Vehicle identification system and vehicle identification device

FIELD: transport.

SUBSTANCE: vehicle identification system includes communication device, detection device and vehicle identification device. Communication device receives other vehicle information connected with other vehicle near the main vehicle. Detection device finds other vehicle near the main vehicle. Vehicle identification device identifies a vehicle transmitting other vehicle information based on other vehicle information received using communication device and result of detection using detection device. Vehicle identification device is configured with possibility to switch between capture mode to capture transmitting vehicle and tracking mode to identify transmitting vehicle.

EFFECT: higher communicating vehicle identification accuracy.

6 cl, 13 dwg

 

The technical field TO WHICH the INVENTION RELATES

[0001] the Invention relates to a system identification (ID) of the vehicle and the device identification of the vehicle.

The LEVEL of TECHNOLOGY

[0002] To date, available, for example, the identification system of the vehicle that identifies another vehicle, which communicates to control the main means of transport. This traditional identification system of the vehicle, for example, patent document 1 discloses a device identification of the vehicle, including vehicle detection means for detecting the other vehicle, mounted on the main vehicle, receiving means of communication for information relating to the other vehicle by communication, and a means of identification to identify the other vehicle detected by the onboard sensors, and the information on the other vehicle is obtained by means of receiving communication.

[0003] the Patent document 1. Publication of the patent application (Japan) room 2010-086269

Summary of the INVENTION

[0004] the Device identification of the vehicle described in the above-mentioned�m patent document 1, identifies another vehicle on the basis of the degree of matching between the speed that is determined, and the speed, which is indicated by the received primary information, the degree of matching between the size of the detected other vehicle and the size corresponding to the model of the vehicle, indicated by the received information to the vehicle model, the degree of matching between a position in which one can detect another vehicle, and the position indicated by the obtained position information, etc. nevertheless, there is scope for further improvements, e.g., for improving the accuracy while maintaining a connection identification of the vehicle.

[0005] the Invention is made considering the above circumstances, and an object of the invention is to provide a system for the identification of the vehicle, allowing for improved accuracy of identification of supportive communication vehicle.

[0006] to solve the above task, the identification system of the vehicle according to the invention includes: a communication unit that receives information of another vehicle that is associated with another vehicle, near the main Tran�tailor means; a detection device that detects other vehicle by the main vehicle; and a device identification of the vehicle that identifies the transmitting vehicle transmitting the information of the other vehicle, based on the information of the other vehicle received through the communication device, and the result of detection by the detection device, wherein the device identification of the vehicle made with the possibility of switching between capture mode for capturing the transmitting vehicle on the basis of information of the other vehicle received through the communication device, and the result of detection by the detection device, and a tracking mode to identify the transmitting vehicle based on the positional relationship between the main vehicle and the transmitting vehicle at the time of capture in the capture mode and traffic information related to the transmitting vehicle based on the information of the other vehicle received through the communication device, after the capture in the capture mode.

[0007] In the aforementioned system identification of the vehicle, the device identification transportno� tools can capture the transmitting vehicle on the basis of absolute position information, which is the position information related to the transmitting vehicle based on the information of the other vehicle in the capture mode, and to identify, in the tracking mode, the transmitting vehicle on the basis of relative position information which is position information associated with the transmitting vehicle on the basis of the reference position which is the position of the transmitting vehicle at the time of capture in the capture mode, and traffic information associated with the transmitting vehicle.

[0008] In the aforementioned system identification of the vehicle, the device identification of the vehicle may identify, in the tracking mode, the transmitting vehicle on the basis of information of the relative position, based on the information of the relative position associated with the past in a tracking mode, and traffic information associated with the transmitting vehicle.

[0009] In the aforementioned system identification of the vehicle, the device identification of the vehicle may be returned, in the tracking mode, capture mode in accordance with a result of comparison between information of the movement associated with the transmitting vehicle on the basis of information other transport�of funds received through the communication device, and a result of detection by the detection device.

[0010] the Aforementioned identification system of the vehicle may further comprise a device motion control, which controls the deceleration of the main vehicle on the basis of the deceleration of the other vehicle detected by the detection device, during the return from the tracking mode to the capture mode in accordance with the comparison result.

[0011] to solve the above problem, the device identification of the vehicle according to the invention is arranged to switch between capture mode for capturing and transmitting vehicle information of the other vehicle associated with another vehicle near the primary vehicle received through the communication device, based on the information of the other vehicle and the result of detection by the detection device, which detects another vehicle near the primary vehicle, and a tracking mode to identify the transmitting vehicle based on the positional relationship between the main vehicle and transmitting transportsystem during the capture in the capture mode and traffic information, associated with the transmitting vehicle on the basis of information of the other vehicle received through the communication device, after the capture in the capture mode.

[0012] the System identification of the vehicle and the device identification of the vehicle according to the invention provides such advantages that may increase the accuracy of identification of supportive communication vehicle.

BRIEF description of the DRAWINGS

[0013] Fig. 1 is a schematic diagram of the configuration representing the control system of the vehicle according to the embodiment 1 of implementation.

Fig. 2 is a schematic diagram illustrating the relationship between the main vehicle and another vehicle in the control system of the vehicle according to the embodiment 1 of implementation.

Fig. 3 is a schematic diagram illustrating the internal state of the electronic control module (ECU) of the vehicle according to the embodiment 1 of implementation.

Fig. 4 is a schematic diagram of the configuration representing the module of the tracking mode control ECU of the vehicle according to the embodiment 1 of implementation.

Fig. 5 is a schematic diagram illustrating the definition of tracking in the tracking mode in the ECU management �transport means according to the embodiment 1 of implementation.

Fig. 6 is a block diagram of the sequence of operations of a method illustrating an example of a process for determining the tracking mode tracking control ECU of the vehicle according to the embodiment 1 of implementation.

Fig. 7 is a schematic graph illustrating the operation of the control system of the vehicle according to the embodiment 1 of implementation.

Fig. 8 is a schematic diagram illustrating the operation of the control system of the vehicle according to the embodiment 1 of implementation.

Fig. 9 is a schematic diagram of the configuration representing the control system of the vehicle according to the embodiment 2 of the implementation.

Fig. 10 is a schematic diagram illustrating incorrect recognition support communication vehicle.

Fig. 11 is a circuit diagram illustrating the internal state of the ECU control of the vehicle according to the embodiment 2 of the implementation.

Fig. 12 is a schematic diagram of the configuration representing the module definition incorrect recognition ECU vehicle control according to the embodiment 2 of the implementation.

Fig. 13 is a block diagram of the sequence of operations of a method illustrating an example of the definition of incorrect recognition ECU control tra�sports equipment in accordance with option 2 implementation.

The OPTIMAL MODES of carrying out the INVENTION

[0014] further In this document describes in detail embodiments of the present invention with reference to the drawings. It should be noted that this invention is not limited to these options for implementation. Additionally, the components in the following embodiments include components that are easily replaceable by experts in the field of technology, or almost identical components.

[0015] the FIRST VARIANT IMPLEMENTATION

Fig. 1 is a schematic diagram of the configuration representing the control system of the vehicle according to the embodiment 1 of implementation, Fig. 2 is a schematic diagram illustrating the relationship between the main vehicle and another vehicle in the control system of the vehicle according to the embodiment 1 of implementation, Fig. 3 is a schematic diagram illustrating the internal state of the ECU control of the vehicle according to the embodiment 1 of implementation, Fig. 4 is a schematic diagram of the configuration representing the module of the tracking mode control ECU of the vehicle according to the embodiment 1 of implementation, Fig. 5 is a schematic diagram illustrating the definition of tracking in the tracking mode in the ECU management of transport �the means according to the embodiment 1 of implementation, Fig. 6 is a block diagram of the sequence of operations of a method illustrating an example of a process for determining the tracking mode tracking control ECU of the vehicle according to the embodiment 1 of implementation, Fig. 7 is a diagram illustrating a control system of a vehicle according to the embodiment 1 of implementation, Fig. 8 is a schematic diagram illustrating the operation of the control system of the vehicle according to the embodiment 1 of implementation.

[0016] the management System 1 of the vehicle, which serves as an identification system for a vehicle according to this embodiment of the shown in Fig. 1, is applied to an adaptive system for optimal speed control (ACC) (cruise control), which controls the distance between vehicles so that the distance between vehicles becomes the target distance between vehicles (or target time between vehicles) defined through the use of radio communication, for example, so-called communication between vehicles. The components shown in Fig. 1, are mounted on the vehicle, thereby implementing the management system 1 of the vehicle.

[0017] As shown in Fig. 2, the system 1 control t�ansporting means transmits/receives various information between the vehicle C1 and another vehicle C2 (for example, the vehicle ahead or travelling behind a vehicle) that is moving near the primary vehicle C1, through the use of radio technology for the vehicle. Then, the system 1 of the vehicle control provides control of the movement between the vehicle C1 and another vehicle C2 using the information associated with these vehicles, which is transmitted/received. System 1 vehicle control sets the target value of the control, for example, the target distance between vehicles, etc., on the basis of proper witness management in various information received from the other vehicle C2, mainly the vehicle C1 to execute the driving according to the target values of management. In other words, the management system 1 of the vehicle performs the tracking control based on the exchange of information on the basis of information (transmitted data) of the other vehicle C2 that is accepted by radio. System 1 vehicle control reduces the distance D between vehicles, particularly between the main vehicle C1 and the other transportsystem C2, so the distance D between vehicles becomes the target distance between vehicles, because of this, for example by reducing the air resistance behind your vehicle. Therefore, it is possible to reduce fuel consumption behind your vehicle. Additionally, the system 1 of the vehicle control reduces the distance between vehicles, therefore, for example, providing an increase in the number of noise of vehicles (so-called capacity of the road) per unit time at a certain point on the road. Therefore, it is useful to reduce traffic congestion.

[0018] the Tracking control (control between vehicles) system 1 control of the vehicle illustrated herein is not limited to servo control between two vehicles running when the vehicle is moving behind another moving ahead of the vehicle ahead of the vehicle or when the vehicle is moving travelling behind another vehicle. Servo control systems 1 control vehicle includes a sequence control between vehicles, back�emoe, when multiple vehicles form a group line of vehicles (group of vehicles) that travel in a line behind the vehicle ahead or prosecuted travelling behind the vehicle.

[0019] In particular, as illustrated in Fig. 1, the system 1 of the vehicle control includes ECU 10 controls the vehicle, which is used as the device identification of the vehicle and the device for movement control, front sensor 21a of the distance between vehicles ECU and front sensor 21, which serve as detection devices, sensor 22a of the speed and the ECU 22 speed sensor, sensor 23a acceleration and ECU 23 of the acceleration sensor, the radio antenna 24a and the ECU 24 controls the radio antenna, which serve as the communication device, ECU 31 engine management ECU 32 brake control ECU and 33 control when taxiing. System components 1 vehicle control are illustrated as mounted together on a primary vehicle and another vehicle near this main mode of transportation.

[0020] the ECU 10 controls the vehicle is a control module, which controls the entire system 1 vehicle control, and, for example, confit�urruela, mainly in the form of a computer including the Central processing unit (CPU), read only memory (ROM) and random access memory (RAM). The ECU 10 of the vehicle control device is motion control, which controls the movement of the main vehicle and performs the above-mentioned tracking control on the basis of information exchange. Following are the detailed functions of the ECU 10 controls the vehicle.

[0021] the Front sensor 21a distances between vehicles, the sensor 22a speed sensor 23a acceleration, etc. is an Autonomous sensors (onboard equipment) to detect the state of movement of the main vehicle, i.e. a vehicle with an installed system 1 control of the vehicle. Front sensor 21a of the distance between vehicles is electrically connected to the ECU 21, a front sensor. The sensor 22a speed is electrically connected to the ECU 22 of the speed sensor. The sensor 23a accelerate electrically connected to the ECU 23 of the acceleration sensor. The ECU 21 of the front sensor ECU 22 speed sensor and ECU 23 of the acceleration sensor processes the signal received by the respective sensor. The ECU 21 of the front sensor ECU 22 speed sensor and ECU 23 acceleration sensor connected to the ECU 10 controls the vehicle che�CAN go 20 communication/sensor systems designed as the on-Board network.

[0022] the Front sensor 21a of the distance between vehicles and ECU 21 front sensor are detecting device for detecting the other vehicle by the main vehicle and detects the relative physical quantity that indicates the relative relationship between the detected another vehicle and the main means of transport. Typically, the front sensor 21a of the distance between vehicles and ECU 21 front sensor detects another vehicle that is traveling ahead of the main vehicle (hereinafter in this document, sometimes referred to as "the vehicle ahead"). Front sensor 21a of the distance between vehicles and ECU 21 front sensor detects an oncoming vehicle within a predetermined range R of detection (for example, see Fig. 2) ahead of the main vehicle, in a typical embodiment, an oncoming vehicle that is traveling directly ahead of the main vehicle. In this document front sensor 21a of the distance between vehicles and ECU 21 front sensor has the function of detecting the distance between the Qty�comfortable means, specifically, between the main vehicle and another vehicle that is traveling directly ahead of the main vehicle, as the above-mentioned relative physical quantity. The distance between vehicles, particularly between the main vehicle and another vehicle that is traveling directly ahead of the main vehicle, corresponds to a physical quantity that indicates the relative position of the other vehicle relative to the main vehicle (hereinafter in this document, sometimes referred to as "relative position"). In addition, information that indicates a distance between vehicles, particularly between the main vehicle and another vehicle, corresponds to the position information, which indicates the position of the other vehicle relative to the main vehicle.

[0023] For the front sensor 21a of the distance between vehicles, for example, can be used in the radar range of millimeter waves, etc., provided in the front part of the vehicle. For example, the front sensor 21a of the distance between vehicles is transmitting so �button to scan to the right and left direction (in the direction of width of the vehicle) using electromagnetic waves, such as millimeter waves, and receives reflected waves reflected from the object. ECU 21 front sensor calculates the distance between vehicles as the above-mentioned relative physical quantity based on the time during which the front sensor 21a of the distance between vehicles transmits electromagnetic waves to and receives electromagnetic waves. Additionally, the ECU 21 front sensor can calculate the relative velocity, relative acceleration, etc. the main mode of transportation in comparison with another vehicle that is traveling directly ahead in the travel direction of the main vehicle, as the above-mentioned relative physical quantity based on the time during which the front sensor 21a of the distance between vehicles transmits electromagnetic waves to and receives electromagnetic waves, or the distance between vehicles, etc., computed from time. ECU front sensor 21 outputs a relative physical quantity, such as the calculated distance between vehicles, a relative speed and relative acceleration, the ECU 10 controls the vehicle as the information of the detected other vehicle. Distance between transport� means, relative velocity, relative acceleration, etc., detected by the front sensor 21a of the distance between vehicles and ECU 21 front sensor, include error noise, precision operations, precision measurement, etc.

[0024] In this document, for the front sensor 21a of the distance between vehicles can be used in the radar range of millimeter waves, etc. however, The front sensor 21a of the distance between vehicles is not limited to this. Front sensor 21a of the distance between vehicles can be, for example, radar, laser-based, infrared rays, etc., radar for short distances, for example, ultra-wideband (UWB) radar, acoustic sonar that uses sound waves in the audio range or ultrasonic waves or the device image recognition, which calculates the distance between vehicles, etc. through data analysis of images obtained by photographing the space in front of the main means of transport in the direction of travel through the device for forming images, such as camera-based charge-coupled device (CCD) etc. the management System 1 of the vehicle may further include a rear Dutch�to the distance between vehicles ECU and rear sensors, which detect a relative physical quantity that indicates the relative relationship between the moving back of the vehicle relative to the base vehicle and the main vehicle, as a detection device that detects another vehicle near the primary vehicle.

[0025] the Sensor 22a of the speed and the ECU 22 speed sensor has the function of detecting the speed of the main vehicle (hereinafter in this document, sometimes referred to as "vehicle speed"). For sensor 22a speed can be used, for example, the speed sensor wheel with an electromagnetic transducer, which detects the rotation of the main wheels of the vehicle as a pulse signal, etc. for Example, the sensor 22a velocity outputs a pulse signal accompanying the rotation of the wheels, the ECU 22 of the speed sensor. ECU 22 speed sensor calculates the speed of the primary vehicle (or wheel speed) on the basis of the pulse signal detected by the sensor 22a speed. ECU 22 speed sensor outputs the speed of the main vehicle ECU 10 controls the vehicle as the speed information. The speed of the main vehicle, is detected via �the monitor instructions 22a speed and the ECU 22 speed sensor, includes error noise, precision operations, precision measurement, etc.

[0026] the Sensor 23a acceleration and ECU 23 of the acceleration sensor has the function of detecting acceleration of the main vehicle. For sensor 23a acceleration can be used, for example, the speed sensor strip, a gyro sensor, etc. for Example, the sensor 23a outputs the acceleration signal indicating the offset resulting from accelerating, the ECU 23 of the acceleration sensor. The ECU 23 of the acceleration sensor calculates the main acceleration of the vehicle based on the signal. The ECU 23 of the acceleration sensor outputs an acceleration in the ECU 10 controls the vehicle as information acceleration. The acceleration detected by the sensor 23a acceleration and ECU 23 acceleration sensor includes an error noise, precision operations, precision measurement, etc.

[0027] As described above, the management system 1 of the vehicle is arranged to receive the information of detection of the other vehicle, speed information and acceleration information relative to the base vehicle as a detection result by the above-mentioned various Autonomous sensors mounted on the main vehicle.

[0028] the ECU 31 engine management ECU 32 brake control ECU and 33 control when taxiing back�tion process, associated with this operation, acceleration/deceleration, steering, etc. the main mode of transportation. The ECU 31 engine management ECU 32 brake control ECU and 33 control when taxiing are connected to the ECU 10 controls the vehicle via CAN 30 of the control system as the onboard network.

[0029] the ECU 31 engine control has the function of information input values to the request for acceleration that is output from the ECU 10 controls the vehicle, and drive control of the throttle, etc. with the help of the process variable corresponding to the request value of the acceleration information indicating the values of the request for acceleration. ECU 32 brake control has the function of inputting the above information, the query values on the acceleration and control of the brake actuator, etc. with the help of the process variable corresponding to the request value of the acceleration information indicating the values of the request for acceleration. ECU 33 control when taxiing has the function of information input values of control commands when taxiing output from the ECU 10 controls the vehicle, and drive control of the steering, etc. with the help of the process variable corresponding to the value of the command control when taxiing, information indicating the value of the control when taxiing. The following describes the information value of the request nuccorini and information of the command value of the control when taxiing, output from the ECU 10 controls the vehicle.

[0030] the radio Antenna 24a and the ECU 24 controls the radio antenna represent a communication device that receives information in respect of another vehicle as the other vehicle information associated with another vehicle near the primary vehicle, and transfers various types of information between the main vehicle and another vehicle near the primary vehicle. The ECU 24 controls the radio antenna is connected to the ECU 10 controls the vehicle via CAN 20 communication/sensor system.

[0031] For the radio antenna 24a and the ECU 24 controls the radio antenna can be used, for example, a communication device between vehicles, which performs radio communication for vehicles. System 1 vehicle control for main vehicle mutually communicates between vehicles with another vehicle near the primary vehicle through the radio antenna 24a and the ECU 24 controls the radio antenna. Consequently, the management system 1 of the vehicle is made for reciprocal transfer of various information, for example, information specifying the vehicle associated with the corresponding� vehicles information detection of the other vehicle, speed information, acceleration information, the identification information of the vehicle (identification information of the body), information query values on the acceleration information of the command value of the control when taxiing and information of the environment when driving as the mutual information of the other vehicle.

[0032] Additionally, the radio antenna 24a and the ECU 24 controls the radio antenna also have the function as a global positioning system (GPS) that detects the current position of the main vehicle. The radio antenna 24a and the ECU 24 controls the radio antenna accept the GPS signal output by the GPS satellites to position and calculate the GPS information (latitude, longitude, and direction of movement), which is the position information associated with the main vehicle, on the basis of the received GPS signal. System 1 vehicle control for main vehicle mutually communicates between vehicles with another vehicle near the primary vehicle through the radio antenna 24a and the ECU 24 controls the radio antenna, and the GPS information may also be mutually transferred as information communication other vehicle. In CA�ETS factors error GPS position possible influence of the ionosphere, the effect of evaporation, the influence of air pressure, the influence of the location of the satellite, the impact of power line high voltage, the effect of thunder, branching roads, etc., the Error of positioning by GPS is often relatively large, for example, in such an environment, how urban the area, which often branching roads or tunnels that block radio waves GPS.

[0033] In this document, a communication device between vehicles, etc. used for the radio antenna 24a and the ECU 24 controls the radio antenna. However, the radio antenna 24a and the ECU 24 controls the radio antenna is not limited to this. The radio antenna 24a and the ECU 24 controls the radio antenna can be a communication device between the vehicle and road infrastructure that enables vehicles to exchange information through a communication facility (roadside installation, for example, an optical beacon), constructed outside of the vehicle. Additionally, the radio antenna 24a and the ECU 24 controls the radio antenna can be a device that enables vehicles to exchange information through the use of communication infrastructure such as the Internet, through a means of communication (base station, for example, information center), skåne�trueromance outside of the vehicle. The GPS device can be configured independently from the radio antenna 24a and the ECU 24 controls the radio antenna, for example, like the so-called navigation device.

[0034] the ECU 10 controls the vehicle has the function of Autonomous control of distance between vehicles, particularly between the main vehicle and another vehicle based on the speed information associated with the main vehicle, the acceleration information associated with the main vehicle, and information of the detected other vehicle (distance between vehicles, particularly between the main vehicle and another vehicle, relative speed, relative acceleration, etc.), which are obtained through the above-mentioned various Autonomous sensors main mode of transportation, communication and information (transmitted data) the other vehicle received via the communication over the radio antenna 24a and the ECU 24 controls the radio antenna. For example, the ECU 10 controls the vehicle has the function of generating data values query on the acceleration information of the command value of the control when taxiing, etc. on the basis of the aforementioned various information connected with the main transport means�ohms and another vehicle, so the distance between vehicles (time between vehicles) becomes the target distance between vehicles (target time between vehicles).

[0035] This is the target distance between vehicles is set by the ECU 10 controls the vehicle based on the estimated values of the distance between vehicles with regard to the operating characteristics of each vehicle and the surrounding environment when moving. The ECU 10 controls the vehicle sets the target distance between vehicles based on the current relative speed of the current relative distance between vehicles and the current relative acceleration of a vehicle between vehicles so that the distance between vehicles becomes zero, for example, even when an oncoming vehicle that is traveling directly ahead of the main vehicle performs sudden braking, etc. Then, the ECU 10 controls the vehicle, for example, sets the target vehicle speed, the target acceleration of the vehicle (target vehicle deceleration), target jerk, etc. as the actual C�left value control to the main vehicle to ensure the implementation of the target distance between vehicles, based on the target distance between vehicles, and generates information of the request value on the acceleration information and the value of the control when taxiing, etc. in accordance with the target vehicle speed, the target acceleration of the vehicle (target vehicle deceleration), target jerk, etc.

[0036] Then, the ECU 10 controls vehicle controls respective modules of the basic vehicle based on the information the query values on the acceleration information of the command value of the control when taxiing (i.e. the target vehicle speed, target vehicle acceleration (target deceleration of the vehicle), the target of snatch, etc.) so that the distance between vehicles is reduced to the target distance between vehicles. Therefore, the ECU 10 controls the vehicle performs servo control on the basis of information exchange using communication function.

[0037] As a result, the management system 1 of the vehicle may prescribe the main vehicle to follow the vehicle ahead that is moving directly�public ahead of the main vehicle to maintain the distance between vehicles, particularly between the main vehicle and the vehicle ahead is equal to the proper distance between vehicles, therefore leading, for example, to improve fuel consumption or reduce traffic congestion.

[0038] In this document, the management system 1 of the vehicle of this embodiment is also a system for continuous identification liaison vehicle (vehicle for transmitting information to another communications vehicle), which is the other vehicle that communicates with the main vehicle, on the basis of information of the detected other vehicle communication and information of the other vehicle, in the tracking control based on the exchange of information. System 1 vehicle control essentially reliably detects that an oncoming vehicle that is traveling directly ahead of the main vehicle is the target vehicle for a servo control, i.e. reliably detects that an oncoming vehicle that is traveling directly ahead of the main transport medium�PTS is liaison for the vehicle that communicates with the main vehicle, and after that performs servo control such that the base vehicle monitors support communication vehicle. When the system 1 control vehicle performs sequence control, co-exist a lot of vehicles that do not communicate with the main vehicle, and therefore, the system 1 of the vehicle control confirms whether or not an oncoming vehicle detected by the front sensor 21a of the distance between vehicles, etc., in fact, support the linkage of a vehicle, which performs radio communication with the main vehicle to identify an oncoming vehicle.

[0039] the ECU 10 controls the vehicle also acts as an identification device of a vehicle that identifies support communication vehicle that is transmitting a vehicle for information communication of the other vehicle, based on the information context of the other vehicle received through the radio antenna 24a and the ECU 24 that controls�of the radio antenna and information of the detected other vehicle, which is the result of the detection by the front sensor 21a of the distance between vehicles and ECU 21 front sensor.

[0040] As shown in Fig. 3, the ECU 10 controls a vehicle of this embodiment has a capture mode and a tracking mode as modes for identification of connected vehicle and is arranged to automatically switch these modes in accordance with the situation, at the expense of increasing the accuracy of identification of supportive communication vehicle. In other words, the ECU 10 controls the vehicle has two internal States: the acquisition mode and a tracking mode, when identifying support communication vehicle. Typically, the ECU 10 controls the vehicle identifies the connected vehicle by using information of the motion associated with another vehicle, which is obtained through communication, during the tracking mode, at the expense of increasing the resistance to the environment, to provide a so-called sustainability. For example, the ECU 10 controls the vehicle is in the capture mode in the state in which the moving ahead under�arivudai communication vehicle representing an oncoming vehicle that communicates with the main vehicle, is missing, and when capturing moving ahead support communication vehicle in capture mode during the initial capture, etc., the ECU 10 controls the vehicle enters the tracking mode. Additionally, in the tracking mode, when an oncoming vehicle that is traveling directly ahead of the main vehicle, is changed by a violation or deviation from the line of the vehicle, the ECU 10 controls the vehicle returns to capture mode. In other words, the ECU 10 controls the vehicle switches the identification process support communication vehicle between when the ECU 10 controls the vehicle initially finds support moving ahead communications vehicle, and when the ECU 10 controls the vehicle then continues to monitor the captured moving ahead in touch the vehicle.

[0041] In particular, as illustrated in Fig. 1, functionally, conceptually, the ECU 10 of the vehicle control module 11 contains the identification of the vehicle and the module 12 Mgmt�effect to movement. The identification module 11 identifies the vehicle connected vehicle (transmitting vehicle on the basis of information of the other vehicle and information of the detected other vehicle and includes a module 13 capturing module 14 and the tracking mode. Module 12-traffic control performs the tracking control based on the exchange of information in such a way as to prescribe the main vehicle to monitor liaison for the vehicle identified by the identification module 11 of the vehicle.

[0042] the Module 13 capture mode implements the capture mode. Module 13 capture mode captures the transmitting vehicle on the basis of information of communication of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, and information of the detected other vehicle, which is the result of the detection by the front sensor 21a of the distance between vehicles ECU and front sensor 21, as the capture mode. Module 13 capture mode receives detection information of the other vehicle, information communication other vehicle, etc. from the ECU 21 of the front sensor ECU 24 management of RA�of Yantarny, etc. via CAN 20 communication/sensor system. Module 13 capture mode simply captures (moving ahead) supports the connection of a vehicle moving ahead of the main vehicle, based on the information context of the other vehicle and information of the detected other vehicle through various ways.

[0043] the Module 13 of the capture mode of this embodiment captures support communication vehicle on the basis of absolute position information, based on the information of another communications vehicle. In this paper, the absolute position information is position information for the other vehicle based on the information of another communications vehicle. Typically, the absolute position information is position information indicating the absolute position of the other vehicle, which are not based on previous position information associated with another vehicle, and position information is used as the standard, etc., for example, position information based on GPS information associated with another vehicle. For example, the module 13 of the capture mode is capable of capturing moving ahead support communication vehicle on the basis of distances between the�tion between vehicles specifically, between the main vehicle and another vehicle based on information of the detected other vehicle, and the GPS information associated with another vehicle, which is based on information from another communications vehicle.

[0044] for Example, when the front sensor 21a of the distance between vehicles captures an oncoming vehicle, the module 13 capture mode receives the GPS information of the basic vehicle, which is the absolute position information associated with the main vehicle, and the GPS information of the other vehicle, which is the absolute position information associated with the vehicle ahead, through communication. Module 13 capture mode receives the difference between the coordinate position indicated by the GPS information of the basic vehicle and the coordinates of the position indicated by the GPS information of the other vehicle to perform the coordinate transformation in the coordinate system (see Fig. 2) with a direction at which the base vehicle, as the origin, thereby calculating the relative distance between the X direction (direction of motion) and�the supplied coordinates Y (the width direction of the vehicle, horizontally orthogonal to the direction in which moves the base vehicle) moving ahead of the vehicle relative to the base vehicle. Then, the module 13 capture mode compares the relative distance between the main vehicle and the vehicle ahead, which is based on GPS information, primary vehicle information primary vehicle) and the GPS information of the other vehicle (mutual information of another vehicle), the distance between vehicles, particularly between the main vehicle and the vehicle ahead, based on information of the detected other vehicle, to confirm the degree of concurrence relative distances and distances between vehicles. The distance between vehicles, particularly between the main vehicle and the vehicle ahead, based on information of the detected other vehicle, corresponds to the actual value of the observation moving ahead of the vehicle detected by the front sensor 21a of the distance between vehicles, which yavlyaetsyato sensor. If the deviation between the relative distance based on mutual information of another vehicle and the distance between vehicles on the basis of information of the detected other vehicle is a predefined value that is pre-installed, or less, the module 13 capture mode allows for the recognition that moving ahead of the vehicle captured by the front sensor 21a of the distance between vehicles is (moving ahead) liaison for the vehicle, which actually communicates with the main vehicle. Therefore, the module 13 of the capture mode is capable of capturing liaison for the vehicle. In other words, the module 13 capture mode confirms the degree of coincidence between the position of the vehicle in front, which is based on information from another communications vehicle position and the vehicle in front, which is based on information of the detected other vehicle. Then, when the degree of coincidence is high, the module 13 capture mode detects that an oncoming vehicle captured by the front sensor� 21a distances between vehicles is liaison for the vehicle. When the degree of coincidence is low, the module 13 capture mode detects that an oncoming vehicle is not capable of communicating the vehicle.

[0045] In this document, the module 13 capture mode captures liaison for the vehicle based on the absolute position information based on GPS information of another vehicle, etc. However, the invention is not limited to this. For example, module 13 capture mode calculates statistics based on time series analysis for the speed of the vehicle in front (or relative speed of the vehicle in front in comparison to the main means of transport), which is based on information from another communications vehicle, and the speed of the vehicle in front (or relative speed of the vehicle in front in comparison to the main means of transport), which is based on information from the detection of another vehicle by using the root mean square error or correction factor, integral-differential values, etc. Then, module 13 capture mode detects on the basis of statistics on the basis of a�Aliza time series, whether or not an oncoming vehicle captured by the front sensor 21a of the distance between vehicles, connected vehicle, which actually communicates with the main vehicle. As the method for computing statistics based on time series analysis can be applied a method of calculating the statistics based on time series analysis in another variant implementation, described below, and therefore its detailed description is omitted.

[0046] the Module 14 of the tracking mode implements the tracking mode. Module 14 tracking identifies liaison for the vehicle based on the positional relationship between the main vehicle and connected vehicle during capture support communication vehicle in the capture mode, and information of the movement-related liaison for the vehicle, which is based on mutual information of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, after the capture in the capture mode, the tracking mode. In other words, the module 14 of the tracking mode identifies a liaison for the vehicle based on the positional �samocveti between the main vehicle and connected vehicle once captured in the capture mode via module 13 capture mode, in the light of information of the movement-related liaison for the vehicle, which is based on information from another communications vehicle. Module 14 tracking receives detection information of the other vehicle, information of another communications vehicle information primary vehicle, etc. from the ECU 21 of the front sensor ECU 22 speed sensor, the ECU 23 of the acceleration sensor ECU 24 radio antenna control, etc. via CAN 20 communication/sensor system.

[0047] the Module 14 of the tracking mode of this embodiment identifies the transmitting vehicle on the basis of information of the relative position in the tracking mode. In this document, the information is relative position information is the position associated with supporting communication vehicle, which is based on information from another communications vehicle and position information on the basis of the reference position that is a position supporting the connection of the vehicle during the capture in the capture mode, and information of the movement-related liaison for the vehicle. More specifically, the information is relative position information is relative position�AI, formed according to a distance at which is actually moving support communication vehicle, in accordance with the information of the movement-related liaison for the vehicle, relative to the reference position that is a position supporting the connection of the vehicle during the capture in the capture mode.

[0048] the Above information of motion associated with connected vehicle information is associated with speed and acceleration support communication vehicle, which is based on information from another communications vehicle. Information of motion associated with maintaining a connection of the vehicle is, for example, information with higher reliability than GPS information having a large positioning error, as described above. Module 14 tracking identifies the connected vehicle by using information of the movement-related liaison for the vehicle, therefore providing a more accurate identification of supportive communication vehicle. In other words, the module 14 of the tracking mode is made possible by the accurate evaluation of the positional relationship between the main vehicle and support�equation describing the relationship of the vehicle, typically, the distance between vehicles on the basis of information of the movement-related liaison for the vehicle, which has a relatively high reliability, as described below.

[0049] the Module 14 of the tracking mode uses the reference distance between vehicles to communicate vehicle as a physical quantity indicating a reference position that is a position supporting the relationship of the vehicle relative to the base vehicle during the capture in the capture mode. Reference the distance between vehicles to support the relationship of the vehicle corresponds to a physical quantity that indicates the relative positional relationship between the main vehicle and support the relationship of the vehicle in a reference position support communication vehicle during the capture in the capture mode. More specifically, the reference distance between vehicles to support the relationship of the vehicle relative to the distance between the liaison for the vehicle and the main means of transport during the capture in the capture mode. In other words, in this document, the relative position information is�tsya position information, which is formed by summation and subtraction of distances, which is actually moving support communication vehicle, in accordance with the information of the movement-related liaison for the vehicle, relative to the reference distance between vehicles according to a supporting position supporting the connection of the vehicle, and indicates the relative distance between the liaison for the vehicle and the main means of transport.

[0050] In the tracking mode, the module 14 of the tracking mode of this embodiment identifies a liaison for the vehicle based on the relative position information at the point of definition ID (the current point) on the basis of previous relative position and information of the movement-related liaison for the vehicle in is identical to the current tracking mode.

[0051] In this document, for example, the ECU 10 controls the vehicle repeatedly performs various control procedures during the administration of several hundred microseconds or a few tens of milliseconds. The relative position information at the point of definition ID (the current point) corresponds to the position information indicating the estimated position, which is supported�equation describing the relationship of the vehicle, on the basis of the reference distance between vehicles and the traffic information associated with the connected vehicle at the current point, namely, in the current control period. If the point ID is the current control period, for the information of the previous relative positions, typically can be used information of the relative position during the administration of at least one period earlier in this document, in the previous control period. Information relative position in the previous period management is information indicating the previous value of the relative distance between the liaison for the vehicle and the main means of transport, which is based on the reference distance between vehicles and the traffic information associated with the connected vehicle. Each relative position information is obtained by adding the distance that is actually moving support communication vehicle, in accordance with the speed and acceleration specified by information of the movement-related liaison for the vehicle, which is obtained in each period of the control, reference distance between vehicles according to�but a supporting position supporting the relationship of the vehicle. Accordingly, the information of the previous relative positions identical in the current tracking mode becomes the distance based on the identical reference distance between vehicles.

[0052] the Module 14 tracking adds and subtracts the distance at which the is actually moving support communication vehicle, in accordance with the speed and acceleration specified by information of the movement-related liaison for the vehicle in the current control period, relative to previous values of the relative distances between the connected vehicle and the main means of transport, which is based on the reference distance between vehicles, indicated by the relative position information in the previous control period and information of the movement-related liaison for the vehicle, thereby calculating the relative position information at the point of definition ID (the current point). Therefore, the module 14 of the tracking mode is arranged to suppress the working value and the suppression of error, to improve the accuracy of operations, as compared to the case in which the distance is actually moving support communication vehicle to present�the present moment in each control period, summed and subtracted from the reference distance between vehicles whenever liaison for the vehicle is moved.

[0053] In this document, the module 14 of the tracking mode calculates the relative position information at the point of definition ID on the basis of previous relative position and information of the movement-related liaison for the vehicle. However, the invention is not limited to this. Module 14 the tracking mode can calculate the relative position information at the point of definition ID (the current point) by summation and subtraction of distances, which is actually moving support communication vehicle to date in each period of the control, relative to the reference distances between vehicles whenever liaison for the vehicle carries out the movement.

[0054] More specifically, as illustrated in Fig. 4, the module 14 enters tracking mode information of another communications vehicle, which includes traffic information associated with another vehicle, which indicates the speed and acceleration of the other vehicle detection information of the other vehicle, indicating the distance between tra�transport means and the relative speed between the vehicle and the vehicle ahead, base information of the vehicle indicating the velocity and acceleration of the basic vehicle and the preceding result of determination. Module 14 mode performs tracking identification tracking (determination of the deviation/violation) on the basis of this information, other vehicle communication information of the detected other vehicle information primary vehicle and the preceding result of determination, and outputs the determination result of the monitoring. In the case of determining that the other vehicle captured by the front sensor 21a of the distance between vehicles, and are capable of communicating with a vehicle that actually communicates with the main vehicle, coincide to the determination result of the tracking, and determine that the tracking continues, the module 14 of the tracking mode supports the tracking mode without changes. If the module 14 of the tracking mode determines what other vehicle captured by the front sensor 21a of the distance between vehicles, and are capable of communicating with a vehicle that actually communicates with the main vehicle, characterized by the definition of uslejiva�Oia, and determines that the tracking is completed, the module 13 capture mode switches to the capture mode, i.e., returns to capture mode. In other words, if it is determined that there is a deviation/violation, etc., the module 13 capture mode switches to the capture mode, i.e., returns to capture mode.

[0055] the Module 14 of the tracking mode will first calculate the reference distance between vehicles to communicate vehicle, which is a physical value indicating a reference position representing a position supporting the relationship of the vehicle relative to the base vehicle during the capture in the capture mode, as the definition of tracking (deviation/violation). Module 14 the tracking mode calculates the estimated distance between vehicles, particularly between the main vehicle and connected vehicle during the capture in the capture mode, as the reference distance between vehicles. Module 14 the tracking mode can use actual observations of the vehicle in front detected by the front sensor 21a of the distance between vehicles when moving ahead support�ment communication vehicle is captured in the capture mode, namely, the distance between vehicles, particularly between the main vehicle and the vehicle ahead, based on information of the detected other vehicle, as a reference distance between vehicles without modification. However, in this paper, to improve the accuracy when calculating reference distances between vehicles, the module 14 of the tracking mode calculates the estimated distance between vehicles, as described below, to use it as a reference distance between vehicles.

[0056] in Other words, the module 14 of the tracking mode calculates the estimated distance between vehicles on the basis of (relative) velocity and acceleration of the basic vehicle and another vehicle, etc., in addition to the distance between vehicles, particularly between the main vehicle and the vehicle ahead, based on information of the detected other vehicle. In this document, the module 14 of the tracking mode evaluates the estimated distance between vehicles through the use of so-called Kalman filter, therefore providing a precise OTS�cle estimated distances between vehicles specifically, between the main vehicle and connected vehicle during the capture in the capture mode. The Kalman filter has the function of combining and merging values of measurement (observation values) of the distance between vehicles, etc., captured by the front sensor 21a of the distance between vehicles that are self-contained sensor, and (system) the vehicle motion, such as velocity, acceleration, etc. of the basic vehicle and the other vehicle received via the connection, and calculate the value assessment of the state of motion. The Kalman filter is an algorithm that balances the many meanings of measure, and degree of accuracy of which differ, and the estimated value by means of the equation of state describing the motion of the vehicle, and estimating the optimal state of the system. More specifically, in the case of both measurement values and estimated values include errors, the Kalman filter is an algorithm that performs proper weighting in accordance with the degree of these errors and cleaner in the safest state of the system. Module 14 the tracking mode calculates the estimated distance between vehicles as the value assessment of the state of d�izheniya through the use of a Kalman filter based on the velocity and acceleration of the other vehicle, based on the information context of the other vehicle, speed, acceleration, etc. of the main vehicle, which is based on the basic information of the vehicle, in addition to the distance between vehicles, particularly between the main vehicle and the vehicle ahead, based on the information of the detected other vehicle. Then, the module 14 of the tracking mode uses the estimated distance between vehicles in the calculated value assessment of the state of motion as the reference distance between vehicles.

[0057] Thus, the module 14 of the tracking mode configured to calculate the exact distance between vehicles to support the relationship of the vehicle taking into account not only the measurement value obtained by the Autonomous sensors on the vehicle, but also the information of the other vehicle, for example, its state of motion, obtained via communication. As a result, the module 14 of the tracking mode configured to perform a subsequent process of determining the track in a tracking mode by using precisely calculated reference distance�a distance between vehicles.

[0058] Then, the module 14 of the tracking mode calculates the relative distance between the vehicle and another vehicle based on the control of distance between vehicles, calculated as described above, and information of the movement-related liaison for the vehicle based on the information of another communications vehicle. In other words, the module 14 of the tracking mode calculates the relative distance obtained by summing and subtracting the distance at which is actually moving support communication vehicle, in accordance with the information of the movement-related liaison for the vehicle is obtained through communication, relative to the reference distances between vehicles, calculated as described above to use the information of the position indicated by the calculated relative distance, the relative position information.

[0059] for Example, the module 14 of the tracking mode calculates the estimated distance L_com between vehicles on the basis of information regard the other vehicle by using the following mathematical formula (1). It's estimated the distance L_com between vehicles on the basis of information�ation of another communications vehicle corresponds to the relative distance between the vehicle and another vehicle, which is obtained by summation and subtraction of distances, which is actually moving support communication vehicle, in accordance with the information of the movement-related liaison for the vehicle, relative to the reference distances between vehicles. Information position indicated by the estimated distance L_com between vehicles, corresponds to the relative position information used in the tracking mode.

[0060] the MATHEMATICAL EXPRESSION 1

[0061] In the above mathematical formula (1), [L_com] denotes the estimated distance between vehicles on the basis of information other vehicle communication (hereinafter in this document, sometimes referred to as "estimated distance between vehicles, through certain regard"). [L_est] denotes the previous value of the estimated distances between vehicles, and [vr_com] denotes the (speed of the other vehicle based on the information of another communications vehicle - speed main mode of transportation) (hereinafter in this document, sometimes called "relative velocity defined by means of communication"). [ar_com] denotes the (acceleration of another vehicle �the means on the basis of information of another communications vehicle - the main acceleration of the vehicle) (hereinafter in this document, sometimes referred to as "relative acceleration defined through a connection"). "Δt" represents the time unit according to the control period. In this document, the previous value [L_est] estimated distances between vehicles corresponds to the estimated distance [L_com] between vehicles determined by context, in the previous control period. If the previous value [L_est] estimated the distance between vehicles is the value in the initial period of management in the tracking mode, the reference distance between vehicles, particularly between the main vehicle and the vehicle ahead during the capture in the capture mode simply used without modification.

[0062] the Module 14 of the tracking mode compares the estimated distance L_com between vehicles, as determined through communication with the measured distance L_fr between vehicles on the basis of information of the detected other vehicle (hereinafter in this document, "measured by the distance between vehicles identified through discovery"), as the definition of tracking. In this paper, the measured R�sloanie L_fr between vehicles by means of detection corresponds to the value of measuring the distance between vehicles specifically, between the main vehicle and the vehicle ahead, which is detected by the front sensor 21a of the distance between vehicles that are self-contained sensor, in the identical period of management.

[0063] As illustrated in Fig. 5, for example, in the case that the degree of coincidence between the estimated distance L_com between vehicles identified through communications from the other vehicle C2, which goes ahead of the main vehicle C1, and measured distance L_fr between vehicles, through certain of detection is relatively high, the module 14 of the tracking mode configured to identify that the other vehicle C2 is captured by the front sensor 21a of the distance between vehicles is the liaison for the vehicle, which actually communicates with the main vehicle C1. In this case, the module 14 of the tracking mode determines that the tracking continues. On the other hand, if the degree of coincidence between the estimated distance L_com between vehicles, defined through a connection from another vehicle C3, which goes ahead of the fundamentals�th vehicle C1, and measured distance L_fr between vehicles, through certain of detection is relatively low, the module 14 of the tracking mode configured to determine that the other vehicle C2 is captured by the front sensor 21a of the distance between vehicles is different from other vehicle C3, which actually communicates. In this case, the module 14 of the tracking mode determines that the tracking is terminated.

[0064] in Other words, the module 14 of the tracking mode determines through the use of traffic information associated with another vehicle (speed of the other vehicle, acceleration of the other vehicle), which is based on information from another communications vehicle with relatively high reliability, we, "there are identical or not an oncoming vehicle, identified as supportive communication vehicle in the previous control period, in the position, measured in accordance with the information of the movement, also in the current period management". Therefore, the module 14 of the tracking mode configured to perform the determination of the continuation of the track, continues or not, combined with led�tion identical support communication vehicle, identified in the previous control period.

[0065] Then, if the module 14 of the tracking mode determines that the tracking continues, the tracking mode is maintained without change. On the other hand, if the module 14 of the tracking mode determines that the tracking is completed, the module 13 capture mode switches to the capture mode, i.e., returns to capture mode.

[0066] With reference to the block diagram of the sequence of operations of the method of Fig. 6, the following describes an example of a process for determining the tracking mode, the tracking performed by the ECU 10 controls the vehicle. These control procedures are repeatedly performed during the administration of several hundred microseconds or a few tens of milliseconds (the same applies hereinafter).

[0067] first, after the module 13 capture mode captures liaison for the vehicle in the capture mode, the module 14 of the tracking mode calculates the estimated distance L_com between vehicles, through certain connections, for example, through the use of mathematical formulas (1) (step ST1). Module 14 tracking summarizes the distance at which the is actually moving support communication vehicle on the basis of the transmitted data, namely, in�ormatie movement, related information links other vehicle from maintaining a connection of the vehicle with the previous value L_est estimated distance between vehicles, to calculate the estimated distance L_com between vehicles, as determined through communications. In this document, the estimated distance L_com between vehicles, through certain connections, is estimated by the distance between vehicles, when it is assumed that data to be transmitted (information communication other vehicle) data are moving ahead of the vehicle captured by the sensor 21a of the distance between vehicles. In this case, if the previous value [L_est] estimated the distance between vehicles is the value in the initial period of management in the tracking mode, the reference distance between vehicles, particularly between the main vehicle and the vehicle ahead during the capture in the capture mode simply used without modification.

[0068] Then, the module 14 of the tracking mode determines on the basis of information of the detected other vehicle, exists or not in the viewing range of the radar is moving ahead Tran�tailor the tool, namely, moving ahead of the vehicle captured by the front sensor 21a of the distance between vehicles (step ST2).

[0069] In the case that the module 14 of the tracking mode determines that an oncoming vehicle in the detection of radar exists (step ST2: Yes), the module 14 of the tracking mode calculates the deviation between the estimated distance L_com between vehicles, defined through a relation calculated in step ST1, and measured distance L_fr between vehicles, through certain detection on the basis of information of detection of another vehicle, in this document, the absolute value of the difference. Then, the module 14 of the tracking mode determines the continuing or not the state in which the absolute value of the difference exceeds a preconfigured threshold L_th distance between vehicles within a pre-determined time in T_th1 seconds, which is pre-installed, or more (step ST3). Threshold L_th distance between vehicles just to set appropriately in accordance with the actual evaluation vehicles, etc. predetermined time T_th1 is a threshold value for the time defined�need to change the vehicle in front to determine changes in the vehicle in front and just to set appropriately in accordance with the actual evaluation of transport funds, etc.

[0070] In the case that the module 14 of the tracking mode determines that the state in which the absolute value of the difference exceeds the threshold L_th distance between vehicles, not continued for a predetermined time in T_th1 seconds or more (step ST3: No), the module 14 of the tracking mode identifies what other vehicle captured by the front sensor 21a of the distance between vehicles is the liaison for the vehicle, which actually communicates with the main vehicle. Then, the module 14 of the tracking mode determines what the track continues to support the tracking mode without change (step ST4), and terminates the current control period to move to the next control period.

[0071] In the case that the module 14 of the tracking mode determines that the state in which the absolute value of the difference exceeds the threshold L_th distances between vehicles, continues for a predetermined time in T_th1 seconds or more (step ST3: Yes), the module 14 of the tracking mode determines what other vehicle captured by the front sensor 21a of the distance between the transport facilities�you different from maintaining a connection to a vehicle that actually communicates with the main vehicle. Then, the module 14 of the tracking mode determines that the tracking is completed, and the module 13 capture mode switches to the capture mode, i.e., returns to the capture mode (step ST5), and terminates the current control period to move to the next control period.

[0072] In the case that the module 14 of the tracking mode determines that an oncoming vehicle within the viewing range of the radar is missing (step ST2: No) in step ST2 (step ST2: No), the module 14 of the tracking mode determines the lasts or not to continue, during which there is no oncoming vehicle in the detection of radar, within a pre-determined time in T_th2 seconds, which is pre-installed, or more (step ST6). Predetermined time T_th2 is the threshold value detection time lost an oncoming vehicle to determine that the oncoming vehicle lost, and just set appropriately in accordance with the actual evaluation vehicles, etc.

[0073] In the case that the module 14 of the tracking mode determines what time of the continuation, in t�during which there is no oncoming vehicle in the detection of radar does not last for a pre-determined time in T_th2 seconds or more (step ST6: No), the module 14 of the tracking mode proceeds to step ST4. On the other hand, in the case of determining whether it lasts or not to continue, during which there is no oncoming vehicle in the detection of radar, within a pre-determined time in T_th2 seconds or more (step ST6: Yes), the module 14 of the tracking mode proceeds to step ST5.

[0074] in Other words, if an oncoming vehicle momentarily deviates from the range R of detection front sensor 21a distances between vehicles, the module 14 of the tracking mode does not allow you to return to capture mode, and continues the tracking mode without change if an oncoming vehicle is back in the R ranges of detection for a pre-determined time, and the front sensor 21a of the distance between vehicles again detects an oncoming vehicle. During this time the module 14 of the tracking mode continues to calculate the estimated distance L_com between vehicles, through certain connections, in each period of control. On the other hand, if moving ahead transport�tion tool is not returned in the detection range R again, after expiration of a predetermined time or more, the module 14 of the tracking mode ends the tracking mode to allow the regime to return to capture mode. Therefore, the ECU 10 controls the vehicle made with the possibility of suppression of too frequent switching between the tracking mode and capture mode, and suppress the occurrence of fluctuations in the control.

[0075] the management System 1 of the vehicle configured as described above, made with the possibility of switching between capture mode and a tracking mode as a mode to identify a liaison for the vehicle and identifies the connected vehicle through the use of a positional relationship between another vehicle captured in the capture mode, and the main vehicle and information of the movement of the other vehicle received via the connection, during the tracking mode. Consequently, the management system 1 of the vehicle is made possible to obtain information of the movements supporting communication of the vehicle with relatively high reliability on the basis of information of another communications vehicle through tracking mode after about�nakatago capture support communication vehicle in the capture and identification of supporting communication vehicle on the basis of this information, the movement supporting telephony transport funds. Therefore, it is possible to improve the accuracy of identification of supportive communication vehicle.

[0076] Fig. 7 is a schematic graph representing an example of the system 1 control of the vehicle. Fig. 7, the horizontal axis denotes the traveling distance, and the vertical axis denotes the relative transverse position of the other vehicle relative to the base vehicle, the distance between vehicles moving ahead and ID support communication vehicle. In this document, for example, describes a case in which two other vehicles C2 and C3 in parallel are moving in adjacent lanes ahead of the main vehicle C1, as illustrated in Fig. 8.

[0077] for Example, the system 1 control of vehicle captures another vehicle C2 as a liaison for the vehicle in the capture mode at the point P1, point P2, in which the tunnel section in the direction in which moves the main vehicle C1, and then goes into a tracking mode to continue the identification of the vehicle by the tracking mode. Then, even when the host vehicle C1 passes the point P2 and Vyasa�t in the tunnel section, system 1 control vehicle continues tracking mode and continues with the identification of the connected vehicle through the use of a positional relationship between another vehicle captured in the capture mode, and the main vehicle and information of the movement of the other vehicle received via the communication.

[0078] In this document it is assumed that the control system of the vehicle according to a comparative example continues to identify a liaison for vehicle using GPS information in the tunnel section. In this case, for example, when the other vehicle C2 and C3 appear on the turn in the tunnel section, the solid lines L11 and L12, representing the actual relative transverse position, and the dotted line L11a and L12a, representing a relative transverse position indicated by the GPS information are separated from each other. As a result, the control system of the vehicle according to the comparative example may not recognize the other vehicle C2 and the other vehicle C3 circled around line A and incorrectly detects a liaison for the vehicle.

[0079] in contrast, system 1 management of transport �means of this variant implementation is made with the possibility of maintaining a connection identification of the vehicle based on information of movement of the supporting connection of the vehicle with relatively high reliability through the tracking mode after a single seizure support the relationship of the vehicle in the capture mode. Consequently, even when the host vehicle C1 enters the tunnel section in the system 1 of the vehicle control, the solid line L21, which represents the estimated distance between vehicles, particularly between the main vehicle and another vehicle, through certain connections, and the dashed line L22, which represents the measured distance between vehicles, particularly between the main vehicle and another vehicle with the finding that almost coincide with each other. In this case, the solid line L31, indicating the ID of the actual support moving ahead communications vehicle, and the dotted line L32, indicating ID support moving ahead communications vehicle identified by the tracking mode, coincide with each other, and the management system 1 of the vehicle made with the possibility of accurate identification of the supportive relationship of the vehicle even in the tunnel section.

[0080] Accordingly, the management system 1 of the vehicle made with the possibility of implementing large-scale� identify support communication of the vehicle with high accuracy even in the environment, in which the error of positioning by GPS is often relatively large, for example, in an urban area where there are often branching tunnels or roads, etc.

[0081] Additionally, for example, the management system 1 of the vehicle made with the possibility of implementing identification support communication of the vehicle with relatively high accuracy, as compared to the case in which the identification of the connected vehicle proceeds on the basis of statistics based on time series analysis for the speed of the vehicle in front based on the information context of the other vehicle and the speed of the vehicle in front based on the information of detection of another vehicle.

[0082] for Example, it is assumed that the control system of the vehicle according to a comparative example continues to identify support communication vehicle on the basis of the above statistics based on time series analysis. In this case, for example, in the case that a relatively large number of vehicles that move with identical speed in the actual surrounding traffic, for example, on the highway, when the transport management system creditbalance comparative example continues to identify support communication vehicle on the basis of the above statistics based on time series analysis, and there is another vehicle which is moving with the same speed, the vehicle for which you are maintaining a connection identification of the vehicle can be switched to the above-mentioned another vehicle. On the contrary, the control system of the vehicle according to the comparative example must strictly specify different thresholds of the definition so as not to cause the above-mentioned switching of the result of identification, or should increase the target period statistics based on time series analysis. Consequently, all the connected vehicle can be relatively increased, and the undetected state of the connected vehicle may increase.

[0083] However, the management system 1 of the vehicle of this embodiment is capable of maintaining a connection identification of the vehicle based on information of movement of the supporting connection of the vehicle with relatively high reliability by tracking mode after a single seizure support the relationship of the vehicle in the capture mode, and therefore, is capable of exact identification of supportive communication Tr�Sportage funds in a relatively short period of determination.

[0084] the management System 1 of the vehicle according to the variant of implementation described above, includes the radio antenna 24a and the ECU 24 controls the radio antenna, which take the information of another communications vehicle (other vehicle) for another vehicle near the primary vehicle, a front sensor 21a of the distance between vehicles and ECU 21, a front sensor that detects another vehicle near the primary vehicle, and the ECU 10 controls the vehicle that identifies the connected vehicle (transmitting vehicle) the information context of the other vehicle based on the information context of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, and the result of detection by the front sensor 21a of the distance between vehicles and ECU 21 front sensor. The ECU 10 controls the vehicle made with the possibility of switching between capture mode for capturing liaison for the vehicle based on the information context of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, and the detection result �through the front sensor 21a of the distance between vehicles and ECU 21 front sensor, and a tracking mode to identify a liaison for the vehicle based on the positional relationship between the main vehicle and connected vehicle during the capture in the capture mode and information of the movement-related liaison for the vehicle, which is based on mutual information of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, after the capture in the capture mode.

[0085] Consequently, the system 1 control of the vehicle and the ECU 10 controls the vehicle allow the identification of supportive communication vehicle on the basis of information of the movement of the supporting connection of the vehicle with relatively high reliability by tracking mode after a single seizure support the relationship of the vehicle in the capture mode. Therefore, it is possible to increase the resistance to the environment, to provide a so-called resistance, and can improve the accuracy of identification of supportive communication vehicle.

[0086] the SECOND VARIANT of IMPLEMENTATION

Fig. 9 is a schematic diagram of the configuration representing the control system of the vehicle according to the embodiment 2 is implemented�I, Fig. 10 is a schematic diagram illustrating incorrect recognition support communication vehicle, Fig. 11 is a circuit diagram illustrating the internal state of the ECU control of the vehicle according to the embodiment 2 of the implementation, Fig. 12 is a schematic diagram of the configuration representing the module definition incorrect recognition ECU vehicle control according to the embodiment 2 of implementation, and Fig. 13 is a block diagram of the sequence of operations of a method illustrating an example of the definition of incorrect recognition in the ECU of the vehicle control according to option 2 implementation. System identification of the vehicle and the device identification of the vehicle according to the embodiment 2 of the implementation differ from the system and an identification device of a vehicle according to embodiment 1 of implementation what is the definition of incorrect recognition. In addition, redundant description of configurations, stages and benefits that are identical to the configurations, steps and advantages of the above-mentioned variants of implementation, when possible, omitted.

[0087] the System 201 control of the vehicle, which serves as an identification system for transport�means of this variant of implementation, shown in Fig. 9, includes ECU 210 control of the vehicle, which is used as an identification device of the vehicle device and motion control. Functionally conceptually ECU 210 vehicle control module contains 211 identification of the vehicle and the module 212 control the movement. Module 211 identification of the vehicle of this embodiment includes a module 13 capture mode, the module 14 of the tracking mode and the module 215 definition of incorrect recognition.

[0088] Module 215 definition of incorrect recognition determines incorrect recognition supports the connection of a vehicle in accordance with the result of comparison between information of the movement-related liaison for the vehicle, which is based on mutual information of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, and information of the detected other vehicle, which is the result of the detection by the front sensor 21a of the distance between vehicles and ECU 21 front sensor is in the tracking mode.

[0089] In the ECU 210 controls the vehicle after the module 13 capture mode odnokratno� captures liaison for the vehicle in the capture mode, module 14 the tracking mode continues to identify a liaison for the vehicle based on information of movement of the supporting connection of the vehicle with relatively high reliability by means of the tracking mode.

[0090] In this document, for example, in the ECU 210 controls the vehicle, as illustrated in Fig. 10, it is assumed the case in which the module 13 capture mode incorrectly detects another vehicle C3, which differs from the other vehicle C2 is captured by the front sensor 21a of the distance between vehicles, as liaison for the vehicle in the capture mode, and captures another vehicle C3. In this case, the ECU 210 controls the vehicle, the subsequent identification tracking and identification of supporting communication vehicle in the tracking mode via module 14 of the tracking mode can continue for incorrect vehicle, thereby affecting subsequent sequence control.

[0091] in contrast, in the tracking mode, the module 215 definition of incorrect recognition simultaneously monitors the status by comparing the information of the detected other vehicle, the identi�through internal front sensor 21a of the distance between vehicles which is an Autonomous sensor traffic information associated with the information context of the other vehicle received via the radio antenna 24a, at the expense of suppressing the sequel to correctly identify support communication vehicle.

[0092] As shown in Fig. 11, for example, the ECU 210 controls the vehicle adds a definition of incorrect recognition for supporting vehicle communication according to the result of comparison between information of the movement of the supporting vehicle communication based on the information context of the other vehicle and information of the detected other vehicle via module 215 definition of incorrect recognition, as a condition of return from the tracking mode to the capture mode. If the module 215 definition of incorrect recognition determines incorrect recognition for maintaining a connection of the vehicle in the tracking mode, the module 14 of the tracking mode determines that the tracking is completed, and the module 13 capture mode switches to the capture mode, i.e., returns to capture mode.

[0093] More specifically, as illustrated in Fig. 12, information of communication of the other vehicle, which includes information of the movement of the other tra�sports funds specifies the speed of the other vehicle, and information of the detected other vehicle that indicates the relative speed between the vehicle and the vehicle ahead, and basic information of the vehicle indicating the speed of the main vehicle, is entered into the module 215 definition of incorrect recognition. Module 215 definition of incorrect recognition determines incorrect recognition, in this paper, a comparison based on the analysis of time series for the rate on the basis of this information, other vehicle communication information of the detected other vehicle and information of the main vehicle, and outputs the result of determination.

[0094] the Module 215 definition of incorrect recognition calculates statistics based on time series analysis for the speed of the vehicle in front (or relative speed of the vehicle in front in comparison to the main means of transport) based on the information context of the other vehicle and the speed of the vehicle in front (or relative speed of the vehicle in front in comparison to the main means of transport) n� the basis of information of detection of another vehicle, for example, through the use of standard error or correction factor, integral-differential values, etc. Statistics based on the analysis of time series for the velocity corresponds to the result of comparison between information of the movement of the supporting vehicle communication based on the information context of the other vehicle and information of the detected other vehicle. As an example, the module 215 definition of incorrect recognition calculates the mean square error between a speed of the vehicle in front based on the information of another communications vehicle and a speed of the vehicle in front based on the information of the detected other vehicle as statistics based on time series analysis, for example, by using the following mathematical formula (2). In this case, the module 215 definition of incorrect recognition is arranged to calculate the speed of the vehicle in front based on the information of detection of another vehicle, for example, by summation of the speed of the main vehicle with a relative speed of the vehicle in front, which is based� information on the detection of another vehicle.

[0095] the MATHEMATICAL EXPRESSION 2

[0096] In the above mathematical formula (2), [Xrms] denotes the mean square error between a speed of the vehicle in front based on the information of another communications vehicle and a speed of the vehicle in front based on the information of detection of another vehicle, and [xi] denotes the difference between the speed of the vehicle in front based on the information of detection of another vehicle and a speed of the vehicle in front based on the information of another communications vehicle.

[0097] the Module 215 definition of incorrect recognition determines on the basis of the root mean square error Xrms as statistics based on time series analysis, whether or not an oncoming vehicle captured by the front sensor 21a of the distance between vehicles, connected vehicle, which actually communicates with the main vehicle, in the tracking mode, namely, determines incorrect recognition for maintaining a connection of the vehicle, and outputs the result of determination. If srednekvadratichnoe�th error Xrms is a pre-set threshold value of the quadratic error or more module 215 definition of incorrect recognition determines what support communication vehicle is incorrectly recognized. Threshold square error appropriately set in accordance with the actual rating of the vehicle.

[0098] Then, if the determination result of incorrect recognition by module 215 definition of incorrect recognition reveals that incorrect detection is not detected, module 14 mode tracking mode tracking without change. If the determination result of incorrect recognition by module 215 definition of incorrect recognition reveals that incorrectly identified the recognition module 14 of the tracking mode ends the track, and the module 13 capture mode switches to the capture mode, i.e., returns to capture mode.

[0099] Therefore, even if the module 13 capture mode detects and captures incorrect liaison for the vehicle in the capture mode, when the speed of the connected vehicle is correctly detected, and the speed of an oncoming vehicle that is traveling directly ahead of the main vehicle, be R�slishnimi, system 201 vehicle control is executed with the ability to quickly determine the divergence of the motion of both vehicles. Therefore, the system 201 control of the vehicle made with the possibility of rapid determination of incorrect recognition for supporting the communication of the vehicle. As a result, if found incorrect recognition for supporting vehicle communication, the system 201 control of the vehicle made with the possibility of a quick return to the capture mode. Accordingly, the system 201 control of the vehicle is arranged to suppress the continuation of the subsequent identification of supportive communication vehicle for improper vehicle in the tracking mode via module 14 of the tracking mode. Therefore, the system 201 control of the vehicle may not allow the impact of incorrect recognition for maintaining a connection of the vehicle to the subsequent sequence control.

[0100] Then, the module 212 control the movement of this embodiment controls the main means of transport on the basis of the determination result of incorrect recognition by module 215 definition incorrect recognition�me. In particular, during the return from the tracking mode to the capture mode in accordance with a result of comparison between information of the movement of the supporting vehicle communication based on the information context of the other vehicle and information of the detected other vehicle, in other words, with Xrms RMS error as a statistic based on the analysis of time series, the module 212 control the movement controls the deceleration of the main vehicle on the basis of the deceleration of the other vehicle indicated by the information of the detected other vehicle. In other words, when the module 215 definition of incorrect recognition determines incorrect recognition for maintaining a connection of the vehicle, the module 212 control the movement controls the deceleration of the main vehicle on the basis of the deceleration of the other vehicle indicated by the information of the detected other vehicle. In this case, the module 212 control the movement shape information value of the request for acceleration so that the main slowdown of the vehicle is equal to the deceleration of the other vehicle, which is based on information from the detection of another transportadores, to display information values of the request for acceleration in the ECU 31 engine management, etc. In this case, for example, the module 212 control the movement distinguishes the speed of the other vehicle based on the information of the detected other vehicle, which is calculated by module 215 definition of incorrect recognition, therefore allowing the calculation of acceleration/deceleration of the other vehicle based on the information of detection of another vehicle.

[0101] In this case, for example, as illustrated in Fig. 10, if the module 13 capture mode incorrectly detects another vehicle C3, which differs from the other vehicle C2 is captured by the front sensor 21a of the distance between vehicles, as liaison for the vehicle in the capture mode, and captures another vehicle C3, the system 201 vehicle control configured to control so that the deceleration of the main vehicle C1 is equal to the actual deceleration of the other vehicle C2. Consequently, even if the liaison for the vehicle is correctly detected when the speed of the other transport means�and C3, which is correctly detected, and the speed of the other vehicle C2 that is moving directly ahead of the main vehicle, be different, the system 201 vehicle control implements control in such a way that the base vehicle C1 is slowing in combination with the deceleration of the other vehicle C2, without the need to monitor the acceleration of the other vehicle C3. Therefore, the system 201 control of the vehicle are arranged to ensure proper distance between vehicles, particularly between the main vehicle C1 and another vehicle C2 that is moving directly ahead of the main vehicle C1. After that, the system 201 vehicle control is executed with proper switching, for example, for the tracking control on the basis of information of detection that does not use the other vehicle information received over the radio, after ensured sufficient distance between vehicles, particularly between the main vehicle C1 and another vehicle C2.

[0102] With reference to the block diagram of the sequence of operations of the method of Fig. 13, op�area is described an example of the definition of incorrect recognition, performed by the ECU 210 controls the vehicle.

[0103] When the mode for the identification of connected vehicle switch capture mode to the tracking mode, the module 215 definition incorrectly calculates the recognition rate according to the testimony of radar, namely, the speed of the traffic ahead of the vehicle captured by the front sensor 21a of the distance between vehicles (step ST21). For example, the module 215 definition incorrectly calculates the recognition rate according to the testimony of the radar vehicle in front, which is based on information of the detected other vehicle, by summation of the speed of the main vehicle, namely, the speed of the main vehicle on the basis of information of the basic vehicle with a relative speed according to the testimony of radar, namely, the relative speed of the vehicle in front, which is based on information of the detected other vehicle.

[0104] the Module 215 definition of incorrect recognition receives support communication speed of the vehicle, namely, the speed taken from the vehicle in front, at the moment identifizierung as liaison for vehicle based on the information context of the other vehicle (step ST22).

[0105] the Module 215 definition of incorrect recognition calculates the absolute value of the difference between the speed on the radar readings, calculated in step ST21, and support communication speed of the vehicle calculated in step ST22, thereby computing the speed difference (step ST23).

[0106] Module 215 definition of incorrect recognition determines is or not the differential speed is calculated in step ST23, a pre-set upper limit value of a difference of speeds or more (step ST24). The upper limit value of a difference of speeds just to set appropriately in accordance with the actual evaluation vehicles, etc.

[0107] In the case that the module 215 definition of incorrect recognition determines what the speed difference is the upper limit value of a difference of speeds or less (step ST24: Yes), the module 215 definition of incorrect recognition calculates statistics based on the analysis of time series for the rate on the testimony of radar, computed in step ST21, and to support communication speed of the vehicle calculated in step ST22 (step ST25). In this document, the module 215 definition of incorrect recognition calculates, for example, CPE�aquadratic error between the speed according to the testimony of radar and support communication speed of the vehicle through the use of the above-mentioned mathematical formula (2) as statistics based on the time-series analysis.

[0108] Then, the module 215 definition of incorrect recognition is less or no statistics-based analysis of time series, computed in step ST25, a pre-set threshold value, in this document, less or no RMS error of a pre-set threshold square error (step ST26).

[0109] In the case that the module 215 definition of incorrect recognition determines that the RMS error is less than the threshold value square error (step ST26: Yes), the module 215 definition of incorrect recognition is what defines the state of the recognition supporting the connection of the vehicle is normal, the module 14 and the tracking mode continues the tracking mode (step ST27), and terminates the current control period and proceeds to the next control period.

[0110] In the case that the module 215 definition of incorrect recognition is what defines the speed differential exceeds the upper limit value of the difference of velocities in step ST24 (step ST24: "No"), if the module 215 definition of incorrect recognition determines that the standard error is the threshold value of the quadratic error, or more, in step ST26 (step ST26: "No"), the module 215 op�of edeleny incorrect recognition determines the the recognition supports the connection of the vehicle is abnormal, namely, connected vehicle is incorrectly recognized. Then, the module 14 of the tracking mode ends the tracking mode, and the module 13 capture mode switches to the capture mode, i.e., returns to the capture mode (step ST28).

[0111] the Module 212 control the movement defines it, less or no acceleration/deceleration of the vehicle in front according to the valuation on the radar of the ACC requested acceleration/deceleration, less or no is the acceleration/deceleration of the vehicle in front according to the valuation on the radar 0, and is or not the elapsed time from the detection of incorrect recognition for supporting communication vehicle within a preset N seconds (step ST29). The module 212 control the movement distinguishes the speed on radar readings, calculated in step ST21, therefore allowing the calculation of acceleration/deceleration of the vehicle in front according to the valuation on the radar. The ACC requested acceleration/deceleration is acceleration/deceleration required in accordance with the target acceleration of the vehicle (target vehicle deceleration) when servo control on the basis of information�and detection, which uses the information of the other vehicle by radio. Current N just seconds are set properly as the time within which may be secured a sufficient distance between vehicles, when the vehicle slows down, coinciding with the vehicle ahead in accordance with the actual evaluation vehicles, etc.

[0112] In the case that the module 212 control the movement is what defines the acceleration/deceleration of the vehicle in front according to the valuation on the radar less ACC requested acceleration/deceleration, the acceleration/deceleration of the vehicle in front according to the estimate of the radar is less than 0, and the elapsed time from the detection of incorrect recognition for maintaining a connection of the vehicle is within a preset N seconds (step ST29: Yes), the module 212 control the movement sets the requested acceleration/deceleration requested for your primary vehicle, as the acceleration/deceleration of the vehicle in front according to the valuation on the radar. Then, the module 212 control the movement controls acceleration/deceleration of the main vehicle on the basis of a specified requested acceleration/Deputy�duration (step ST30) and then returns to step ST29, in order to repeatedly perform the subsequent processes.

[0113] In the case that the module 212 control the movement is what defines the acceleration/deceleration of the vehicle in front according to the valuation on the radar is the ACC requested acceleration/deceleration or more, if the module 212 control the movement is what defines the acceleration/deceleration of the vehicle in front according to the valuation on the radar of 0 or more, or if the module 212 control the movement determines that the elapsed time from the detection of incorrect recognition for maintaining a connection of the vehicle exceeds N seconds (step ST29: "No"), the module 212 control the movement moves to a tracking control on the basis of the information detection (step ST31), and terminates the current control period and proceeds to the next control period. The module 212 control the movement is in a state in which the distance between vehicles can be appropriately maintained even when performing servo control on the basis of information discovery, and because of this there is no problem, even when the module 212 control the movement goes from the servo control based on the exchange of information to a tracking control on the basis of information detected.

[0114] the Processes in step ST29-ST31, description�record above comply with governance in determining incorrect recognition performed by the module 212 control the movement when the module 215 definition of incorrect recognition determines incorrect recognition for supporting the communication of the vehicle. If the correction factor between the speed according to the testimony of radar and support communication speed of the vehicle is calculated as a statistic on the basis of time series analysis in step ST25, the module 215 definition of incorrect recognition determines exceeds or not the correction factor is pre-set threshold value of the correction factor, in step ST26. In this case, if the module 215 definition of incorrect recognition determines that the correction factor exceeds a threshold value correction coefficient (step ST26: Yes), the process proceeds to step ST27. When it is determined that the correction factor is a threshold value of the correction factor or less (step ST26: No), the process proceeds to step ST28.

[0115] the System 201 control of the vehicle and the ECU 210 controls the vehicle according to the variant of implementation described above, configured to identify a liaison for transportno� funds on the basis of information of the movement of the supporting connection of the vehicle with relatively high reliability by tracking mode after a single seizure of supporting telephony transport funds in the capture mode. Therefore, it is possible to increase the resistance to the environment, to provide a so-called resistance, and can improve the accuracy of identification of supportive communication vehicle.

[0116] in addition, according to the system 201 control of the vehicle according to the variant of implementation described above, the ECU 210 controls the vehicle returns to the capture mode in accordance with a result of comparison between information of the movement of the supporting vehicle communication based on the information context of the other vehicle received through the radio antenna 24a and the ECU 24 controls the radio antenna, and the result of detection by the front sensor 21a of the distance between vehicles and ECU 21 front sensor is in the tracking mode.

[0117] Therefore, even if the system 201 control of the vehicle and the ECU 210 controls the vehicle recognize and capture incorrect liaison for the vehicle in the capture mode, the system 201 vehicle control ECU and 210 control of the vehicle is made with the ability to quickly detect discrepancies of movement of the supporting communication vehicle incorrectly recognized, and another transportadores, which moves directly ahead of the main vehicle, and quickly return to the capture mode. Therefore, the system 201 vehicle control ECU and 210 control of the vehicle is arranged to suppress the continuation of the subsequent identification of supportive communication vehicle for improper vehicle in the tracking mode and to prevent the influence of incorrect recognition for maintaining a connection of the vehicle to the subsequent sequence control.

[0118] in addition, the system 201 vehicle control according to the embodiment of the implementation described above includes the ECU 210 controls the vehicle, which serves as the device's motion control to control the deceleration of the main vehicle on the basis of the deceleration of the other vehicle detected by the front sensor 21a of the distance between vehicles and ECU 21 front sensor, while returning from a tracking mode to the capture mode in accordance with a result of comparison between information of the movement of the supporting vehicle communication based on the information of another communications vehicle received through the radio antenna 24a and the ECU 24 controls radio aerials�, and the result of detection by the front sensor 21a of the distance between vehicles and ECU 21 front sensor.

[0119] Therefore, even if the other vehicle, which differs from the other vehicle captured by the front sensor 21a of the distance between vehicles in the capture mode, incorrectly captured as a liaison for the vehicle, the system 201 control of the vehicle and the ECU 210 controls of the vehicle are arranged to ensure proper distance between vehicles, particularly between the main vehicle and another vehicle that is traveling directly ahead of the main vehicle.

[0120] the System identification of the vehicle and the device identification of the vehicle according to each above-mentioned embodiment of the invention is not limited to the above variants of implementation and may be changed in various ways within the scope described in the claims. System identification of the vehicle and the device identification of the vehicle in accordance with this variant implementation can be configured by means of appropriate�its a combination of components of each of the embodiments, described above.

[0121] the identification System of the vehicle described above is applied to the control system of the vehicle, which is a servo system control, but the invention is not limited to this. In the above description, the device identification of the vehicle and the control device movement are used by the ECU 10 210 or vehicle control. However, the invention is not limited to this. For example, a device identification of the vehicle and the device motion control can be configured separately from the ECU 10 210 or control of the vehicle and can mutually transfer the detection signal or signals giving effect to any such information, as the management team.

[0122] 1, 201 - the control system of the vehicle

10, 210 - ECU vehicle control device (vehicle identification)

11, 211 - identification module of the vehicle

12, 212 module motion control

13 - module capture mode

14 - module tracking mode

20 - CAN communications/sensor systems

21 - ECU front sensor (detection device)

21a - front sensor distances between vehicles (device detection)

24 - ECU control the radio antenna (ustroistvo)

24a - radio antenna (communication device)

30 - CAN control system

31 - ECU engine management

32 - ECU brake control

33 - ECU control when taxiing

215 - determining module incorrect recognition

c1 is the main vehicle

c2, c3 - the other vehicle

1. System identification of the vehicle, characterized in that it contains:
a communication device which receives information of another vehicle that is associated with another vehicle by the main vehicle;
a detection device that detects other vehicle by the main vehicle; and
- the device identification of the vehicle that identifies the transmitting vehicle transmitting the information of the other vehicle, based on the information of the other vehicle received through the communication device, and the result of detection by the detection device, wherein:
device identification vehicle configured with the ability to switch between capture mode for capturing the transmitting vehicle on the basis of information of the other vehicle received through the communication device, and the result of detection of� through detection devices, and a tracking mode to identify the transmitting vehicle based on the positional relationship between the main vehicle and the transmitting vehicle at the time of capture in the capture mode and traffic information related to the transmitting vehicle based on the information of the other vehicle received through the communication device, after the capture in the capture mode.

2. The identification system of the vehicle according to claim 1, in which:
device identification vehicle captures the transmitting vehicle on the basis of absolute position information which is position information related to the transmitting vehicle based on the information of the other vehicle in the capture mode, and identifies, in the tracking mode, the transmitting vehicle on the basis of relative position information which is position information associated with the transmitting vehicle on the basis of the reference position which is the position of the transmitting vehicle at the time of capture in the capture mode, and traffic information associated with the transmitting vehicle.

3. The identification system of the vehicle according to claim 2, in which:
device identify a vehicle with�of estva identifies, in the tracking mode, the transmitting vehicle on the basis of relative position information based on information of the relative position in the past in a tracking mode, and traffic information associated with the transmitting vehicle.

4. The identification system of the vehicle according to any one of claims. 1-3, in which:
device identification the vehicle is returned in a tracking mode in capture mode in accordance with a result of comparison between information of the movement related to the transmitting vehicle based on the information of the other vehicle received through the communication device, and a result of detection by the detection device.

5. The identification system of the vehicle according to claim 4, further comprising:
device motion control, which controls the deceleration of the main vehicle on the basis of the deceleration of the other vehicle detected by the detection device, during the return from the tracking mode to the capture mode in accordance with the comparison result.

6. The device identification of the vehicle, characterized in that:
device identification vehicle configured with the ability to switch between raimasoft for engagement of the transmitting vehicle, transmitting information of the other vehicle associated with another vehicle near the primary vehicle received through the communication device, based on the information of the other vehicle and the result of detection by the detection device, which detects another vehicle near the primary vehicle, and a tracking mode to identify the transmitting vehicle based on the positional relationship between the main vehicle and the transmitting vehicle at the time of capture in the capture mode and traffic information related to the transmitting vehicle based on the information of the other vehicle received through the communication device, after the capture in the capture mode.



 

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SUBSTANCE: invention relates to traffic ACS. Proposed method consists in automatic generation of vehicle route with minimization of effects brought about be unfavourable factors for road users. First, prohibitive amounts of harmful matters contained in emissions of danger-prone structures (DPS) in the appropriate zones. Signals about DPS conditions are transmitted to central control station (CCS). Forecast areas (FA) of said zones are calculated. Initial data on road network characteristics are loaded at said CCS to generate the digital model map of said network to be transmitted to the vehicle. The latter transmits data on planned route and vehicle operating characteristics. In case said DPS does not receive "alarm" signal then CCS generates the route for vehicle. Then, digital model map of said network and vehicle route are corrected with due allowance for total costs required for motion in generated route. In case DPS receives said "alarm" signal forecast areas are refined and corrected for vehicle route to rule out motion in danger-prone areas. Re-corrected vehicle route is transmitted to the vehicle.

EFFECT: optimum and safe motion in road network.

4 cl, 4 dwg

FIELD: physics.

SUBSTANCE: pedestrian crossing is provided with a video camera and light emitters. The light emitters form light images on the road surface and/or pedestrian path. The video camera records the number of vehicles and pedestrians, their size, speed, acceleration, correct movement in the pedestrian crossing area and adjacent areas. The video camera transmits video signals to a hardware and software system for processing and analysing the situation and predicting events. The hardware and software system, based on a specified program, transmits an audio signal and/or instruction to the light emitters. In case of emergency, a computer outputs audio and/or personal light signals to road users in order to detect the source of danger and eliminate obstacles. The hardware and software system continuously determines the radio of pedestrians and vehicles, controls vehicle and pedestrian traffic based on characteristics of the time of the day, the number of road users, giving priority to the majority or emergency vehicles or children or senior citizens.

EFFECT: high efficiency of a pedestrian crossing.

1 dwg

FIELD: transport.

SUBSTANCE: in compliance with this method, green light is switched on with time delay relative to red light switching on. Prior to switching of green light, radar detects vehicles moving to junction from its both sides. Spatial and time coordinates of detected vehicles are periodically measured with the help of said radar. Data on quantity and spatial and time coordinates of detected vehicles are transmitted to controller. The latter computes the braking distance and stoppage time before stoppage nearby stop-line and completion of crossing of junction and turns to other road. Controller is switches on the light green signal with variable time delay after registration of vehicle stoppage nearby stop-line, termination of junction crossing and turn to other road.

EFFECT: decreased quantity of accidents at signal-controlled junctions.

2 dwg

FIELD: agriculture.

SUBSTANCE: group of inventions relates to agricultural vehicles. The method of navigation of an agricultural vehicle, equipped with a device of creation of three-dimensional images and an image processing device comprises the steps when from the device of creation of images the shots of area surrounding the vehicle at different moments in time are received, providing a chronological sequence of shots. Further, according to the analysis of two different shots the position change of the vehicle is determined. By comparing the position change of the vehicle and the steering angle the drift angle of steer wheels is determined. The agricultural vehicle comprises a device of creation of three-dimensional images, a computer system with an image processing device, a GPS system sensor, an inertial measuring unit, a unit of measuring the angle of steering control, and a detecting device of the rotary speed of the wheels. There is also a computer-readable medium with a set of instructions for implementation of the method of navigation.

EFFECT: improved accuracy of navigation.

16 cl, 5 dwg

FIELD: information technology.

SUBSTANCE: remote user module can be located at any point where there is Internet access. The system comprises: a tachograph servicing module which includes a plurality of user accounts, said tachograph servicing module being configured to use vehicle identification information to determine a user account and a remote user module having a processing unit and a map reader. The tachograph servicing module can receive said vehicle identification information associated with said vehicle, wherein a first message includes information for establishing a connection and provide said first message and said vehicle identification information to said user account in order to transfer tachograph information to a database from the vehicle. A remote user can periodically gain access to said user account and extract it. Vehicle identification information includes a vehicle identification number (VIN).

EFFECT: more flexible connection setup and transmission of tachograph information.

10 cl, 3 dwg, 3 tbl

FIELD: electricity.

SUBSTANCE: method for operation of a lens traffic light with a double-filament lamp includes monitoring integrity of lamp filaments and applying voltage across one of the filaments, wherein voltage is applied across the filament successively each time the lamp is turned on. The apparatus for realising said method includes a lamp filament failure indicator, an alternating voltage source, a first relay and a second relay, a transformer and a signalling lamp. The apparatus is further equipped with three diodes, a capacitor, two AND elements, an OR element, wherein the first relay is polarised and has two windings.

EFFECT: reduced power consumption.

15 cl, 4 dwg

Traffic light // 2491648

FIELD: physics.

SUBSTANCE: traffic light has sections for defined signals which are a housing with a cover and a sun-shade. The sections are joined by threaded hollow bushings through which conductors pass. The cover is fitted with an optical device which consists of a reflector, a colour filter, a rubber sealing ring and a movable cup with an electric lamp. The bottom section is fitted with a distribution block for connecting power and electric wiring inside the traffic light. An additional section with a "left" arrow is pivotally mounted on arm supports with possibility of turning 180° and has an electric drive on the back side of one of the sections.

EFFECT: broader functional capabilities of the traffic light and use thereof for operation in adaptive control mode with the possibility of changing the structure of the cycle and selecting a left turn.

2 dwg

FIELD: radio engineering, communication.

SUBSTANCE: crossing is a crossing of single-lane bidirectional roads and additionally includes four branches in the form of an astroid, representing a quarter of a circumference each. The traffic of transport means is carried out with the speed close to the cruising speed, and right and left turns are made in branches. In all sections of the crossing roads there are navigation dotted lines and synchronisation marks applied. To automatically control the traffic, a surface radio transmitter of sync pulses is used, as well as a system of automatic control (ACS) of each vehicle, which has a digital photo camera, a radio receiver of sync pulses, actuators of a side and a longitudinal channel of the ACS, and a digital calculator.

EFFECT: going through a crossing without stopping of transport facilities by means of antiphased motion of vehicles in crossing and summing flows along navigation dotted lines and synchronisation marks.

2 cl, 10 dwg

FIELD: transport.

SUBSTANCE: set of inventions relates to system assisting vehicle driver. Vehicle contains system assisting its driver. The system assisting vehicle (1) driver contains sensing device built in the vehicle (1). The sensing device (16, 17, 18, 19) has communication interface (21) via which data are transmitted directly between sensing device (16, 17, 18, 19) and portable communication instrument (22) in one direction when vehicle integrated data transmission system is bypassed. Through data transmission, portable communication instrument (22) and sensing device (16, 17, 18, 19) interact so that function is implemented which assists driver during vehicle driving. Communication interface (21) is intended for wireless data transmission.

EFFECT: creation of solution by means of which vehicle driver can enhance functionality of system assisting driver and built in the vehicle.

29 cl, 1 dwg

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