication device A and the other communication device B that is the communication partner is completed, and the processing shifts to the processing in own communication device A.

[0130] The communication means 1 0 1 of the own communication device A receives the comparison result of the external shape feature of the vehicle from the other communication device B of the communication partner and the identification ID of the other communication device B (of FIG. 10). In step S 3 4), these data are transmitted to the control means 100.

[0131] The control means 1 0 0 performs processing when it obtains a comparison result that the feature of the appearance of the vehicle matches from the other communication device B of the communication partner (step S 3 5 in FIG. 10; YES). Proceeding to step S 3 6, if they do not match (step S 3 5; NO in FIG. 10), the process returns to step S 10.

[0132] The control means 100 of the own communication device A reads out the matching vehicle exterior shape feature and the pair relative position data from the storage means 104. Then, the control means 100 stores the data of the read relative position, the expiration date for the relative position information, and the identification ID of the other communication device B of the communication partner as a pair in the storage means 104. (Step S 36 in FIG. 10), the process returns to Step S 10 in FIG. 10.

[0133] According to the second embodiment, the own communication device A, which is one of the communication partners, The data of the external shape of the other communication device B, which is the other communication partner, extracted from the side image and the relative position with the other communication device B are transmitted to the other communication device B, and the other communication device of the communication partner By comparing the features of the external shape with B and receiving the comparison result, the own communication device A can identify the other communication device B of the communication partner, the features of the external shape, and its relative position. it can.

[0134] In addition, the other communication device B of the communication partner can identify the communication device A of the communication partner and the relative position by performing reverse calculation of the received information on the relative position.

In the second embodiment, the expiration date is set for the calculated relative position data and the relative position data is managed, so that the identification can always be performed based on the latest relative position data.

[0136] (Embodiment 3)

Next, an example in which the communication partner specifying apparatus according to Embodiment 2 of the present invention is changed will be described as Embodiment 3.

As shown in FIG. 13, the communication partner specifying device of Embodiment 3 has the circuit configuration shown in FIG. 7 as a basic configuration, and the appearance feature selection means 1 8 is added to the circuit configuration shown in FIG. It is constructed as a circuit configuration.

Control unit 10, communication unit 1 1, appearance feature extraction unit 1 2, appearance feature comparison unit 1 3, storage unit 1 4, imaging unit 1 5, imaging region detection unit 1 6 The relative position calculation means 17 and the appearance feature selection means 18 are connected by a system bus. As shown in Fig. 12, the communication partner identification device shown in Fig. 13 is installed in its own device and in the other device as the communication partner. In Fig. 12, the block indicated by the dotted line indicates that the communication partner is in a suspended state, and the block indicated by a solid line indicates that it is in an operating state.

Control means 1 0 0 included in communication partner identification apparatus A shown in FIG. 12, control means 2 0 0 included in communication partner identification apparatus B, and control means 3 0 0 included in communication partner identification apparatus C Corresponds to the control means 10 of FIG. Figure 12 Communication partner characteristics The communication means 1 0 1 included in the fixed device A, the communication means 2 0 1 included in the communication partner identification device B, and the communication means 3 0 1 included in the communication partner identification device C are the communication means 1 in FIG. Corresponds to 1. Appearance feature extraction means 1 0 2 included in communication partner identification device A shown in FIG. 12 Appearance feature extraction means 2 0 2 included in communication partner identification device B and appearance feature extraction means included in communication partner identification device C 3 0 2 corresponds to the appearance feature extraction means 12 in FIG. Appearance feature comparison means included in communication partner identification device A shown in Fig. 1 2, appearance feature comparison means included in communication partner identification device B 2 0 3 and comparison of appearance features included in communication partner identification device C Means 3 0 3

Corresponds to 1 3 of appearance feature comparison means 1 3. The storage means 10 04 included in the communication partner identification device A shown in FIG. 12, the storage means 20 04 included in the communication partner identification device B, and the storage means 30 04 included in the communication partner identification device C are shown in FIG. 3 storage means 1

Corresponds to 4. The image capturing means 10 05 included in the communication partner specifying apparatus A shown in FIG. 12, the image capturing means 20 05 included in the communication partner specifying apparatus B, and the image capturing means 30 05 included in the communication partner specifying apparatus C are shown in FIG. Corresponds to 3 shooting means 1 5. Imaging area detection means 1 0 6 included in communication partner identification device A shown in FIG. 12, imaging area detection means 2 0 6 included in communication partner identification apparatus B and imaging area detection included in communication partner identification apparatus C Means 30 06 corresponds to the imaging region detection means 16 in FIG. Figure

1 Relative position calculation means 10 included in the communication partner identification device A shown in 1 2, Relative position calculation means 20 07 included in the communication partner identification device B and Relative position calculation means 3 included in the communication partner identification device C 3 0 7 corresponds to the relative position calculation means 17 in FIG. Appearance feature selection means 1 0 8 included in communication partner identification device A shown in FIG. 12 Appearance feature selection means 2 0 8 included in communication partner identification device B and appearance feature selection means 3 included in communication partner identification device C 3 0 8 is an appearance feature selection means 1 in FIG.

Corresponds to 8.

[0140] The difference between the configurations of Fig. 7 and Fig. 13 will be described below. The storage means 14 classifies and stores in advance the features of the appearance shape of the own apparatus extracted from the image obtained by photographing the own apparatus from an arbitrary relative position around the apparatus for each relative position.

[0141] Appearance feature selection means 1 8 is the key for the relative position information received by communication means 1 1 The storage means 14 is searched for, and the feature of the external shape of the other device corresponding to the relative position is selected and transmitted to the external feature comparison means 13.

[0142] The communication partner specifying apparatus according to the third embodiment shown in FIG. 13 is constructed as hardware, but is not limited to this, and the computer constituting the communication partner specifying apparatus shown in FIG. The communication partner specifying program is installed in the computer, and the computer program for reading the communication partner is read out and executed by the computer's CPU, so that the imaging region detecting means 16, the control means 10, and the appearance feature extracting means 1 2, appearance feature comparison means 1 3, relative position calculation means 1 7 and appearance feature selection means 1 8.

[0143] Next, the communication partner identification device shown in Fig. 13 is mounted on each of the vehicles as the own and other devices, and the relative positions of the communication identification devices mounted on the own and other devices are identified. An example of the communication partner identification method will be described with reference to FIG. 8, FIG. 12, and FIG.

[0144] As shown in Fig. 8, in the third embodiment, the communication partner is specified even when another device exists behind, diagonally rearward, or diagonally forward of the own device. In Fig. 8, the communication partner identification device of Fig. 13 installed in the vehicle as its own device is the own communication device Α, and the communication partner identification device of Fig. 13 installed in the vehicle traveling directly behind is the other communication of the communication partner. Device 装置. In Fig. 8, in the vicinity of the communication device Α, in addition to the communication partner B, in addition to the communication device B, the communication partner identification shown in Fig. 13 mounted on a vehicle traveling diagonally rearward or a vehicle traveling diagonally forward Devices C, D and E are present.

[0145] In the communication partner identification method using the communication partner identification device shown in Fig. 1 3, the processing procedure performed in the own communication device A is the same as in the second embodiment. The processing procedure of the other communication device B that is the communication partner of A will be described in detail with reference to FIG.

[0146] The control means 20 0 of the other communication device B uses the communication device 2 0 1 through the communication means 2 0 1 to determine the feature of the external shape of the vehicle located around the communication device A and the relative position. Pair data and identification ID data for identifying communication means 1 0 1 of own communication device A (Step S 4 0 in FIG. 14). The control means 2 0 0 of the other communication device B stores the received pair data of the feature of the external shape of the vehicle and the relative position and the data of the number of vehicle information sent ( _n ) in the storage means 2 0 4 (Step S 4 1 in Fig. 14).

The control means 2 0 0 of the other communication device B performs the following processing for each received vehicle (step S 4 3 to step S 4 7 in FIG. 14).

First, the appearance feature selection means 2 0 8 searches the storage information in the storage means 2 0 4 using the relative position information related to the i-th other communication device stored in the storage means 2 0 4 as a key. Then, the feature of the external shape of the other communication device B corresponding to the relative position is selected, and the feature of the selected external shape is read from the storage means 20 4 (step S 45 in FIG. 14). The appearance feature selection means 20 8 transmits the feature of the read appearance shape to the appearance feature comparison means 20 3.

[0149] Appearance feature comparison means 2 0 3 is the external shape feature of other communication device B selected by appearance feature selection means 2 0 8 and the i-th other communication device stored in storage means 2 0 4 The characteristics of the external shape of B are compared (Step S 4 6 in FIG. 14).

[0150] If it is determined in step S4 7 in Fig. 14 that the appearance feature comparison means 2 0 3 has a matching appearance feature (step S4 7; YES), the process is shown in Fig. 1. Proceed to step S4 8 in step 4.

[0151] When the appearance feature comparison means 20 3 determines that the features of the appearance shape of the vehicle do not match, the process returns to step S 43 in FIG. 14, and the above process is performed for all the received vehicles. If the appearance feature comparison unit 20 3 determines that the features of the appearance of the vehicle do not match for all the received vehicles (step S 4 3 in FIG. 14; NO), the processing is performed as shown in FIG. Proceed to step S 5 0.

[0152] In step S48 of Fig. 14, the control device 200 reads out information on the relative position paired with the matched feature of the external shape from the storage means 204. Since the relative position is the position of the other communication device B as seen from the own communication device A, the control means 20 0 of the other communication device B performs the reverse calculation of the information related to the relative position and the own communication device B as seen from the other communication device B. Calculate the relative position of communication device A. In step S 49 of FIG. 14, the control means 20 00 of the other communication device B uses the identification ID for identifying the communication device A of the communication partner, the calculated relative position, and the above calculation. The pair of the relative position data with the expiration date stored in the storage means 2 0 4

[0154] By the way, the relative position of the communication partner changes with time, and the error between the relative position of the communication partner estimated at an arbitrary time and the actual relative position of the communication partner becomes large. 2 0 0 is set to an appropriate number (for example, 10) corresponding to the expiration date of the relative position information. If the relative position is not updated, the number is set for each appropriate time (for example, 1 OO ms). Decrement (1 0) and decrement until the numerical value is reduced. The control means 20 0 sequentially updates the information on the relative position that has been decremented and the expiration date becomes 0 using this communication partner identification method.

[0155] In step S50 of Fig. 14, the control means 20 00 compares the result of comparison of the vehicle exterior shape characteristics acquired in step S47 of Fig. 14 with the identification ID of the other communication device 装置. Is transmitted to the own communication device して via the communication means 2 0 1.

[0156] According to the third embodiment, the own communication device A communicates with the communication partner's other communication device B the information regarding the external shape feature of the other communication device extracted from the peripheral image of the own device and the information regarding the relative position. The other communication device B classifies the features of the external shape extracted from images taken from various relative positions, stores them in advance for each relative position, and stores the relative position data received from its own communication device A. Is used to select the feature of the external shape of the other communication device B and compare the feature of the selected external shape with the feature of the external shape received from the own communication device A. Therefore, it is possible to identify the characteristics of the other communication device B and its external shape and its relative position.

[0157] In addition, the other communication device B of the communication partner can identify the communication device A of the communication partner in an arbitrary positional relationship and its relative position by calculating the received relative position backward.

[0158] (Embodiment 4) Next, an example in which the communication partner identifying apparatus according to Embodiment 3 of the present invention is changed will be described as Embodiment 4.

As shown in FIG. 16, the communication partner specifying apparatus according to Embodiment 4 of the present invention has the circuit configuration shown in FIG. 13 as a basic configuration, and the circuit configuration shown in FIG. This is constructed as a circuit configuration to which selection means 19 is added.

[0160] Control means 1 0, communication means 1 1, appearance feature extraction means 1 2, appearance feature comparison means 1 3, storage means 1 4, imaging means 1 5, imaging area detection means 1 6 The relative position calculation means 17, the appearance feature selection means 18, and the communication target selection means 19 are connected by a system bus. As shown in Fig. 15, the communication partner identification device shown in Fig. 16 is installed in its own device and in the other device that is the communication partner. In Fig. 15, the block indicated by the dotted line indicates that the communication partner is in the idle state, and the block indicated by the solid line indicates that it is in the active state.

[0161] Control means 1 0 0 included in communication partner specifying device A shown in FIG. 15, control means 2 0 0 included in communication partner specifying device B, and control means 3 0 0 included in communication partner specifying device C Corresponds to the control means 10 of FIG. The communication means 1 0 1 included in the communication partner specifying device A shown in FIG. 15, the communication means 2 0 1 included in the communication partner specifying device B, and the communication means 3 0 1 included in the communication partner specifying device C are: Corresponds to communication means 1 1 in Fig. 6. Appearance feature extraction means 1 0 2 included in communication partner identification device A shown in FIG. 15 Appearance feature extraction means 2 0 2 included in communication partner identification device B and appearance feature extraction means included in communication partner identification device C 3 0 2 corresponds to the appearance feature extraction means 12 in FIG. Appearance feature comparison means 1 0 3 included in communication partner identification device A shown in Fig. 15 Appearance feature comparison means included in communication partner identification device B 2 0 3 and appearance feature comparison included in communication partner identification device C Means 3 0 3 corresponds to appearance feature comparison means 1 3 of FIG. The storage means 10 04 included in the communication partner specifying device A shown in FIG. 15, the storage means 20 04 included in the communication partner specifying device B, and the storage means 30 04 included in the communication partner specifying device C are shown in FIG. Corresponds to 6 storage means 1 4. Image capturing means included in communication partner identifying apparatus A shown in FIG. The photographing means 20 5 included in the communication partner identification device B and the photographing means 30 05 included in the communication partner identification device C correspond to the photographing means 15 in FIG. Imaging area detection means 1 0 6 included in communication partner identification apparatus A shown in FIG. 15, imaging area detection means 2 0 6 included in communication partner identification apparatus B and imaging area detection included in communication partner identification apparatus C Means 3 06 corresponds to the imaging region detection means 16 of FIG. Relative position calculation means 10 included in communication partner identification device A shown in FIG. 15, relative position calculation means 20 07 included in communication partner identification device B, and relative position calculation means included in communication partner identification device C 3 0 7 corresponds to the relative position calculation means 1 7 in FIG. Appearance feature selection means 1 0 8 included in communication partner specifying device A shown in FIG. 15 Appearance feature selection means 2 0 8 included in communication partner specifying device B and appearance feature selection means 3 included in communication partner specifying device C 0 8 corresponds to the appearance feature selection means 18 in FIG. Communication target selection means 1 0 9 included in communication partner identification device A shown in FIG. 15, communication target selection means 2 0 9 included in communication partner identification device B, and communication target selection means included in communication partner identification device C 3 0 9 corresponds to the communication target selection means 19 in FIG.

In the following, the difference between the configurations of FIGS. 13 and 16 will be described. The communication target selecting means 19 communicates based on the relative position data calculated by the relative position calculating means 17 based on the relative position data calculated by the relative position calculating means 17 from the area where the other communication device detected by the imaging area detecting means 16 exists. For the selected communication partner, the feature of the appearance shape extracted by the appearance feature extraction means 1 2 and the relative position calculated by the relative position calculation means 1 7 are stored in the storage means 14. A pair of and is transmitted to the communication means 1 1.

[0163] The communication device 1 1 uses a pair of the feature of the external shape selected by the communication target selection means 19 and the relative position, and an identification ID for identifying the communication device 1 1 of the own device to surrounding vehicles. Make it broadcast.

[0164] Although the communication partner specifying device according to Embodiment 4 shown in FIG. 16 is constructed as hardware, the present invention is not limited to this, and the computer constituting the communication partner specifying device shown in FIG. The communication partner identification program is installed in the computer, and the communication partner identification program is read and executed by the computer CPU. Thus, the image capturing area detecting means 1 6, the control means 10, the appearance feature extraction means 1 2, the appearance feature comparison means 1 3, the relative position calculation means 1 7, and the appearance feature selection means 1 8 The communication target selection means 19 may be configured to execute the function.

[0165] Next, the communication partner identification device shown in Fig. 16 is mounted on the vehicle as the own / other device, and the relative position between the communication identification devices mounted on the own / other device is identified. An example of the communication partner identification method will be described with reference to FIG. 8, FIG. 15 and FIG.

[0166] As shown in Fig. 8, in the fourth embodiment, the communication partner is specified even when another device exists behind, diagonally rearward, or diagonally forward of the own device. In Fig. 8, the communication partner identification device of Fig. 16 installed in the vehicle as its own device is the own communication device A, and the communication partner identification device of Fig. 16 installed in the vehicle traveling directly behind is the other communication of the communication partner. Device B. In FIG. 8, in addition to the other communication device B of the communication partner, in the vicinity of the own communication device A, the communication partner identification shown in FIG. 16 is installed in a vehicle traveling diagonally backward or a vehicle traveling diagonally forward. Devices C, D and E are present.

[0167] In the communication partner identification method using the communication partner identification device shown in Fig. 16, the processing procedure performed in the own communication device A is the same as in the case of the second embodiment. The processing procedure of the other communication device B that is the communication partner of A will be described in detail with reference to FIG.

[0168] Steps S60 to S72 in Fig. 17 are the same as steps S10 to S22 in Fig. 10, and therefore steps S73 to S77 will be described.

[0169] In step S73 of Fig. 17, communication target selection means 1 0 9 of own communication apparatus A uses relative position condition of other communication apparatus B designated by the external apparatus via control means 1 0 0 Based on the above, from the relative positions of all the surrounding vehicles stored in the storage means 104, the relative position of the vehicle meeting the relative position condition and the feature of the external shape of the paired vehicle are selected.

[0170] Next, the communication means 1 0 1 of the self-communication device A determines the relative position and the vehicle feature. The pair data and the identification ID data for identifying the communication means 1001 of the own communication device A are broadcast to other peripheral communication devices B, C, D, and E (step S74 in FIG. 17).

Next, in the other communication devices B, C, D, and E, the procedure shown in FIG. 14 is executed (from step S40 to step S50).

[0172] Finally, in step S75 of Fig. 17, the own communication device A compares the comparison results of the features of the external shapes of other peripheral communication devices B, C, D, and E with each communication device B, The identification IDs of C, D, and E are received via the communication means 1 0 1.

[0173] The control unit 100 of the own communication device A stores the identification ID of the other communication device B that the comparison result of the feature of the received external appearance has done in the storage unit 104 (step of Fig. 17). S76, S77).

[0174] According to the fourth embodiment, the own communication device A broadcasts the feature of the external shape of the other communication device extracted from the peripheral image of the own device and the data of the relative position to the other communication device in the periphery. Hesitate. Other communication devices in the vicinity where the own communication device A is located, the features of the external shape extracted from images taken from various relative positions, classified in advance for each relative position, and received by the relative communication device A Using the position data, select the feature data of the external shape of the own device, compare the selected feature of the external shape with the feature of the external shape received from the own communication device A, and compare the comparison result with the own communication device. Send to A. Then, based on the received comparison result, the own communication device A can identify the other communication device B that has communicated, the characteristics of its external shape, and its relative position.

In addition, other communication device B can identify the communication partner (self-communication device A) having an arbitrary positional relationship and its relative position by calculating back the received relative position.

[0176] (Embodiment 5)

As shown in FIG. 18, the communication partner specifying apparatus according to the fifth embodiment includes a control means 20, a communication means 21, an appearance feature extraction means 22, an appearance feature comparison means 23, and a storage means 24. Yes. Control means 20, communication means 2 1 The output means 2 2, the appearance feature comparison means 2 3, and the storage means 2 4 are connected to each other by a system bus.

The control means 20 controls the operations of the communication means 21, the appearance feature extraction means 22, the appearance feature comparison means 23, and the storage means 24. Further, the control means 20 has an interface with an external device (not shown), and receives an image of the surroundings of the device and various sensor information via the interface, and specifies a communication partner. Send data such as results. Further, the control means 20 identifies another device of the communication partner based on the comparison result transmitted from the appearance feature comparison means 23.

[0178] For example, a camera is used as an external device that captures an image around the device itself. When the camera (external device) is an automobile, the camera (external device) is attached to the rear, and images other vehicles that are traveling directly behind and obliquely behind the vehicle. In addition, the camera is attached to a posture that goes around the vehicle and images the surrounding situation. Since a general technique is applied to a camera that captures the periphery of its own device, detailed description of its configuration and imaging method is omitted.

[0179] The communication means 21 uses communication standards such as IEEE 802.11b and UWB to extract extracted appearance shape feature data and appearance shape feature comparison results. Send and receive.

[0180] The appearance feature extraction unit 22 extracts the feature of the external shape of the other device that is reflected in the image around the own device received by the control unit 20 from the external device. Images taken around the device include unnecessary backgrounds as well as other devices. Therefore, the appearance feature extraction means 22 cuts out the target other device from the image, and extracts the feature of the appearance shape of the other device from the cut out image. Since a general technique is applied to a configuration and method for extracting features of another target device from an image, detailed description of the configuration and extraction method is omitted. The appearance feature extraction means 22 sends the extracted feature data of the appearance shape of the other device to the communication means 21.

[0181] Appearance feature comparison means 2 3 is the appearance feature of the communication partner received by communication means 2 1 Compare the feature of the external shape of the other device extracted by the extraction means 2 2 with the feature of the external shape of its own device stored in the storage means 24, and send the comparison result to the communication partner via the communication means 21. To do.

[0182] The appearance feature comparison means 2 3 includes the appearance shape feature of the other device extracted by the communication partner appearance feature extraction means 2 2 and the appearance shape feature of the own device stored in the storage means 24. -If it matches, the communication means 21 sends the comparison result that the object captured in the image captured by the communication partner is the device itself to the communication partner.

Appearance feature comparison means 2 3 is used when the appearance shape feature of the other device extracted by the appearance feature extraction means 2 2 of the communication partner does not match the appearance shape feature of the own device stored in the storage means 24. The communication means 21 sends the comparison result that the object reflected in the image taken by the communication partner is not the device itself to the communication partner.

[0183] It should be noted that a general technique is used to compare the external shape feature of the device read from the storage means 24 and the external shape feature of the device transmitted from the external feature extraction means 22. Therefore, detailed description of the configuration and comparison method is omitted.

The storage means 24 provides a working storage area required when the control means 20, the communication means 21, the appearance feature extraction means 22, and the appearance feature comparison means 23 are executed. . Further, the storage means 24 stores data of the feature of the external shape of the own device.

Note that the communication partner identifying apparatus according to the fifth embodiment of the present invention shown in FIG.

Although built as software, it is not limited to this. The communication partner specifying apparatus according to the fifth embodiment may be constructed as software. In this case, the communication partner specifying program is installed in the computer constituting the communication partner specifying device shown in FIG. 18, and the computer CPU reads out and executes the communication partner specifying program. It is constructed so that the functions of 0, appearance feature extraction means 2 2 and appearance feature comparison means 23 are executed.

[0186] Next, communication for identifying a communication partner using the communication partner identifying apparatus shown in Fig. 18 is performed. The partner identification method will be described with reference to FIGS.

[0187] In Embodiment 5, a vehicle traveling on a road is used as the own / other device, and the communication partner identifying device shown in FIG. 18 is mounted on each vehicle, and the other communication device communicates with the own communication device. The case of specifying will be described with reference to FIGS.

[0188] As shown in Fig. 19, in Embodiment 5, in addition to the case where one other device is present behind the own device, another device is present obliquely behind the own device. Identifies the communication partner.

[0189] The communication partner specifying device mounted on the own device will be described as self communication device A, and the communication partner specifying device mounted on the other device will be described as other communication devices B and C.

In FIG. 19, it is assumed that a communication path R is formed between the own communication device A and the other communication device B. The same applies when a communication path is formed between the own communication device A and the other communication device C instead of the other communication device B.

[0191] The control means 20 of the other communication apparatus B that is the communication partner of the own communication apparatus A includes information on the external shape of the own vehicle stored in the storage means 24 shown in FIG. Information of an identification ID for uniquely identifying B and the own communication device A is transmitted to the own communication device A via the communication means 21 (step S 80 in FIG. 20).

[0192] When the control means 20 of the own communication device A receives the information about the feature of the external shape and the identification ID of the other communication device B from the other communication device B via the communication means 21, the information about the external shape Is provided to the appearance feature comparison means 23, and information relating to the identification ID is stored in the storage means 24 (see step S8 in FIG. 21).

1) o

[0193] The control means 20 obtains information of an image obtained by photographing the periphery of the own communication device A from an external device, and transmits the information of the image to the appearance feature extraction means 22 (step S in Fig. 21). 8 2).

[0194] The appearance feature extraction means 2 2 uses the working storage area of the storage means 24, and from the image provided by the control means 20 the appearance shape of the other communication device (B or C) reflected in the image The feature data of the extracted external shape is extracted and transmitted to the external feature comparison means 23 (step S 8 3 in FIG. 21). [0195] The appearance feature comparison means 2 3 uses the work storage area of the storage means 24, and receives the data regarding the feature of the appearance shape of the other communication device B received via the communication means 21 and the appearance feature extraction means 2 Comparison is made with the features of the external shape extracted in step 2 (step S84 in Fig. 21).

[0196] In step S85 in Fig. 21, the control means 20 compares the appearance shape feature in the appearance feature comparison means 23 with a mismatch (step S85; NO), step S81. ~ Repeat the process up to step S85.

[0197] In step S85 of Fig. 21, the control means 20 matches the appearance when the comparison of the features of the appearance shape in the appearance feature comparison means 23 is the same (step S85: YES). The other communication device B having the shape feature is associated with the identification ID of the communication partner (other communication device B) received via the communication means 21 (step S 86 in FIG. 21).

[0198] Therefore, the control means 20 of the own communication device A is the communication means 2 of the own communication device A.

Necessary communication is performed between 1 and the communication means 2 1 of the other communication device B that is the communication partner.

[0199] According to the fifth embodiment, the characteristics of the external shape of the other communication device extracted from the image obtained by photographing the periphery of the own communication device and the external shape of the communication partner received from the other communication device of the communication partner By comparing the characteristics, the communication partner can be associated with the other communication device.

[0200] Furthermore, in order to identify other communication devices by obtaining information on the external shape characteristics of the other communication devices from other communication devices of the communication partner, misidentify other communication devices communicating with the own communication device. Can be identified accurately. In addition, since the external shape information for identifying the other communication device is acquired from the communication partner, the amount of information that the own communication device should hold can be minimized.

[0201] In the above embodiment, the communication partner specifying device according to the present invention is mounted on a vehicle and the communication partner is specified between vehicles. However, the present invention is not limited to this. The communication partner identification device according to the present invention is not limited to a vehicle, for example, public transportation, or the like, as long as it is necessary to identify the communication partner. It can also be applied to direct communication without using a network by incorporating it in a mobile phone, etc., and its application range is wide.

Claims

The scope of the claims

[1] A communication partner identification device that is arranged in each of its own devices and identifies other devices as communication partners from any other device located around the own device,

An identification unit for identifying the other device of the communication partner based on the comparison result transmitted from the appearance feature comparison means of the other device;

[2] The communication means of the own device sends the feature data of the appearance shape of the other device extracted by the appearance feature extraction means of the own device to the other device and receives the comparison result by the appearance feature comparison means of the other device. The communication partner identifying apparatus according to claim 1.

[3] An imaging region detection means for analyzing position data of another device in an image obtained by photographing the periphery of the own device;

The communication partner specifying device according to claim 1, further comprising: a relative position calculating unit that calculates a relative position of the other device with respect to the own device based on position data of the other device.

[4] Appearance feature selection that selects feature data of the appearance shape corresponding to the relative position using the information on the relative position as a key, and transmits the feature data of the selected appearance shape to the appearance feature extraction unit of the other device The communication partner specifying device according to claim 3, further comprising means.

[5] The communication partner specifying device according to claim 3, further comprising a communication target selecting unit that selects a communication partner based on the information on the relative position and transmits information on the selected communication partner to a communication unit of the own device. .

[6] A communication partner identification method for identifying another device as a communication partner from any other devices located around the device,

Analyzing an image taken of the external shape of another device located around the device itself, Appearance feature extraction step that extracts the feature of the external shape of the other device from the image, appearance shape information extracted by the external feature extraction means of the other device, and the feature of the external shape that the device owns A comparison step,

An identification step for identifying another device of a communication partner based on the comparison result transmitted from the appearance feature comparison means of the other device.

7. The communication partner specifying method according to claim 6, wherein the external device feature data extracted by the own device is transmitted to the other device, and the external feature comparison result of the other device is received.

[8] An imaging region detection step for analyzing position data of another device in an image obtained by photographing the periphery of the device;

The communication partner identification method according to claim 6, wherein a relative position calculating step of calculating a relative position of the other apparatus with respect to the own apparatus is executed based on position data of the other apparatus.

[9] Using the information on the relative position as a key, select feature data of the appearance shape corresponding to the relative position, and compare the feature of the appearance shape based on the feature data of the selected appearance shape. Item 9. The communication partner identification method according to item 8.

10. The communication partner specifying method according to claim 8, wherein a communication partner is selected based on the relative position information, and the information is transmitted to the selected communication partner.

[1 1] A computer that configures a communication partner identification device that identifies another device that is a communication partner from any other device located around the device itself.

A program for identifying a communication partner, which executes a function of identifying another device of a communication partner based on a comparison result transmitted from an appearance feature comparison unit of the other device.

[12] In the computer,

The communication partner identification according to claim 11, wherein the feature data of the appearance shape of the other device extracted by the own device is transmitted to the other device, and the function of receiving the comparison result of the appearance feature of the other device is executed. Program.

[13] In the computer,

A function to analyze the position data of other devices in the image taken around the device itself,

The communication partner specifying program according to claim 11, wherein a function for calculating a relative position of the other device with respect to the own device is executed based on position data of the other device.

[14] In the computer,

Using the information on the relative position as a key, select feature data of the appearance shape corresponding to the relative position, and execute a function of comparing the feature of the appearance shape based on the feature data of the selected appearance shape. The program for identifying a communication partner according to claim 13.

[15] In the computer,

The communication partner specifying program according to claim 13, wherein a communication partner is selected based on the relative position information, and a function of transmitting information to the selected communication partner is executed.

[1 6] A communication partner identification device that is arranged in each of its own devices and identifies other devices that are communication partners from any other device located around the own device,

Appearance feature comparison means for comparing the appearance shape information extracted by the appearance feature extraction means of the own device with the features of the appearance shape acquired from another device;

An identification unit for identifying another device of a communication partner based on a comparison result transmitted from the appearance feature comparison unit.

[17] A communication partner identification method for identifying another device as a communication partner from any other device located around the own device,

An external feature extraction step of analyzing an external shape image of another device located in the periphery of the own device and extracting features of the external shape of the other device from the image; and external shape information extracted by the own device; An appearance feature comparison step for comparing the features of the appearance shape obtained from other devices;

An identification step of identifying another device of a communication partner based on the comparison result;

[18] A computer that constitutes a communication partner identification device that identifies another device as a communication partner from any other device located around the device itself.

A function that compares the external shape information extracted by the device itself with the external shape features obtained from other devices;

A program for identifying a communication partner, which executes a function for identifying another device of a communication partner based on the comparison result.