Vehicle system and storage device recording object recognition program

Abstract

A vehicle system (1) includes an object information detection unit (6) that detects object information related to an object located within a field of view of a host vehicle as first object information based on sensor information of a sensor of the host vehicle; an object information acquisition unit (12) that acquires object information related to an object detected based on sensor information of a sensor of a mounted object as second object information; an object identification unit (17) that identifies a plurality of objects individually determined from a plurality of second object information as any one of the same individual or different individuals; and an object distinguishing unit (18) that distinguishes an individual identified as the same individual by the object identification unit as a field-of-view object and a field-of-viewless object based on the first object information.

Description

[0001] Cross-reference to related applications

[0002] This application is based on Japanese Application No. 2020-138673, filed on August 19, 2020, the contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a system for vehicles and a storage device that records object recognition procedures. Background Technology

[0004] Conventionally, a system has been provided that detects object information such as location, speed, orientation, and type related to pedestrians, bicycles, etc., within the vehicle's field of vision based on sensor information from the vehicle's sensors, and provides related information about the vehicle and the object as a safety service using the detected object information. Another system has been provided that, for example, performs vehicle-to-vehicle and road-to-road communication with other vehicles, road infrastructure, or other vehicles, receives vehicle information such as location, speed, orientation, and type related to the vehicle, and object information detected based on sensor information from the vehicle's sensors, and provides related information about the vehicle and the object as a safety service using the received vehicle and object information. For example, Patent Document 1 discloses a structure that detects object information based on sensor information from the vehicle's sensors and performs vehicle-to-vehicle and road-to-road communication with other vehicles, road infrastructure, or other vehicles.

[0005] Patent document 1: Japanese Patent Application Publication No. 2019-79316.

[0006] In the above configuration of two systems coexisting, there is a problem as shown below: if there are multiple objects around the vehicle, multiple object information sent from multiple objects will be received. Therefore, in order to improve the reliability of the safety service, it is necessary to determine whether the multiple objects identified individually based on the multiple object information are the same individual or different individuals, and to process the identified individuals according to the situation. Summary of the Invention

[0007] The object of the present invention is to provide appropriate security services by properly identifying individual objects and appropriately handling the identified individuals according to the situation.

[0008] According to one aspect of the present invention, the object information detection unit detects object information related to an object located within the field of view of the vehicle as first object information based on sensor information from the vehicle's sensors. The object information acquisition unit acquires object information related to an object detected based on sensor information from the vehicle's sensors as second object information. The object recognition unit identifies multiple objects individually determined based on multiple pieces of second object information as either the same individual or different individuals. The object differentiation unit differentiates individuals identified as the same individual by the object recognition unit into objects within the field of view and objects without the field of view based on the first object information.

[0009] Multiple objects, individually determined based on multiple second object information, are identified as either the same individual or different individuals. Individuals identified as the same individual are further categorized into those with a field of view and those without. In other words, multiple objects, determined based on sensor information detected by sensors on the mounted object, are identified as either the same individual or different individuals. Individuals identified as the same individual are further categorized into those with a field of view and those without. By appropriately identifying the individuals of the objects and processing them appropriately according to the situation, appropriate security services can be provided. That is, by identifying multiple objects as either the same individual or different individuals, system reliability can be improved; by limiting the processing objects to those with and without a field of view, the processing load can be reduced. Attached Figure Description

[0010] Regarding the above-mentioned objects, as well as other objects, features, and advantages of the present invention, please refer to the accompanying drawings. Figure 1 The details become clearer below. The attached diagram is as follows:

[0011] Figure 1 It is a functional block diagram representing one implementation method.

[0012] Figure 2 This is a functional block diagram of the object identification unit.

[0013] Figure 3 This is a functional block diagram of the object's division.

[0014] Figure 4 This is a functional block diagram of the object information transmission control unit.

[0015] Figure 5 This is a flowchart (1) representing the object identification process.

[0016] Figure 6 This is a flowchart (2) representing the object identification process.

[0017] Figure 7 This is a flowchart illustrating the object differentiation process.

[0018] Figure 8 This is a flowchart representing the control process for sending object information. Detailed Implementation

[0019] Hereinafter, one embodiment will be described with reference to the accompanying drawings. Figure 1 As shown, the vehicle system 1 installed in the vehicle is configured as a first system 2 and a second system 3, which can communicate data via a bus. Examples of buses include CAN (Controller Area Network) (registered trademark), LIN (Local Interconnect Network) (registered trademark), CXPI (Clock Extension Peripheral Interface) (registered trademark), FlexRay (registered trademark), and MOST (Media Oriented Systems Transport) (registered trademark). The first system 2 and the second system 3 can also be composed of electronic control units (ECUs).

[0020] The first system 2 is a system equipped with ADAS (Advanced Driver Assistance System) functionality. The first system 2 connects a camera 4 that captures images of the area around the vehicle to a millimeter-wave sensor 5 that uses the area around the vehicle as a detection zone. Image information from the camera 4 and detection information from the millimeter-wave sensor 5 are input. The camera 4 and millimeter-wave sensor 5 function as sensors for the vehicle, and the image information from the camera 4 and the detection information from the millimeter-wave sensor 5 function as sensor information for the vehicle's sensors. Furthermore, while this embodiment exemplifies a structure where image information is input from the camera 4 and detection information is input from the millimeter-wave sensor 5, it could also be a structure connected to a radar or LiDAR (Light Detection and Ranging) system that uses the area around the vehicle as a detection zone, and input detection information from the radar or LiDAR system. That is, any sensor can be used as the sensor for detecting the conditions around the vehicle.

[0021] The first system 2 includes a microcomputer equipped with a CPU (Central Processing Unit), ROM (Read-Only Memory), RAM (Random Access Memory), and I / O (Input / Output). The microcomputer executes a control program stored in a non-transferable physical storage medium to perform corresponding processing, thereby controlling the operation of the first system 2. As a functional module executed by the microcomputer, the first system 2 includes a target information detection unit 6.

[0022] If the object information detection unit 6 receives image information from the camera 4 and detection information from the millimeter-wave sensor 5, it processes the input image information and detection information to detect object information related to objects within the vehicle's field of view, such as position information, movement speed, movement direction, and type information. The objects detected by the object information detection unit 6 are those existing around the vehicle, such as pedestrians and bicycles, which can affect the vehicle's movement. That is, the object information detection unit 6 detects object information such as position information, movement speed, movement direction, and type information of pedestrians, bicycles, etc., existing around the vehicle. If the object information detection unit 6 detects object information, it sends the detected object information as first object information to the second system 3.

[0023] The first system 2 performs driving control measures, such as avoiding collisions with objects, by detecting object information. That is, the first system 2 works in conjunction with the acceleration control ECU, the braking control ECU, and the steering control ECU to determine if the vehicle may collide with an object, and then performs acceleration control, braking control, and steering control to avoid the collision.

[0024] The second system 3 is a system with V2X functionality. V2X is a general term for data communication between the vehicle and other vehicles (V2V, Vehicle to Vehicle), data communication between the vehicle and roadside equipment (V2I, Vehicle to Infrastructure), and data communication between the vehicle and bicycles or pedestrians (V2P, Vehicle to Pedestrian).

[0025] The second system 3 is connected to a GNSS (Global Navigation Satellite System) receiver 7, which uses the positioning information obtained by the GNSS receiver 7 as the vehicle's positioning information input. GNSS is a general term for satellite positioning systems such as GPSS (Global Positioning System), GLONASS (Global Navigation Satellite System), and Galileo.

[0026] The second system 3 is connected to a wireless communication unit 8. The mount 9 is equipped with a camera 10 that captures images of its surroundings and a millimeter-wave sensor 11 that uses the surroundings of the mount 9 as a detection area. The wireless communication unit 8 receives mount information such as position, speed, orientation, and type information related to the mount 9 through data communication with the wireless communication unit mounted on the mount 9, and also receives target information such as position, speed, orientation, and type information related to an object, detected based on image information from the camera 10 and detection information from the millimeter-wave sensor 11. The camera 10 and millimeter-wave sensor 11 mounted on the mount 9 function as sensors for the mount 9, and the image information from the camera 10 and the detection information from the millimeter-wave sensor 11 function as sensor information for the mount 9. Furthermore, in this embodiment, a structure using image information from the camera 10 and detection information from the millimeter-wave sensor 10 is exemplified, but a structure using detection information from radar or lidar that uses the surroundings of the mount 9 as a detection area could also be used. That is, any sensor can be used as the sensor for detecting the condition around the mount 9.

[0027] The mounted object 9 can be other vehicles, roadside devices, portable information terminals carried by cyclists, or portable information terminals carried by pedestrians. Portable information terminals can be, for example, smartphones or tablets. Specifically, if the mounted object 9 is another vehicle, the second system 3 receives mounted object information related to the other vehicle, and also receives object-related information detected based on image information from a camera mounted on the other vehicle and detection information from a millimeter-wave sensor. If the mounted object 9 is a roadside device, the second system 3 receives mounted object information related to the roadside device, and also receives object-related information detected based on image information from a camera mounted on the roadside device and detection information from a millimeter-wave sensor. If the mounted object 9 is a portable information terminal carried by a cyclist or pedestrian, the system receives mounted object information related to the bicycle or pedestrian, and also receives object-related information detected based on image information from a camera mounted on the portable information terminal carried by the cyclist or pedestrian and detection information from a millimeter-wave sensor. Here, the object detected based on the image information of the camera 4 and the detection information of the millimeter-wave sensor 5 of the vehicle is an object located within the field of view of the vehicle. In contrast, the object detected based on the image information of the camera 10 mounted on the object 9 and the detection information of the millimeter-wave sensor 11 is not only an object located within the field of view of the vehicle, but also includes objects located outside the field of view.

[0028] The second system 3 includes a microcomputer equipped with a CPU, ROM, RAM, and I / O. The microcomputer executes a control program stored in a non-transferable physical storage medium and performs corresponding processing to control the operation of the second system. As functional modules executed by the microcomputer, the second system includes an object information acquisition unit 12, a correlation processing unit 13, an out-of-view object information storage unit 14, a correlation determination unit 15, and an object information transmission control unit 16.

[0029] The object information acquisition unit 12 receives the payload information and object information transmitted from the payload 9 via the wireless communication unit 8, and inputs the payload information and object information output from the wireless communication unit 8, thereby acquiring the payload information and object information. In this case, the object information acquisition unit 12 acquires the object information as second object information. The correlation processing unit 13 is a functional module that processes the correlation relationships of objects, and includes an object identification unit 17 and an object differentiation unit 18.

[0030] The object identification unit 17 is a functional module that identifies an individual object by determining whether multiple objects individually determined based on the multiple second object information are the same individual or different individuals if multiple second object information is input from the object information acquisition unit 12. For example... Figure 2As shown, the object recognition unit 17 includes: a position correction implementation unit 17a, a positioning information transformation unit 17b, a first coordinate system transformation unit 17c, a second coordinate system transformation unit 17d, an object extraction unit 17e, a type determination unit 17f, a speed and orientation determination unit 17g, and an individual recognition unit 17h.

[0031] The position correction implementation unit 17a performs time-based position correction for the mounted object 9 based on its moving speed and orientation. The positioning information transformation unit 17b transforms the vehicle's positioning information into the zero point of the XY coordinate system, generating the vehicle's zero-point XY coordinate system. The vehicle's positioning information is determined by latitude and longitude. The zero point of the XY coordinate system is equivalent to the reference point of the coordinate system. The first coordinate system transformation unit 17c transforms the mounting object 9's positioning information into the vehicle's zero-point XY coordinate system. The mounting object 9's positioning information is also determined by latitude and longitude. The second coordinate system transformation unit 17d synthesizes the relative distance and moving orientation of the target, determined based on the image information from the camera 10 of the mounted object 9 and the detection information from the millimeter-wave sensor 11, into the vehicle's zero-point XY coordinate system, transforming it into the vehicle's zero-point XY coordinate system for the target.

[0032] The object extraction unit 17e extracts objects whose positions are repeated within a certain error in the XY coordinate system of the vehicle's zero point. That is, when the object extraction unit 17e detects multiple object information based on the image information of the multiple mounted objects 9 cameras 10 and the detection information of the millimeter-wave sensor 11, it determines whether the position of the object determined based on each of the detected multiple object information is repeated.

[0033] If the object extraction unit 17e extracts objects with duplicate positions, the type determination unit 17f determines the positional accuracy and reliability of the mounted object 9, using the condition that the positional accuracy and reliability of the mounted object 9 are above a predetermined level, and determines whether the extracted objects with duplicate positions are of the same type. If the type determination unit 17f determines that the extracted objects with duplicate positions are of the same type, the speed and orientation determination unit 17g determines whether the moving speed and moving orientation of the objects determined to be of the same type are the same.

[0034] If the speed and orientation determination unit 17g determines that objects of the same type have the same moving speed and orientation, the individual identification unit 17h identifies objects of the same type with the same moving speed and orientation as the same individual. On the other hand, if the type determination unit 17f determines that the types are different, the individual identification unit 17h identifies objects of different types as different individuals. Alternatively, if objects of the same type are identified but the speed and orientation determination unit 17g determines that at least one of their moving speed and orientation is different, the individual identification unit 17h identifies objects of the same type but with different moving speeds and orientations as different individuals.

[0035] The object differentiation section 18 is a functional module that distinguishes objects identified as the same individual into objects with and without a field of view, such as... Figure 3 As shown, the third coordinate system transformation unit 18a includes a field-of-view object generation unit 18b and a field-of-view object generation unit 18c. Field-of-view objects are those located within the vehicle's field of view, existing within the shooting area of ​​the vehicle's camera 4 and the detection area of ​​the millimeter-wave sensor 5. Field-of-view objects can be directly detected based on the image information from the camera 4 and the detection information from the millimeter-wave sensor 5. Field-of-view objects are those located outside the vehicle's field of view, existing outside the shooting area of ​​the vehicle's camera 4 and the detection area of ​​the millimeter-wave sensor 5. Field-of-view objects cannot be directly detected based on the image information from the camera 4 and the detection information from the millimeter-wave sensor 5, but can be detected indirectly.

[0036] The third coordinate system transformation unit 18a synthesizes the relative distance and movement orientation of objects located within the vehicle's field of view, determined based on the object information detected as first object information by the object information detection unit 6, into the vehicle's zero-point XY coordinate system, transforming it into the vehicle's zero-point XY coordinate system for the objects. The object generation unit 18b generates objects transformed into the vehicle's zero-point XY coordinate system as objects with a field of view. The object generation unit 18c synthesizes objects identified as the same individual by the object recognition unit 17 and objects with a field of view generated by the object generation unit 18b to generate objects without a field of view.

[0037] If the object differentiation unit 18 identifies an object without a field of view, the out-of-field ...

[0038] The object information transmission control unit 16 is a functional module that controls the transmission of object information, such as... Figure 4As shown, it includes a first necessity presence / absence determination unit 16a, a first data deletion unit 16b, a second necessity presence / absence determination unit 16c, and a second data deletion unit 16d.

[0039] The first necessity determination unit 16a checks any arbitrary sending item in the object message format, checks the sending conditions of the arbitrary sending item, and determines whether the sending of the arbitrary sending item is necessary. An arbitrary sending item refers to data sent based on arbitrary conditions, such as the occurrence of an event. If the first necessity determination unit 16a determines that the arbitrary sending item is not necessary, the first data deletion unit 16d deletes the data corresponding to the arbitrary sending item that was determined to be unnecessary from the object message format.

[0040] The second necessity determination unit 16c checks the freely transmittable items in the object message format, confirms the transmission conditions of the freely transmittable items, and determines whether the transmission of the freely transmittable items is necessary. Freely transmittable items refer to data that is freely set and transmitted on the system side, such as driving speed. If the second necessity determination unit 16c determines that the freely transmittable item is not necessary to transmit, the second data deletion unit 16d deletes the data corresponding to the freely transmittable item that was determined to be unnecessary from the object message format.

[0041] Next, refer to Figures 5 to 8 The function of the above-described structure will be explained. Here, the object recognition processing performed by the object recognition unit 17, the object differentiation processing performed by the object differentiation unit 18, and the object information transmission control processing performed by the object information transmission control unit 16 will be explained in sequence. Furthermore, multiple mounted objects 9 exist around the vehicle, and each of the multiple mounted objects 9 can detect multiple object information; therefore, in Figures 5 to 8 In this context, "carrier(n)" represents multiple carriers as objects, and "object(n)" represents multiple objects as objects.

[0042] (1) Object recognition processing

[0043] Reference Figure 5 and Figure 6 The object identification process performed by the object identification unit 17 will be explained.

[0044] If the object recognition unit 17 starts object recognition processing, it acquires object information related to the object (n) detected based on sensor information from the sensors of the object (n) (equivalent to the order in which the object information is acquired), and performs time-based position correction on the object (n) based on its moving speed and orientation (S1). The object recognition unit 17 transforms the vehicle's positioning information (latitude and longitude) into the zero point of the XY coordinate system (S2). The object recognition unit 17 transforms the positioning information (latitude and longitude) of the object (n) into the vehicle's zero point XY coordinate system (S3).

[0045] The object recognition unit 17 synthesizes the relative distance and movement orientation of the object (n) into the vehicle's zero-point XY coordinate system, transforming it into the vehicle's zero-point XY coordinate system for the object (S4). The object recognition unit 17 extracts objects (n) whose positions are repeated within a certain error in the vehicle's zero-point XY coordinate system (S5). If the object recognition unit 17 extracts objects (n) whose positions are repeated within a certain error, it determines whether the positional accuracy of the mounted object (n) is above a specified level (S6). If the object recognition unit 17 determines that the positional accuracy of the mounted object (n) is above a specified level (S6: Yes), it determines whether the reliability of the mounted object (n) is above a specified level (S7). If the object recognition unit 17 determines that the reliability of the mounted object (n) is above a specified level (S7: Yes), it determines whether the extracted objects (n) with repeated positions are of the same type (S8). If the object recognition unit 17 determines that the extracted objects (n) with the same position are of the same type (S8: Yes), it determines whether the moving speed and moving direction of the objects (n) of the same type are the same (S9).

[0046] If the object recognition unit 17 determines that the objects (n) of the same type have the same moving speed and moving direction (S9: Yes), it identifies the objects (n) of the same type with the same moving speed and moving direction as the same individual (S10, equivalent to the object recognition order) and ends the object recognition process. On the other hand, if the object recognition unit 17 determines that the extracted objects (n) with repeated positions are of different types (S8: No), it identifies the objects (n) of different types as different individuals (S11, equivalent to the object recognition order) and ends the object recognition process.

[0047] Furthermore, if the object identification unit 17 determines that the objects are of the same type but differ in at least one of their moving speed and moving direction (S9: No), then the objects (n) that are determined to be of the same type but differ in at least one of their moving speed and moving direction are identified as different individuals (S11). Additionally, if the object identification unit 17 determines that the positional accuracy of the carried object (n) is not above a specified level (S6: No), or determines that the reliability of the carried object (n) is not above a specified level (S7: No), then the object identification process ends without identifying an individual.

[0048] (2) Object differentiation processing

[0049] Reference Figure 7 The object differentiation process performed by the object differentiation section 18 is explained.

[0050] If the object differentiation unit 18 starts object differentiation processing, it detects object information (including position information, moving speed, moving direction, and type) of objects (n) located within the vehicle's field of view based on the first object information input from the first system 2 (S21, equivalent to the object information detection order). The object differentiation unit 18 obtains object information from the carried object (n) (S22) and generates objects (n) identified as the same individual (S23).

[0051] The object segmentation unit 18 synthesizes the relative distance and movement orientation of the object (n) determined based on the object information detected as first object information by the object information detection unit 6 into the vehicle's zero-point XY coordinate system, transforms it into the vehicle's zero-point XY coordinate system for the object (n) (S24), and generates an object transformed into the vehicle's zero-point XY coordinate system as an object with a field of view (n) (S25, equivalent to the object segmentation order). The object segmentation unit 18 synthesizes the objects (n) identified as the same individual with the generated object with a field of view (n) to generate an object without a field of view (n) (S26, equivalent to the object segmentation order), and ends the object segmentation process.

[0052] (3) Object information transmission control processing

[0053] Reference Figure 8 The object information transmission control processing performed by the object information transmission control unit 16 will be explained.

[0054] If the object information transmission control unit 16 starts object information transmission control processing, it checks any transmission item in the object message format (S31), checks the transmission conditions of the arbitrary transmission item (S32), and determines whether the transmission of the arbitrary transmission item is necessary (S33, equivalent to the object information transmission control sequence). If the object information transmission control unit 16 determines that the arbitrary transmission item is not necessary to transmit (S33: No), it deletes the data corresponding to the arbitrary transmission item that was determined to be unnecessary from the object message format (S34, equivalent to the object information transmission control sequence). That is, the object information transmission control unit 16 dynamically changes the object message format by deleting the data corresponding to the arbitrary transmission item that was determined to be unnecessary from the object message format.

[0055] The object information transmission control unit 16 confirms the free transmission items in the object message format (S35), confirms the transmission conditions of the free transmission items (S36), and determines whether the transmission of the free transmission items is necessary (S37, equivalent to the object information transmission control sequence). If the object information transmission control unit 16 determines that the free transmission items are not necessary to transmit, it deletes the data corresponding to the free transmission items that are determined to be unnecessary from the object message format (S38, equivalent to the object information transmission control sequence). That is, the object information transmission control unit 16 dynamically changes the object message format by deleting the data corresponding to the free transmission items that are determined to be unnecessary from the object message format.

[0056] The object information transmission control unit 16 confirms the maximum transmission amount of the object message format (S39). The object information transmission control unit 16 stores data corresponding to the necessary items until the maximum transmission amount of the object message format is reached (S40), and ends the object information transmission control process.

[0057] As explained above, the following effects can be obtained according to this embodiment.

[0058] In vehicle system 1, multiple objects detected based on image information from camera 10 (mounted on vehicle 9) and detection information from millimeter-wave sensor 11 are identified as either the same individual or different individuals. Based on image information from camera 4 (mounted on vehicle 9) and detection information from millimeter-wave sensor 5, individuals identified as the same individual are further categorized as objects with a field of view or objects without a field of view. By appropriately identifying the individuals of the objects and processing them appropriately according to the situation, appropriate safety services can be provided. That is, by identifying multiple objects as either the same individual or different individuals, the reliability of the system can be improved; by limiting the processing objects to those with and without a field of view, the processing load can be reduced.

[0059] Furthermore, in vehicle system 1, the object message format is dynamically changed when sending beacon information. When broadcasting beacon information to surrounding vehicles, it is necessary to broadcast the beacon information to surrounding vehicles within the limits of data communication capacity. However, by dynamically changing the object message format, it is possible to appropriately broadcast the beacon information to surrounding vehicles within the limits of data communication capacity.

[0060] Although this invention is described based on embodiments, it is to be understood that it is not limited to those embodiments or constructions. This invention also includes various modifications and variations within the same range. Furthermore, various combinations and methods, and further, other combinations and methods including only one element, more than one element, or less than one element, also fall within the scope and spirit of this invention.

[0061] The control unit and method described in this invention can also be implemented by a dedicated computer, which is provided by comprising a processor and memory programmed to perform one or more functions embodied in the control program. Alternatively, the control unit and method described in this invention can also be implemented by a dedicated computer, which is provided by comprising a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in this invention can also be implemented by one or more dedicated computers, which are configured by combining a processor and memory programmed to perform one or more functions with a processor composed of one or more hardware logic circuits. Furthermore, the control program can also be stored as instructions executed by a computer on a non-transferable tangible recording medium readable by a computer.

Claims

1. A system for a vehicle, comprising: an object information detection unit that detects object information related to an object located within a field of view of the vehicle based on sensor information of a sensor of the vehicle as first object information; an object information acquisition unit that acquires object information related to an object detected based on sensor information of a sensor of a mounted object as second object information; an object identification unit that identifies a plurality of objects individually determined from a plurality of the second object information as either the same individual or different individuals; and an object classification unit that classifies an individual identified by the object identification unit as the same individual into a field-of-view object and a field-of-viewless object based on the first object information, the object identification unit comprising: a position correction implementation unit that implements position correction with respect to the mounted object; a positioning information conversion unit that converts positioning information of the vehicle into a reference point of a coordinate system; a first coordinate system conversion unit that converts positioning information of the mounted object into a vehicle reference point coordinate system; a second coordinate system conversion unit that synthesizes a relative distance and a movement direction of an object determined from object information detected based on sensor information of the sensor of the mounted object into the vehicle reference point coordinate system, and converts into the vehicle reference point coordinate system with respect to the object; an object extraction unit that extracts an object having a position that is repeated in the vehicle reference point coordinate system; a type determination unit that determines whether or not the types of objects extracted by the object extraction unit are the same; a speed and direction determination unit that determines whether or not the movement speed and movement direction of objects determined by the type determination unit to be the same in type are the same; and an individual identification unit that identifies an object determined by the speed and direction determination unit to be the same in both movement speed and movement direction as the same individual.

2. The system for a vehicle according to claim 1, wherein the individual identification unit identifies an object determined by the type determination unit to be different in type as different individuals.

3. The system for a vehicle according to claim 1, wherein the individual identification unit identifies an object determined by the speed and direction determination unit to be different in at least either the movement speed or the movement direction as different individuals.

4. The system for a vehicle according to claim 1 or 2, wherein the type determination unit determines whether or not the types of objects extracted by the extraction unit are the same with the position accuracy of the mounted object being a predetermined level or more as a condition.

5. The system for a vehicle according to claim 1 or 2, wherein the type determination unit determines whether or not the types of object information extracted by the extraction unit are the same with the reliability of the mounted object being a predetermined level or more as a condition.

6. The system for a vehicle according to claim 1 or 2, wherein the object classification unit comprises: a third coordinate system conversion unit that synthesizes a relative distance and a movement direction of an object determined from object information detected by the object information detection unit as the first object information into a vehicle reference point coordinate system, and converts into the vehicle reference point coordinate system with respect to the object; a field-of-view object generation unit that generates a field-of-view object; and ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ A no-field-of-view object generation unit that generates a no-field-of-view object by combining an object identified as the same individual by the object identification unit and a field-of-view object generated by the field-of-view object generation unit.

7. A system for a vehicle, comprising: an object information detection unit that detects object information related to an object located within a field of view of the vehicle based on sensor information of a sensor of the vehicle as first object information; an object information acquisition unit that acquires object information related to an object detected based on sensor information of a sensor of a mounted object as second object information; an object identification unit that identifies a plurality of objects individually determined from a plurality of the second object information as any one of the same individual or different individuals; and an object distinguishing unit that distinguishes an individual identified as the same individual by the object identification unit into a field-of-view object and a no-field-of-view object based on the first object information, the system for a vehicle comprising an object information transmission control unit that dynamically changes an object message format in a case where the first object information is transmitted, the object information transmission control unit comprising: a first necessity determination unit that determines necessity or non-necessity of transmission of an arbitrary transmission item; and a first data deletion unit that deletes data corresponding to the arbitrary transmission item determined as non-necessary for transmission from the object message format if it is determined that the arbitrary transmission item is non-necessary for transmission.

8. The system for a vehicle according to claim 7, wherein the object information transmission control unit comprises: a second necessity determination unit that determines necessity or non-necessity of transmission of a free transmission item; and a second data deletion unit that deletes data corresponding to the free transmission item determined as non-necessary for transmission from the object message format if it is determined that the free transmission item is non-necessary for transmission.

9. A storage device storing an object identification program including commands for causing a system for a vehicle to execute, detecting object information related to an object located within a field of view of the vehicle based on sensor information of a sensor of the vehicle as first object information; acquiring object information related to an object detected based on sensor information of a sensor of a mounted object as second object information; identifying a plurality of objects individually determined from a plurality of the second object information as any one of the same individual or different individuals; and distinguishing an individual identified as the same individual into a field-of-view object and a no-field-of-view object based on the first object information, in the step of identifying a plurality of objects individually determined from a plurality of the second object information as any one of the same individual or different individuals, comprising: performing position correction with respect to the mounted object; transforming positioning information of the vehicle into a reference point of a coordinate system; transforming positioning information of the mounted object into a vehicle reference point coordinate system; synthesizing relative distance and moving direction of an object determined from object information detected based on sensor information of a sensor of the mounted object into the vehicle reference point coordinate system, into the vehicle reference point coordinate system with respect to the object; ​ extracting a target object whose position is repeated in the own-vehicle reference point coordinate system; determining whether the extracted target objects are of the same type; determining whether the moving speed and the moving direction of the target objects determined to be of the same type are the same; and identifying the target objects determined to be the same in both the moving speed and the moving direction as the same individual.

10. A storage device storing the target object identification program according to claim 9, wherein the subject message format in the case where the first target object information is transmitted is made to be dynamically changed.

11. A storage device storing a target object identification program including a command for causing a vehicle system to execute, detecting, as first target object information, target object information related to a target object located within a field of view of the own vehicle based on sensor information of a sensor of the own vehicle; acquiring, as second target object information, target object information related to a target object detected based on sensor information of a sensor mounted on an object; identifying a plurality of target objects individually determined from a plurality of the second target object information as any one of the same individual or different individuals; distinguishing, based on the first target object information, an individual identified as the same individual into a field-of-view target object and a field-of-viewless target object; making the subject message format in the case where the first target object information is transmitted to be dynamically changed; determining whether or not transmission of an arbitrary transmission item is necessary; and if it is determined that transmission of the arbitrary transmission item is not necessary, deleting data corresponding to the arbitrary transmission item determined to be not necessary for transmission from the subject message format.

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