Vehicle identification method and vehicle identification system

Abstract

The invention relates to a vehicle identification method and a vehicle identification system. Provided is a technique for recognizing a vehicle on the basis of the operation of the vehicle, whereby reliability and safety can be ensured more appropriately. The vehicle identification method includes: in a management system, generating information representing a second action from information representing a first action using a first key; transmitting information indicating the second action from the management system to the target vehicle; restoring, in the target vehicle, the information indicating the first operation from the information indicating the second operation using a second key associated with the first key; causing the target vehicle to perform a first action; sensing, in the management system, an action performed by the vehicle using a sensor; and in the management system, recognizing the vehicle executing the first action as a target vehicle, and not recognizing the vehicle executing the second action as the target vehicle.

Description

Technical Field

[0001] The present disclosure relates to a technology for identifying a target vehicle. Background Art

[0002] In the function of managing and controlling vehicles, it is important to identify the target vehicle. For example, in automatic valet parking (AVP) in a parking lot, it is required to identify the target vehicle of the AVP from the viewpoint of reliability and safety of the function.

[0003] As a technology related to the identification of a target vehicle, a vehicle authentication method in a parking lot is disclosed in Patent Document 1. In the vehicle authentication method disclosed in Patent Document 1, information indicating the execution of a prescribed action is sent to the target vehicle, whether the vehicle in the parking lot has executed the prescribed action is confirmed, and the vehicle that has executed the prescribed action is authenticated as the target vehicle and positioned.

[0004] In addition, as documents indicating the technical level in this technical field, there are the following Patent Documents 2 to 4.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: U.S. Patent No. 10532771

[0008] Patent Document 2: Japanese Patent Application Publication No. 2003-101530

[0009] Patent Document 3: Japanese Patent Application Publication No. 2015-005970

[0010] Patent Document 4: Japanese Patent Application Publication No. 2018-142823

[0011] According to the technology disclosed in Patent Document 1, a vehicle that performs a prescribed action according to the information sent is identified as a target vehicle. However, a malicious third party may monitor the information sent to the target vehicle and cause an unrelated vehicle that is not the target vehicle to perform the prescribed action. In this case, an unrelated vehicle may be identified as the target vehicle. This is not preferred from the perspective of functional reliability and safety. Thus, from the perspective of reliability and safety, there are problems in the previous technology of vehicle identification based on the vehicle's actions. Summary of the invention

[0012] In view of the above-mentioned problems, an object of the present disclosure is to provide a technology that can more appropriately ensure reliability and safety regarding a technology for performing vehicle recognition based on the behavior of the vehicle.

[0013] The first disclosure to the fourth disclosure are respectively related to a vehicle identification method.

[0014] The first disclosed vehicle identification method includes: in a management system, using a first key to generate information representing a second action from information representing a first action; sending the information representing the second action from the management system to a target vehicle; in the target vehicle, using a second key associated with the first key to restore the information representing the first action from the information representing the second action; causing the target vehicle to perform the first action; in the management system, using a sensor to sense the action performed by the vehicle; and in the management system, identifying the vehicle performing the first action as the target vehicle, and not identifying the vehicle performing the second action as the target vehicle.

[0015] The second disclosed vehicle identification method includes: sending information representing both a first action and a second action from a management system to a target vehicle; causing the target vehicle to perform only the first action without performing the second action; in the management system, using a sensor to sense the action performed by the vehicle; and in the management system, identifying a vehicle that performs the first action but does not perform the second action as a target vehicle, and not identifying a vehicle that performs both the first action and the second action as a target vehicle.

[0016] The third disclosed vehicle identification method includes: sending information of multiple elements constituting an object action from a management system to an object vehicle via each of multiple different communication paths; causing the object vehicle to perform an object action including all of the multiple elements; in the management system, using a sensor to sense the action performed by the vehicle; and in the management system, identifying a vehicle that performs an object action including all of the multiple elements as an object vehicle, and not identifying a vehicle that performs an action that does not include at least one of the multiple elements as an object vehicle.

[0017] The fourth disclosed vehicle identification method includes: sending information of object actions including multiple actions continuous in time from a management system to a target vehicle; causing the target vehicle to perform the object action; in the management system, using a sensor to sense the action performed by the vehicle; and in the management system, comparing the sensed action with multiple actions, and identifying the vehicle as the target vehicle when more than a specified number of actions among the multiple actions are sensed.

[0018] The fifth to eighth disclosures are related to vehicle identification systems. The vehicle identification systems of the fifth to eighth disclosures include a management system capable of communicating with a target vehicle.

[0019] In the fifth disclosed vehicle identification system, the management system uses a first key to generate information representing a second action from information representing a first action, the management system sends the information representing the second action to a target vehicle, the target vehicle uses a second key associated with the first key to restore the information representing the first action from the information representing the second action, and performs the first action, the management system uses a sensor to sense the action performed by the vehicle, the management system identifies the vehicle that performs the first action as the target vehicle, and does not identify the vehicle that performs the second action as the target vehicle.

[0020] In the sixth disclosed vehicle identification system, the management system sends information representing both a first action and a second action to a target vehicle, the target vehicle only performs the first action but not the second action, the management system uses a sensor to sense the action performed by the vehicle, the management system identifies a vehicle that performs the first action but not the second action as the target vehicle, and does not identify a vehicle that performs both the first action and the second action as the target vehicle.

[0021] In the seventh disclosed vehicle identification system, the management system sends information of multiple elements constituting an object action to the target vehicle via each of multiple different communication paths, the target vehicle performs the object action including all elements of the multiple elements, the management system uses a sensor to sense the action performed by the vehicle, the management system identifies the vehicle that performs the object action including all elements of the multiple elements as the target vehicle, and does not identify the vehicle that performs an action that does not include at least one of the multiple elements as the target vehicle.

[0022] In the eighth disclosed vehicle identification system, the management system sends information of an object action including multiple actions continuous in time to the object vehicle, the object vehicle performs the object action, the management system uses a sensor to sense the action performed by the vehicle, the management system compares the sensed action with the multiple actions, and identifies the vehicle as the object vehicle when more than a specified number of actions among the multiple actions are sensed.

[0023] Effects of the Invention

[0024] According to the present disclosure, the technology for identifying a vehicle based on the behavior of the vehicle can more appropriately ensure reliability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a conceptual diagram for explaining automatic valet parking (AVP: Auto Vallet Parking) in a parking lot.

[0026] Figure 2 This is a diagram showing an example of the configuration of a management system.

[0027] Figure 3This is a conceptual diagram for explaining the outline of a conventionally proposed motion-based recognition method.

[0028] Figure 4 This is a conceptual diagram for explaining the outline of the vehicle identification method according to the first embodiment.

[0029] Figure 5 This is a diagram showing an example of the first operation and the second operation in the vehicle identification method according to the first embodiment.

[0030] Figure 6 It is a diagram showing an example of the configuration of a vehicle identification system according to an embodiment.

[0031] Figure 7 This is a diagram showing an example of a processing flow of the vehicle identification method according to the first embodiment.

[0032] Figure 8 This is a diagram showing an example of the configuration of a vehicle identification system according to a modified example of the first embodiment.

[0033] Fig. 9 This is a diagram showing an example of a process flow of a vehicle identification method according to a modification of the first embodiment.

[0034] Fig.10 This is a conceptual diagram for explaining the outline of the vehicle identification method according to the second embodiment.

[0035] Fig.11 This is a diagram showing an example of a processing flow of the vehicle identification method according to the second embodiment.

[0036] Fig.12 This is a conceptual diagram for explaining the outline of the vehicle identification method according to the third embodiment.

[0037] Fig.13 This is a diagram showing an example of a processing flow of the vehicle identification method according to the third embodiment.

[0038] Fig.14 This is a conceptual diagram for explaining the outline of the vehicle identification method according to the fourth embodiment.

[0039] Fig.15 It is a conceptual diagram showing an example of a vehicle identification method according to a fourth embodiment.

[0040] Fig.16 This is a diagram showing an example of a processing flow of the vehicle identification method according to the fourth embodiment.

[0041] Description of Reference Numerals

[0042] 1: vehicle; 2: area; 3: communication network; 4: communication path; 10: vehicle identification system; 100: management system; 110: server; 110a: local management device; 110b: central management device; 120: processor; 130: storage device; 131: computer program; 132: management data; 150: sensor; 200: control system. DETAILED DESCRIPTION

[0043] Consider the function of providing control / service for the target vehicle in the specified area where the vehicle enters and exits. As one of such functions, there is automatic valet parking (AVP) in the parking lot. AVP implements the entry and exit of the target vehicle in the parking lot through automatic driving. In addition, there is a function of carrying the target vehicle in / out of the garage through a transport device.

[0044] Figure 1 : is a conceptual diagram for explaining AVP. The management system 100 manages the AVP in area 2 (parking lot). The management system 100 includes a sensor 150 installed in area 2. The sensor 150 senses the position and status of each vehicle 1 in area 2. The management system 100 manages the information of each vehicle 1 based on the sensing information acquired using the sensor 150. In addition, the management system 100 communicates with the target vehicle in area 2 to implement the AVP of the target vehicle. More specifically, the management system 100 sends the instruction information related to the AVP to the target vehicle based on the management data related to each vehicle 1 and area 2. The control system of the target vehicle controls the target vehicle according to the received instruction information, thereby implementing the AVP. Similarly, the function of providing control / services for other target vehicles (hereinafter referred to as "AVP and other functions") is also implemented through the collaboration of the management system 100 and the control system of the vehicle 1.

[0045] It should be noted that it is generally assumed that functions such as AVP are provided over a plurality of areas 2. Therefore, the management system 100 may be configured as follows. Figure 21 is a diagram showing an example of the configuration of the management system 100. The management system 100 is configured to include: a plurality of local management devices 110a, which are provided in a plurality of areas 2; and a central management device 110b, which manages the plurality of local management devices 110a. Each local management device 110a manages the functions in the corresponding area 2. Each local management device 110a is connected to the sensor 150 of the corresponding area 2 in a communicable manner. In addition, each local management device 110a is configured to be able to communicate with the vehicle 1 of the corresponding area 2 via a wireless LAN (Local Area Network) or the like. The central management device 110b manages information throughout the plurality of areas 2. For example, the central management device 110b manages user information, optimizes the plurality of areas 2 as a whole, and the like. The central management device 110b is connected to the plurality of local management devices 110a in a communicable manner via a communication network 3 (e.g., the Internet). The central management device 110b may also be configured to be able to communicate with the vehicle 1 via the communication network 3.

[0046] From the perspective of reliability and safety, the above-mentioned AVP and other functions require identification (identification may also be referred to as authentication) of the target vehicle. Figure 1 For example, consider a situation where a user wants to implement the storage of vehicle 1 through AVP. The user parks the vehicle 1 (target vehicle) to be stored in the storage position 2a and makes an AVP request. Here, the target vehicle is identified in order to confirm whether the vehicle 1 at the storage position 2a is really a regular user's vehicle 1 (target vehicle). When the vehicle identification is successful, the vehicle 1 at the storage position 2a is judged to be a regular vehicle (target vehicle). And, after it is judged to be a regular vehicle, AVP is started to implement the storage of the target vehicle. Therefore, by normally identifying the target vehicle, only regular vehicles can be allowed to enter the storage. On the contrary, if the target vehicle is not identified, an unrelated vehicle that is not the target vehicle may enter the storage. From the perspective of reliability and safety, this will become a problem. In this way, in functions such as AVP, the identification of the target vehicle becomes important in terms of ensuring reliability and safety.

[0047] The vehicle identification method of the embodiment can be used to identify the target vehicle in the function of AVP, etc. In particular, the vehicle identification method of the embodiment is a method of causing the target vehicle to perform an action and identifying the target vehicle based on whether the action is consistent with an expected action (expected action) (hereinafter referred to as "action-based identification method").

[0048] Here, an action is defined by a combination of a device (unit) that performs the action and the operating mode of the device. Examples of the device that performs the action include lighting devices (headlights, brake lights, fog lights, etc.), interior lighting devices, horns, direction indicators, wipers, doors, door windows, engines, electric motors, etc.

[0049] For example, one of the actions of vehicle 1 is switching the headlights on and off in a specified mode. Furthermore, for example, one of the actions of vehicle 1 is flashing the left and right turn signals of the direction indicator in a specified mode. Furthermore, for example, one of the actions of vehicle 1 is operating the wipers in a specified mode. Furthermore, for example, one of the actions of vehicle 1 is opening and closing the doors and door windows in a specified mode. Furthermore, for example, one of the actions of vehicle 1 is sounding the horn in a specified mode. Furthermore, for example, one of the actions of vehicle 1 is starting the engine (rapid rotation of the engine) in a specified mode.

[0050] The operating mode is represented, for example, by a signal representing the operating state of the device along a time series. Alternatively, the operating mode may be represented by a signal representing a sequence of the operating state of the device. An action may also include repeated requests for the operating mode. In addition, an action may also include the operating modes of multiple devices.

[0051] In the motion-based recognition method, the management system 100 needs to use the sensor 150 to sense the motion of the vehicle 1. Therefore, the sensor 150 is configured to at least sense the motion that the vehicle is assumed to perform. For example, in the case where a visible motion that can be sensed visually (motion related to the light of a lighting device, motion related to the operation of a wiper, etc.) is assumed, the sensor 150 is configured to include sensors that can sense visual information, such as a camera, LiDAR (Light Detection And Ranging), and an illuminance sensor. In addition, for example, in the case where an audible motion that can be sensed auditorily (motion related to the sounding of a horn, motion related to the driving of an engine or an electric motor, etc.) is assumed, the sensor 150 is configured to include sensors that can sense auditory information, such as a microphone.

[0052] The motion-based recognition method has advantages such as the motion used for recognition has a degree of freedom and the recognition method has high variability. However, in the motion-based recognition method, it is basically necessary to send information related to the motion to the target vehicle. Therefore, the sent information may be read through communication monitoring. Therefore, in the previously proposed motion-based recognition method (for example, the method disclosed in Patent Document 1), a situation is envisioned in which an unrelated vehicle that is not the target vehicle is identified as the target vehicle. Below, as a comparative example, a previously proposed motion-based recognition method is briefly described.

[0053] Figure 3 1 is a diagram showing an overview of a conventional method. In the conventional method, first, information indicating a prescribed action is sent from the management system 100 to the target vehicle. Then, the target vehicle is caused to perform the prescribed action. Next, in the management system 100, the action performed by the vehicle 1 is sensed using the sensor 150. Then, in the management system 100, the vehicle 1 that performs the prescribed action is identified as the target vehicle.

[0054] When the conventional method is applied, a third party may read the prescribed action by eavesdropping on the communication. Therefore, the third party may cause an unrelated vehicle to perform the read prescribed action. Moreover, in the conventional method, the action to which the information is sent and the action used to identify the target vehicle are the same prescribed action. Therefore, in this case, even though the target vehicle is identified, an unrelated vehicle will be identified as the target vehicle. As a result, for example, in AVP, an unrelated vehicle may enter the warehouse. Thus, from the perspective of reliability and safety, problems still exist in the conventional method.

[0055] Furthermore, in the motion-based recognition method, the sensor 150 is used to sense the action performed by the vehicle 1. Then, recognition is performed based on whether the sensed action is consistent with the expected action. However, in the motion-based recognition method, a temporary processing failure or a discrimination error may occur in the sensor 150. If a temporary processing failure or a discrimination error occurs, a part of the sensed action may not accurately reflect the action actually performed. Therefore, there is a possibility that the vehicle 1 that actually performed the expected action is not recognized as the target vehicle. This also becomes a problem from the perspective of reliability.

[0056] The present disclosure proposes a method for solving the above-mentioned problem. In the following, several embodiments of the vehicle identification method are described in detail.

[0057] 1 First Implementation

[0058] 1.1 Overview

[0059] Figure 4This is a conceptual diagram for explaining an outline of a vehicle identification method according to a first embodiment (hereinafter, simply referred to as a “first vehicle identification method”).

[0060] In the first vehicle identification method, the management system 100 manages the first action. The first action can be selected from a plurality of candidate actions to be managed. Alternatively, the first action can also be selected from a plurality of actions managed for each vehicle 1 according to the target vehicle. In addition, the first action can also be selected from a plurality of actions managed for each user according to the user involved in the target vehicle.

[0061] First, in the first vehicle identification method, the management system 100 generates information indicating a second action from information indicating a first action using a first key.

[0062] The first key is typically an encryption key used for encryption according to a prescribed encryption method. That is, in this case, the information representing the second action is generated by encrypting the information representing the first action. For example, the information representing the second action is information obtained by encrypting the information representing the first action and deforming the information related to the working mode. The encryption of the information related to the working mode is performed, for example, by inverting the information of bits, shifting the information of bits, changing the pulse width, or a combination thereof.

[0063] Figure 5 FIG. 1 is a diagram showing an example of a first action and a second action in the first vehicle identification method. Figure 5 In the figure, the flashing modes (operating modes) of the left and right turn signals of the direction indicator are shown for the first action and the second action, respectively. Figure 5 In the embodiment, the flashing pattern involved in the second action is deformed by encryption relative to the flashing pattern involved in the first action. In addition, the information representing the second action can also be directly generated without encryption. For example, the information related to the working mode of the first action can be encoded, and the encoded information can be encrypted by the first key. Then, the information representing the second action can be generated by decoding the ciphertext code.

[0064] It should be noted that the information related to the device to perform the action may be deformed by encryption, thereby generating information representing the second action. For example, the information related to the device to perform the action may be deformed from representing the left turn signal to representing the right turn signal. Alternatively, the information related to the device to perform the action and the information related to the working mode may be deformed by encryption, thereby generating information representing the second action. However, it is ideal that encryption is performed in a manner that does not cause a contradiction in the combination of the device to perform the action and the working mode in the second action.

[0065] Refer again Figure 4 . Next, in the first vehicle identification method, the generated information indicating the second action is sent from the management system 100 to the target vehicle. The sending of the information indicating the second action can be performed by the local management device 110a or the central management device 110b. For example, in AVP, after the local management device 110a establishes communication with the target vehicle approaching the corresponding parking lot, it sends the information indicating the second action to the target vehicle. In addition, for example, in AVP, when the user makes a reservation for AVP, the central management device 110b sends the information indicating the second action to the target vehicle in advance.

[0066] Next, in the first vehicle identification method, in the target vehicle, the information indicating the first action is restored from the information indicating the second action using the second key associated with the first key.

[0067] The second key is typically a composite key that can decrypt the ciphertext encrypted by the first key. The first key and the second key can be encrypted using a public key. That is, in this case, the first key and the second key are public keys. The first key and the second key as public keys can each be pre-managed by the management system 100 and the target vehicle, respectively. Moreover, the group of the first key and the second key as public keys can also be different for each vehicle 1. For example, the management system 100 can be configured to manage the first key for each vehicle 1 and select the first key according to the target vehicle. Alternatively, the public key can also be a temporary key that is used only once in a single process. For example, the central management device 110b of the management system 100 can also generate a temporary key as a public key and send it to the local management device 110a and the target vehicle, respectively.

[0068] The first key and the second key may also be encrypted using a public key. In this case, the second key becomes a private key, and the first key becomes a public key generated from the private key. The second key as a private key is managed in advance by the target vehicle. In addition, information on the first key (public key) generated from the second key (private key) is sent from the target vehicle to the management system 100. The management system 100 manages the received first key (public key).

[0069] A public key encryption method and a public key encryption method may also be used in combination. In this case, the first key includes a first public key as a public key and a first public key as a public key. In addition, the second key includes a second public key as a public key corresponding to the first public key and a second private key as a private key corresponding to the first public key. The management system 100 generates information representing the second action from information representing the first action through two stages of the first public key and the first public key. The target vehicle restores the information representing the first action from the information representing the second action using the second public key and the second private key.

[0070] The process of restoring the information representing the first action can be performed by the control system of the target vehicle. For example, the control system of the target vehicle uses the second key to decrypt the received information related to the working mode of the second action, thereby restoring the information representing the first action from the information representing the second action.

[0071] Next, in the first vehicle identification method, the target vehicle is caused to execute the restored first action. For example, the control system of the target vehicle controls the device of the target vehicle according to the content of the restored first action. The control system of the target vehicle may also be configured to receive instruction information indicating the execution of the action from the local management device 110a, thereby starting control. The local management device 110a may also send the instruction information indicating the execution of the action while sending the information indicating the second action.

[0072] Next, in the first vehicle identification method, in the management system 100, the action performed by the vehicle 1 is sensed using the sensor 150. The sensor 150 is configured to sense at least the action assumed to be the first action. As described above, the first action is managed in the management system 100. Therefore, the action assumed to be the first action can be appropriately designed in advance according to the environment in which the first vehicle identification method is applied.

[0073] Then, in the first vehicle identification method, the vehicle 1 performing the first action is identified as the target vehicle in the management system 100. The vehicle 1 performing an action other than the first action is not identified as the target vehicle. In particular, the vehicle 1 performing the second action for which the information is sent is not identified as the target vehicle.

[0074] As described above, according to the first vehicle identification method, in the management system 100, information representing a second action is generated from information representing a first action using a first key. Moreover, the information representing the second action is sent from the management system 100 to the target vehicle. Then, in the management system 100, the vehicle 1 that performs the first action is identified as the target vehicle. In this way, according to the first vehicle identification method, the vehicle 1 that performs the first action for which the information is not sent, but does not perform the second action for which the information is sent, is identified as the target vehicle. Thus, even if the information sent from the management system 100 to the target vehicle is intercepted, an unrelated vehicle is prevented from being identified as the target vehicle. Furthermore, in the action-based vehicle identification method, reliability and safety can be more appropriately ensured.

[0075] Furthermore, in the first vehicle identification method, the vehicle 1 that performs the second action is also considered to be the vehicle 1 that performs the action acquired by a malicious third party through communication monitoring. The more complex the content of the second action is, the more obvious this is. Therefore, the management system 100 can also be configured to exclude the vehicle 1 from the identified object when the vehicle 1 performing the second action is sensed. Moreover, the management system 100 can also be configured to issue a warning to the system operator.

[0076] 1.2 Composition

[0077] Figure 6 1 is a diagram showing an example of a configuration of a vehicle identification system 10 that implements the first vehicle identification method. The vehicle identification system 10 is composed of a management system 100 and a vehicle 1 that communicates with the management system 100 .

[0078] The management system 100 includes a server 110 and a sensor 150 .

[0079] The server 110 is a computer that performs information processing related to various functions in the management system 100. The server 110 is configured to be able to communicate with the vehicle 1 located in the area 2 via a wireless LAN or the like. The server 110 can also be considered as a local management device 110a provided in the area 2.

[0080] The server 110 is connected to the sensor 150 in a communicable manner. For example, the server 110 is connected to the sensor 150 via a cable for electrical communication or optical communication. As described above, the sensor 150 is configured to be able to sense at least the action assumed to be the first action.

[0081] The server 110 includes one or more processors 120 (hereinafter, simply referred to as “processor 120 ”), a storage device 130 , and a communication interface 140 .

[0082] The processor 120 executes various processes and is composed of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), or a FPGA (Field-Programmable Gate Array).

[0083] The storage device 130 is connected to the processor 120 and stores various information required for the processing executed by the processor 120. The storage device 130 is composed of recording media such as ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0084] The storage device 130 stores a computer program 131 and management data 132 .

[0085] The computer program 131 describes a process to be executed by the processor 120. The information processing performed by the server 110 can be realized by cooperation between the processor 120 and the storage device 130 that execute the process related to the computer program 131. The computer program 131 can also be recorded in a computer-readable recording medium.

[0086] The management data 132 records various management information. For example, the management data 132 records various vehicle information (vehicle ID, vehicle specifications, status of the vehicle-mounted device 230), and functional information (content of the request, parking time, parking position, scheduled exit time, etc.) for each vehicle 1. In particular, in the first embodiment, the management data 132 manages the first key and the information indicating the first action.

[0087] The communication interface 140 is an interface for communicating with a device outside the management system 100 to send and receive information. For example, the communication interface 140 is composed of a device for connecting to a mobile communication network, a device for connecting to the Internet, etc. The server 110 sends and receives information to and from the vehicle 1 via the communication interface 140 .

[0088] The vehicle 1 includes a control system 200. The control system 200 controls the vehicle 1 based on various information.

[0089] The control system 200 includes a processing unit 210 , an on-vehicle sensor 220 , an on-vehicle device 230 , and a communication interface 240 .

[0090] The processing unit 210 is connected to the vehicle-mounted sensor 220, the vehicle-mounted device 230, and the communication interface 240 in a communicative manner. The processing unit 210 is a computer that performs information processing related to the control of the vehicle 1 based on various information. For example, the processing unit 210 is composed of one or more ECUs (Electronic Control Units). Alternatively, the processing unit 210 may also be a kit (for example, an AVP kit) for the functions provided by the management system 100. The processing unit 210 generates and outputs a control signal for controlling the vehicle 1 through information processing. The control signal output by the processing unit 210 is transmitted to the vehicle-mounted device 230.

[0091] The processing unit 210 includes one or more processors 211 (hereinafter, simply referred to as "processor 211") and a storage device 212. The processor 211 performs various processes. The storage device 212 is connected to the processor 211 and stores various information required for the processes performed by the processor 211. The storage device 212 may also store a computer program that describes the processes to be performed by the processor 211. In addition, the information processing performed by the processing unit 210 can be realized by the cooperation between the processor 211 that performs the processes involved in the computer program and the storage device 212.

[0092] The vehicle-mounted sensor 220 senses information about the surrounding environment and driving state of the vehicle 1. Examples of the vehicle-mounted sensor 220 include a camera, a radar, a LiDAR, a wheel speed sensor, an IMU (Inertial Measurement Unit), and a GNSS (Global Navigation Satellite System) sensor. Information sensed by the vehicle-mounted sensor 220 is transmitted to the processing unit 210.

[0093] The vehicle-mounted device 230 includes a lighting device, an interior lighting device, a horn, a direction indicator, a wiper, a door, a door window, a drive device (engine, electric motor, etc.), a brake device, a steering device, etc. The vehicle-mounted device 230 operates according to the control signal obtained from the processing unit 210. Each device of the vehicle-mounted device 230 may include an actuator that can be controlled by the processing unit 210. The control of the vehicle 1 implemented by the control system 200 is realized by the vehicle-mounted device 230 operating according to the control signal.

[0094] The communication interface 240 is an interface for communicating with a device outside the vehicle 1 to transmit and receive information. The control system 200 of the vehicle 1 transmits and receives information with the management system 100 via the communication interface 240. The information received via the communication interface 240 is transferred to the processing unit 210.

[0095] 1.3 Processing Flow

[0096] Figure 7 1 is a diagram showing an example of a process flow of the first vehicle identification method implemented by the vehicle identification system 10. In the following description, the process implemented by the management system 100 is executed by the server 110 (more specifically, the processor 120). In addition, the process implemented by the control system 200 is executed by the processing unit 210 (more specifically, the processor 211).

[0097] In step S100, the control system 200 of the target vehicle sends a function request and various required vehicle information (vehicle ID, vehicle specifications, status of the vehicle-mounted device 230, etc.) to the management system 100. Here, when the public key encryption method is adopted in the first vehicle identification method, the target vehicle further generates a first key (public key) from a second key (private key) and sends the generated first key to the management system 100.

[0098] When receiving the request and the vehicle information, the management system 100 obtains the first action by referring to the management data 132. The management system 100 may select the first action from a plurality of candidate actions stored in the management data 132. Alternatively, the management system 100 may determine the first action based on the target vehicle. Alternatively, the management system 100 may determine the first action based on the user of the target vehicle.

[0099] Next, in step S110 , the management system 100 generates information indicating a second action from information indicating a first action using the first key.

[0100] Next, in step S120 , the management system 100 transmits the generated information indicating the second action to the target vehicle.

[0101] Next, in step S130 , the control system 200 of the target vehicle restores the information indicating the first action from the information indicating the second action using the second key.

[0102] Next, in step S140 , the control system 200 causes the target vehicle to execute the first action according to the restored information indicating the first action.

[0103] After sending the information indicating the second action, the management system 100 starts the process of sensing the action performed by the vehicle 1 in the area 2 using the sensor 150 (step S150). When the action is sensed in the sensing process, the management system 100 verifies whether the action is the first action (step S151). For example, the operation mode of the sensed action (sensing action) is compared with the operation mode of the first action, and the verification is performed based on whether there is a significant difference between the two.

[0104] When the first action is determined to be performed through verification, the management system 100 identifies the vehicle 1 that performs the first action as the target vehicle (step S160). Then, the management system 100 sends the recognition result to the target vehicle (step S161). After step S161, the management system 100 may also start providing the function corresponding to the request.

[0105] It should be noted that, if the first action is not performed through verification, the management system 100 may also restart the sensing process. In addition, in step S151, the management system 100 may further verify whether the sensed action is the second action. Then, if the second action is performed through verification, the management system 100 may also exclude the vehicle 1 performing the second action from the identified object.

[0106] 1.4 Variations

[0107] As described above, in the first vehicle identification method, the first key and the information indicating the first action need to be managed in the management system 100. Here, when functions such as AVP are provided over a plurality of areas 2, a case where the first vehicle identification method is applied to each of the plurality of areas 2 is considered. In this case, the first key and the information indicating the first action are managed in each of the plurality of local management devices 110a.

[0108] However, it is expected that the first key and the information indicating the first action managed by each local management device 110a each have many common points. For example, when the first key is managed for each vehicle 1, it is considered that the first key for the same vehicle 1 is a common key. This becomes a problem from the perspective of management cost. Therefore, in order to cope with this problem, the vehicle identification system 10 may also adopt a modified scheme as follows.

[0109] Figure 8 1 is a diagram showing an example of the configuration of a modified vehicle identification system 10. In the modified vehicle identification system 10, a management system 100 includes a plurality of local management devices 110a provided in a plurality of areas 2 and a central management device 110b managing the plurality of local management devices 110a.

[0110] The configurations of the multiple local management devices 110a may be different from Figure 6 The configuration of the server 110 shown is the same. However, the management data 132 of each local management device 110a does not manage the information of the first key and the information indicating the first action.

[0111] The structure of the central management device 110b can also be the same as Figure 6 The structure of the server 110 shown is the same. The central management device 110b is connected to the communication network 3 via the communication interface 140 and communicates with each local management device 110a. However, the central management data 132b of the central management device 110b records the first key management information 133 for managing the first key and the first action management information 134 for managing the information indicating the first action. That is, in the vehicle identification system 10 of the modified example, the first key and the information indicating the first action are managed in the central management device 110b.

[0112] Fig. 9 FIG. 1 is a diagram showing a process flow of a first vehicle identification method implemented by a vehicle identification system 10 according to a modified example. Fig. 9 In the example, the target local management device 110a is a local management device 110a provided in a target area where the target vehicle enters and exits in the plurality of areas 2.

[0113] In step S200 , the control system 200 of the target vehicle transmits a request for a function and various required vehicle information to the target local management device 110 a .

[0114] Next, in step S201, the object local management device 110a notifies the central management device 110b of the received various vehicle information.

[0115] When receiving the notification of the vehicle information, the center management device 110b refers to the first action management information 134 to acquire the first action.

[0116] Next, in step S210, the center management device 110b acquires the first key by referring to the first key management information 133. Then, the center management device 110b generates information indicating the second action from the information indicating the first action using the first key.

[0117] Next, in step S220, the central management device 110b notifies the target local management device 110a of the generated information indicating the second action.

[0118] Next, in step S221, the target local management device 110a transmits the notified information indicating the second action to the target vehicle.

[0119] Next, in step S230 , the control system 200 of the target vehicle uses the second key to restore the information indicating the first action from the information indicating the second action.

[0120] Next, in step S240 , the control system 200 causes the target vehicle to execute the first action according to the restored information indicating the first action.

[0121] After sending the information indicating the second action, the object local management device 110a starts a process of sensing the action performed by the vehicle 1 in the object area using the sensor 150 (step S250). When an action is sensed in the sensing process, the object local management device 110a notifies the central management device 110b of the information indicating the sensed action (step S251).

[0122] When receiving the notification of the information indicating the sensing action, the center management device 110b verifies whether the action is the first action (step S252).

[0123] When it is determined through verification that the first action has been performed, the central management device 110b identifies the vehicle 1 that has performed the first action as the target vehicle (step S260), and notifies the target local management device 110a of the recognition result (step S261). Upon receiving the notification of the recognition result, the target local management device 110a sends the recognition result to the target vehicle (step S262).

[0124] As described above, the first vehicle identification method of the modified example can play the same role and effect as the first embodiment described above. In particular, in the first vehicle identification method of the modified example, the first key and the information indicating the first action can be managed in the central management device 110b. This can reduce management costs.

[0125] 2 Second Embodiment

[0126] Hereinafter, a vehicle identification method according to a second embodiment will be described. In the following description, the differences from the first embodiment will be mainly described, and the contents common to the first embodiment will be appropriately omitted.

[0127] 2.1 Overview

[0128] Fig.10 This is a conceptual diagram for explaining an outline of a vehicle identification method according to a second embodiment (hereinafter, simply referred to as a “second vehicle identification method”).

[0129] In the second vehicle identification method, the management system 100 manages the first action and the second action. First, in the second vehicle identification method, information indicating both the first action and the second action is transmitted from the management system 100 to the target vehicle.

[0130] Next, in the second vehicle identification method, the target vehicle is caused to perform only the first action and not the second action. This can be performed, for example, as follows.

[0131] One method of executing only the first action is to set the second action to an action that the target vehicle is not capable of executing (hereinafter referred to as an "inexecutable action"). According to this method, the target vehicle cannot execute the second action, so the information indicating the second action is not considered in the control system 200 of the target vehicle. Furthermore, the target vehicle can execute only the first action. In particular, according to this method, the control system 200 of the target vehicle is configured to control the target vehicle according to the information received from the management system 100. That is, no special processing is required in the control system 200. Therefore, it can be installed without increasing the processing load and development cost of the control system 200.

[0132] The unexecutable action may be given from the perspective of the type, equipment, and technical specifications of the target vehicle. For example, in the case where the type of the target vehicle is an electric vehicle, the action of rapidly rotating the engine in a specified mode is cited as an unexecutable action. In addition, for example, in the case where the equipment of the target vehicle does not include a door opening and closing control device, the action of opening and closing the door in a specified mode is cited as an unexecutable action. In addition, for example, in the case where the target vehicle is a technical specification that does not accept the operation of the horn through an external system, the action of sounding the horn in a specified mode is cited as an unexecutable action. The management system 100 may determine the second action to be an unexecutable action based on the vehicle information acquired from the target vehicle.

[0133] Another method of executing only the first action is to send information indicating the second action from the management system 100 to the target vehicle in advance. For example, in AVP, when the user makes an appointment for AVP, the central management device 110b of the management system 100 sends information indicating the second action to the target vehicle in advance. According to this method, the control system 200 of the target vehicle can grasp which action among the actions received from the management system 100 is the second action. Therefore, the control system 200 of the target vehicle can control the target vehicle without considering the information indicating the second action. Furthermore, the target vehicle can be made to execute only the first action. In particular, according to this method, the management system 100 can determine the first action and the second action without distinguishing between the first action and the second action. Therefore, it can be installed without increasing the management cost and processing load of the management system 100.

[0134] Next, in the second vehicle identification method, in the management system 100 , the sensor 150 is used to sense the action performed by the vehicle 1 .

[0135] Then, in the second vehicle identification method, a vehicle 1 that performs the first action but does not perform the second action is identified as a target vehicle in the management system 100. A vehicle 1 that performs an action other than the first action is not identified as a target vehicle. In particular, a vehicle 1 that performs both the first action and the second action is not identified as a target vehicle.

[0136] As described above, according to the second vehicle identification method, information indicating both the first action and the second action is sent from the management system 100 to the target vehicle. Moreover, the target vehicle is made to perform only the first action without performing the second action. Then, in the management system 100, the vehicle 1 that performs the first action but does not perform the second action is identified as the target vehicle. In this way, according to the second vehicle identification method, the vehicle 1 that performs both the first action and the second action sent by the information is not identified as the target vehicle. Thus, even if the information sent from the management system 100 to the target vehicle is intercepted, an unrelated vehicle is prevented from being identified as the target vehicle. Furthermore, in the action-based vehicle identification method, reliability and safety can be more appropriately ensured.

[0137] Furthermore, in the second vehicle identification method, the vehicle 1 that performs both the first action and the second action is also considered to be the vehicle 1 that performs the action acquired by the malicious third party through communication interception. Therefore, the management system 100 can also be configured to exclude the vehicle 1 from the identification object when the vehicle 1 that performs both the first action and the second action is sensed. Moreover, the management system 100 can also be configured to issue a warning to the system operator.

[0138] In addition, in the above description, the second vehicle identification method is described by two actions, namely, a first action that is performed by the target vehicle and a second action that is not performed by the target vehicle. As can be understood from the above description, the second vehicle identification method can be easily extended to more than three actions. For example, four actions, namely, a first action, a second action, a third action, and a fourth action, are sent from the management system 100 to the target vehicle. Here, the target vehicle is not caused to perform the third action and the fourth action. The management system 100 identifies the vehicle 1 that performs the first action and the second action but does not perform the third action and the fourth action as the target vehicle. By increasing the number of actions sent, it can be expected that reliability and safety can be ensured to a higher degree.

[0139] 2.2 Processing Flow

[0140] The second vehicle identification method can be achieved by Figure 6 The vehicle identification system 10 of the first embodiment shown in the figure is implemented with the same configuration. Fig.11 1 is a diagram showing an example of a processing flow of the second vehicle identification method implemented by the vehicle identification system 10 .

[0141] In step S300 , the control system 200 of the target vehicle transmits a function request and various required vehicle information to the management system 100 .

[0142] When receiving the request and the vehicle information, the management system 100 obtains the first action and the second action by referring to the management data 132. Here, the second action may be an unexecutable action. Alternatively, the second action may be an action that is sent to the target vehicle in advance.

[0143] Next, in step S310 , the management system 100 transmits information indicating both the first action and the second action to the target vehicle.

[0144] Next, in step S320 , the control system 200 of the target vehicle causes the target vehicle to perform only the first action of the first action and the second action.

[0145] After transmitting information indicating both the first action and the second action, the management system 100 starts a process of sensing the action performed by the vehicle 1 in the area 2 using the sensor 150 (step S330). When a action is sensed in the sensing process, the management system 100 verifies the action (step S331).

[0146] If it is determined through verification that only the first action is performed and the second action is not performed, the management system 100 identifies the vehicle 1 that performs the first action as the target vehicle (step S340 ) Then, the management system 100 transmits the recognition result to the target vehicle (step S341 ).

[0147] It should be noted that, when it is determined through verification that an action other than the first action is performed, the management system 100 may also restart the sensing process. In particular, in step S331, the management system 100 may further verify whether the sensing action includes both the first action and the second action. Then, when it is determined through verification that both the first action and the second action are performed, the management system 100 may also exclude the vehicle 1 that performs both the first action and the second action from the identified object.

[0148] 3. Third Implementation

[0149] Hereinafter, a vehicle identification method according to a third embodiment will be described. In the following description, the differences from the first embodiment will be mainly described, and the contents common to the first embodiment will be appropriately omitted.

[0150] 3.1 Overview

[0151] Fig.12This is a conceptual diagram for explaining an outline of a vehicle identification method according to a third embodiment (hereinafter, simply referred to as a “third vehicle identification method”).

[0152] In the third vehicle identification method, the management system 100 manages a plurality of elements constituting the target action. Fig.12 In the embodiment, the first element and the second element are shown as a plurality of elements. Here, the method of providing the plurality of elements can adopt the following schemes.

[0153] One method of providing multiple elements is to set the device for performing the object action and the working mode of the device as one element respectively. Therefore, in this case, the multiple elements include the device for performing the object action and the working mode of the device. Fig.12 In the example, the first element and the second element represent the switching mode of turning on and off the headlight and the light, respectively. The multiple elements may further include other elements for constituting the object action. For example, the multiple elements may further include an element representing the number of repetitions of the working mode.

[0154] Another method of providing multiple elements is to consider the target action as a combination of multiple actions that are different from each other, and set each action involved in the combination as an element. Therefore, in this case, the multiple elements include at least a first action and a second action that is different from the first action. For example, in Fig.12 In the example, the first element indicates that the left turn signal of the direction indicator is flashing in a specified mode. In addition, the second element indicates that the right turn signal is flashing in a specified mode.

[0155] First, in the third vehicle identification method, information of a plurality of elements is transmitted from the management system 100 to the target vehicle via a plurality of different communication paths 4. Fig.12 , a first communication path 4a and a second communication path 4b are shown as a plurality of different communication paths 4. For example, the first communication path 4a is a path for the target vehicle to communicate with the local management device 110a via a wireless LAN or the like. In addition, for example, the second communication path 4b is a path for the target vehicle to communicate with the central management device 110b via the communication network 3. Fig.12 In the example, the first element is transmitted from the management system 100 to the target vehicle via the first communication path 4a. In addition, the second element is transmitted from the management system 100 to the target vehicle via the second communication path 4b.

[0156] Next, in a third vehicle identification method, the target vehicle is caused to perform a target action including all elements of the plurality of elements.

[0157] Next, in the third vehicle identification method, in the management system 100 , the sensor 150 is used to sense the action performed by the vehicle 1 .

[0158] Then, in the third vehicle identification method, a vehicle 1 performing a target action including all of the multiple elements is identified as a target vehicle in the management system 100. A vehicle 1 performing an action excluding at least one of the multiple elements is not identified as a target vehicle.

[0159] As described above, according to the third vehicle identification method, information of multiple elements constituting the object action is sent from the management system 100 to the object vehicle via each of multiple different communication paths 4. Moreover, the object vehicle is caused to perform the object action including all elements of the multiple elements. Then, in the management system 100, the vehicle 1 that performs the object action including all elements of the multiple elements is identified as the object vehicle. In this way, according to the third vehicle identification method, a vehicle that only performs an action including an element of sending information through one communication path 4 will not be identified as the object vehicle. Thus, even if the information sent from the management system 100 to the object vehicle is intercepted, an unrelated vehicle is prevented from being identified as the object vehicle. Furthermore, in the action-based vehicle identification method, reliability and safety can be more appropriately ensured.

[0160] Furthermore, in the third vehicle identification method, it is also considered that the vehicle 1 that performs an action that does not include at least one of the multiple elements is the vehicle 1 that performs an action acquired by a malicious third party through communication interception. Therefore, the management system 100 can also be configured to exclude the vehicle 1 from the identified objects when sensing the vehicle 1 that performs an action that does not include at least one of the multiple elements. Moreover, the management system 100 can also be configured to issue a warning to the system operator.

[0161] 3.2 Processing Flow

[0162] The third vehicle identification method can be achieved by Figure 6 The vehicle identification system 10 of the first embodiment shown in the figure is implemented with the same configuration. Fig.13 1 is a diagram showing an example of a process flow of the third vehicle identification method implemented by the vehicle identification system 10 .

[0163] In step S400 , the control system 200 of the target vehicle transmits a function request and various required vehicle information to the management system 100 .

[0164] When receiving the request and the vehicle information, the management system 100 refers to the management data 132 to acquire a plurality of elements constituting the target action.

[0165] Next, in step S410 , the management system 100 transmits information on a plurality of elements to the target vehicle via each of a plurality of different communication paths 4 .

[0166] Next, in step S420 , the control system 200 of the target vehicle causes the target vehicle to execute the target action including all the elements of the plurality of elements.

[0167] After transmitting the information indicating the plurality of elements, the management system 100 starts a process of sensing the motion performed by the vehicle 1 in the area 2 using the sensor 150 (step S430). When a motion is sensed in the sensing process, the management system 100 verifies the motion (step S431).

[0168] When it is determined through verification that the target action including all the elements is performed, the management system 100 identifies the vehicle 1 performing the target action as the target vehicle (step S440 ) Then, the management system 100 transmits the recognition result to the target vehicle (step S441 ).

[0169] It should be noted that, when it is determined through verification that the object action including all elements of the multiple elements is not performed, the management system 100 may also restart the sensing process. In particular, in step S431, the management system 100 may further verify whether the sensing action is an action that does not include at least one element of the multiple elements. Then, when it is determined through verification that an action that does not include any element is performed, the management system 100 may also exclude the vehicle 1 that performs the action from the identified objects.

[0170] 4. Fourth Implementation

[0171] Hereinafter, a vehicle identification method according to a fourth embodiment will be described. In the following description, the differences from the first embodiment will be mainly described, and the contents common to the first embodiment will be appropriately omitted.

[0172] 4.1 Overview

[0173] Fig.14 This is a conceptual diagram for explaining an outline of a vehicle identification method according to a fourth embodiment (hereinafter, simply referred to as a “fourth vehicle identification method”).

[0174] In the fourth vehicle identification method, the management system 100 manages the object motion including a plurality of temporally continuous motions. Fig.14 In the example, the target action includes N actions #1 to #N that are continuous in time. In this case, the execution of the target action means that actions #1 to #N are performed continuously in time in this order. Multiple actions that are continuous in time are given, for example, by setting the duration of each action or the interval until the next action.

[0175] Next, in the fourth vehicle identification method, the management system 100 transmits information of the target action to the target vehicle.

[0176] Next, in the fourth vehicle identification method, the target vehicle is caused to perform a target action.

[0177] Next, in the fourth vehicle identification method, the sensor 150 is used in the management system 100 to sense the action performed by the vehicle 1 .

[0178] Then, in the fourth vehicle identification method, the sensing action is compared with a plurality of actions in the management system 100, and when a prescribed number of actions among the plurality of actions are sensed, the vehicle 1 that performs the sensing action is identified as the target vehicle. For example, assume that the target action includes seven actions that are continuous in time, namely, action #1 to action #7, and the prescribed number is set to 5. At this time, the management system 100 compares the sensing actions in the order of action #1 to action #7. Then, when more than five actions among action #1 to action #7 are consistent, the vehicle 1 that performs the sensing action is identified as the target vehicle. It should be noted that action #1 to action #7 are continuous in time, so the sensing time of the sensing action is considered for comparison. For example, the management system 100 records the timestamp of the sensing action and performs comparison based on the timestamp.

[0179] Fig.15 1 is a conceptual diagram showing an embodiment. Fig.15 , the object action including seven actions that are continuous in time is shown. The sensing action includes an action that is partially inaccurate due to a processing failure or a discrimination error of the sensor 150. On the other hand, the sensing action includes five actions among the seven actions of the object action. Therefore, in this embodiment, if the set prescribed number is less than 5, the management system 100 identifies the vehicle 1 that performs the sensing action as the object vehicle.

[0180] As described above, according to the fourth vehicle identification method, information representing an object action including a plurality of actions that are continuous in time is sent from the management system 100 to the object vehicle. In addition, the object vehicle is caused to perform the object action. Then, in the management system 100, when a prescribed number of actions among a plurality of actions are sensed, the vehicle 1 that performs the sensing action is identified as the object vehicle. In this way, according to the fourth vehicle identification method, even if not all of the sensing actions are consistent with the object action, if a prescribed number of actions are consistent, the vehicle 1 that performs the sensing action is also identified as the object vehicle. Thus, it is possible to take into account the situation where a temporary processing failure or a discrimination error occurs in the sensor 150, thereby increasing the probability of successful identification. Furthermore, in the action-based vehicle identification method, reliability can be more appropriately ensured.

[0181] The fourth vehicle identification method can be achieved by Figure 6The vehicle identification system 10 of the first embodiment shown in the figure is implemented with the same configuration. Fig.16 1 is a diagram showing an example of a processing flow of a fourth vehicle identification method implemented by the vehicle identification system 10 .

[0182] In step S500 , the control system 200 of the target vehicle transmits a function request and various required vehicle information to the management system 100 .

[0183] When receiving the request and the vehicle information, the management system 100 refers to the management data 132 to acquire the target action including a plurality of actions continuous in time.

[0184] Next, in step S510 , the management system 100 transmits information indicating the target action to the target vehicle.

[0185] Next, in step S520 , the control system 200 of the target vehicle causes the target vehicle to execute the target action.

[0186] After sending the information indicating the target action, the management system 100 starts a process of sensing the action performed by the vehicle 1 in the area 2 using the sensor 150 (step S530). When a motion is sensed in the sensing process, the management system 100 compares the sensed motion with a plurality of motions included in the target action for verification (step S531).

[0187] When it is determined through verification that a predetermined number or more of the plurality of actions are sensed, the management system 100 identifies the vehicle 1 performing the sensing action as the target vehicle (step S541 ) and then transmits the recognition result to the target vehicle (step S542 ).

Claims

1. A vehicle identification method for identifying a target vehicle, the vehicle identification method comprising: In the management system, using the first key, generating information representing a second action from information representing the first action; transmitting the information indicating the second action from the management system to the target vehicle; In the target vehicle, the information indicating the first action is restored from the information indicating the second action using a second key associated with the first key; causing the target vehicle to perform the first action; In the management system, sensors are used to sense actions performed by the vehicle; as well as In the management system, the vehicle that performs the first action is recognized as the target vehicle, and the vehicle that performs the second action is not recognized as the target vehicle.

2. The vehicle identification method according to claim 1, wherein: The first key and the second key are public keys.

3. The vehicle identification method according to claim 1, further comprising: In the target vehicle, generating a public key as the first key from a private key as the second key; as well as Information of the public key as the first key is transmitted from the target vehicle to the management system.

4. The vehicle identification method according to claim 1, wherein: The management system comprises: A plurality of local management devices are provided at a plurality of areas where vehicles enter and exit; and A central management device manages the multiple local management devices. The plurality of local management devices include a target local management device provided in a target area where the target vehicle enters and exits, The vehicle identification method further comprises: In the central management device, the first key and the information representing the first action are managed; In the central management device, the information representing the second action is generated from the information representing the first action using the first key; sending the information indicating the second action from the central management device to the object local management device; transmitting the information indicating the second action from the target local management device to the target vehicle; In the object local management device, using the sensor to sense an action performed by the vehicle; sending information of the action performed by the vehicle from the object local management device to the central management device; and In the central management device, the vehicle that performs the first action is recognized as the target vehicle, and the vehicle that performs the second action is not recognized as the target vehicle.

5. A vehicle identification method for identifying a target vehicle, the vehicle identification method comprising: sending information indicating both a first action and a second action from the management system to the target vehicle; causing the target vehicle to perform only the first action and not the second action; In the management system, sensors are used to sense actions performed by the vehicle; as well as In the management system, the vehicle that performs the first action but does not perform the second action is recognized as the target vehicle, and the vehicle that performs both the first action and the second action is not recognized as the target vehicle.

6. The vehicle identification method according to claim 5, wherein: The second action is an action that the target vehicle does not have the ability to perform.

7. The vehicle identification method according to claim 5, further comprising: Information indicating the second action is transmitted in advance from the management system to the target vehicle.

8. A vehicle identification method for identifying a target vehicle, the vehicle identification method comprising: transmitting information of a plurality of elements constituting the target action from the management system to the target vehicle via each of a plurality of different communication paths; causing the target vehicle to perform the target action including all elements of the plurality of elements; In the management system, sensors are used to sense actions performed by the vehicle; as well as In the management system, the vehicle that performs the target action including all of the plurality of elements is recognized as the target vehicle, and the vehicle that performs the action that does not include at least one of the plurality of elements is not recognized as the target vehicle.

9. The vehicle identification method according to claim 8, wherein: The multiple elements include: A device for performing the object action; and The operating mode of the device.

10. The vehicle identification method according to claim 8, wherein: The multiple elements include: First action; and A second action different from the first action.

11. A vehicle identification method for identifying a target vehicle, the vehicle identification method comprising: sending, from the management system to the subject vehicle, information on the subject action including a plurality of actions that are continuous in time; causing the target vehicle to perform the target action; In the management system, sensors are used to sense actions performed by the vehicle; as well as In the management system, the sensed motion is compared with the plurality of motions, and when a predetermined number or more of the plurality of motions are sensed, the vehicle is identified as the target vehicle.

12. A vehicle identification system for identifying a target vehicle, wherein: The vehicle identification system includes a management system capable of communicating with the target vehicle. The management system generates information representing a second action from information representing a first action using a first key, the management system transmitting the information indicating the second action to the target vehicle, the target vehicle restores the information indicating the first action from the information indicating the second action using the second key associated with the first key, and executes the first action, The management system uses sensors to sense the actions performed by the vehicle, The management system recognizes the vehicle that performs the first action as the target vehicle, and does not recognize the vehicle that performs the second action as the target vehicle.

13. A vehicle identification system for identifying a target vehicle, wherein: The vehicle identification system includes a management system capable of communicating with the target vehicle. The management system transmits information indicating both a first action and a second action to the target vehicle. the target vehicle performs only the first action but does not perform the second action, The management system uses sensors to sense the actions performed by the vehicle, The management system recognizes the vehicle that performs the first action but does not perform the second action as the target vehicle, and does not recognize the vehicle that performs both the first action and the second action as the target vehicle.

14. A vehicle identification system for identifying a target vehicle, wherein: The vehicle identification system includes a management system capable of communicating with the target vehicle. The management system transmits information of a plurality of elements constituting the target action to the target vehicle via each of a plurality of different communication paths. The target vehicle performs the target action including all elements of the plurality of elements, The management system uses sensors to sense the actions performed by the vehicle, The management system recognizes the vehicle that performs the target action including all of the plurality of elements as the target vehicle, and does not recognize the vehicle that performs the action that does not include at least one of the plurality of elements as the target vehicle.

15. A vehicle identification system for identifying a target vehicle, wherein: The vehicle identification system includes a management system capable of communicating with the target vehicle. The management system sends information of the object action including a plurality of temporally continuous actions to the object vehicle, The target vehicle performs the target action, The management system uses sensors to sense the actions performed by the vehicle, The management system compares the sensed motion with the plurality of motions, and identifies the vehicle as the target vehicle when a predetermined number or more of the plurality of motions are sensed.

Images