Detector

Abstract

To monitor the state of a vehicle without being affected by the ambient environment such as in the nighttime.SOLUTION: A detector comprises: an acquisition unit that, on the basis of a reflected wave that is reflected on an object moving in the cabin from a transmitted wave transmitted toward the inside of a cabin of a vehicle, acquires time-series data of a point group indicating one or more detection points representing the position of the object moving in the cabin; an operation unit that analyzes the behavior of the point group moving with the lapse of time on the basis of the time-series data of the point group; and a determination unit that determines whether the object enters or exits from the cabin on the basis of the behavior of the point group.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] FIELD OF THE INVENTION An embodiment of the present invention relates to a sensing device. [Background technology]

[0002] In order to monitor the inside and outside of a vehicle, for example, in Patent Document 1, a surveillance camera with a convex mirror is installed on the vehicle. However, when a surveillance camera is used, it is difficult to recognize the detection target, for example, at night. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-026144 Summary of the Invention [Problem to be solved by the invention]

[0004] The present invention has been made in view of the above, and an object of the present invention is to provide a detection device that can monitor the state of a vehicle without being affected by the surrounding environment, such as at night. [Means for solving the problem]

[0005] The detection device of the embodiment includes an acquisition unit that acquires time series data of a point cloud that shows one or more detection points representing the position of an object moving within the vehicle cabin based on a transmission wave transmitted toward the interior of the vehicle cabin and reflected by the object moving within the cabin, a calculation unit that analyzes the behavior of the point cloud that moves over time based on the time series data of the point cloud, and a determination unit that determines whether the object is entering or exiting the cabin based on the behavior of the point cloud.

[0006] The detection device of the embodiment can monitor the vehicle status without being affected by the surrounding environment, such as at night. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective side view showing an example of the configuration of the interior of a vehicle in which a detection system according to an embodiment is installed. [Figure 2] FIG. 2 is a perspective top view showing an example of the configuration of the interior of a vehicle in which a detection system according to an embodiment is installed. [Figure 3] FIG. 3 is a block diagram illustrating an example of a hardware configuration of the detection system according to the embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of a functional configuration of the detection system according to the embodiment. [Figure 5] FIG. 5 is an explanatory diagram of a determination method performed by the detection system according to the embodiment. [Figure 6] FIG. 6 is an explanatory diagram of a determination method performed by the detection system according to the embodiment. [Figure 7] FIG. 7 is an explanatory diagram of a determination method performed by the detection system according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating an example of a procedure of a detection process performed by the detection device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions, results, and advantages brought about by the configurations, are merely examples. The present invention can be realized using configurations other than those disclosed in the following embodiments, and it is possible to obtain at least one of the various advantages and derivative advantages based on the basic configurations.

[0009] (Detection system configuration example) Fig. 1 is a perspective side view showing an example of the configuration inside a passenger compartment R of a vehicle C equipped with a detection system 1 according to an embodiment. Fig. 2 is a perspective top view showing an example of the configuration inside a rear part of the passenger compartment R of a vehicle C equipped with a detection system 1 according to an embodiment.

[0010] In the figure, the +X direction is the direction from the center of the left-right direction of vehicle C toward the right, and the -X direction is the direction from the center of the left-right direction of vehicle C toward the left. The left-right direction of vehicle C is the direction as seen from the driver's seat. The +Y direction is the direction from the center of the front-rear direction of vehicle C toward the rear, and the -Y direction is the direction from the center of the front-rear direction of vehicle C toward the front. The +Z direction is the direction downward from the ceiling 5 of vehicle C.

[0011] The vehicle C may be, for example, an automobile powered by an internal combustion engine or a motor, or a hybrid vehicle powered by both of these.

[0012] 1 and 2 show, as an example, a vehicle C that is a so-called three-row seat vehicle. That is, the vehicle C of the embodiment has, in order from the front of the vehicle C, seat rows SR1, SR2, and SR3. However, the vehicle C of the embodiment is not limited to a three-row seat vehicle, and may be a standard passenger car with front and rear seats, or may be any of various other types of vehicles.

[0013] Seat row SR1 includes a driver's seat and a passenger seat. Seat rows SR2 and SR3 include multiple seats adjacent to each other. In the example of FIG. 2, seat row SR2 includes three seats adjacent to each other, with an occupant P seated in each seat on either side of the center seat. Seat row SR3 includes two seats adjacent to each other, with an occupant P seated in the seat on the right side of vehicle C.

[0014] The detection system 1 has a function of detecting an occupant P present in the vehicle compartment R and the position of the occupant P. The detection system 1 also has a function of detecting the presence and route of an intruder entering the vehicle C from outside. The detection results of the occupant P or the intruder by the detection system 1 are used for, for example, a seat belt reminder or monitoring for intrusions into the vehicle compartment R.

[0015] When functioning as a seat belt reminder, the detection system 1 operates exclusively while the vehicle C is moving, and detects occupants in the vehicle compartment R. On the other hand, when monitoring for intrusions into the vehicle compartment R, the detection system 1 operates exclusively while the vehicle C is stopped, and detects intrusions into the vehicle compartment R.

[0016] The detection system 1 includes a sensor device 2 and a detection device 3 .

[0017] The sensor device 2 is installed, for example, on the ceiling 5 near the center of the vehicle C in the ±X directions, transmits a transmission wave toward the interior of the vehicle compartment R, and receives a reflected wave generated when the transmission wave is reflected by an object present in the vehicle compartment R. The sensor device 2 of the embodiment is installed behind the seat backs of the seat row SR1 when viewed from the ceiling 5. The detection device 3 is installed, for example, in the dashboard, and is connected to the sensor device 2 via a network such as a CAN (Controller Area Network).

[0018] The installation positions of the sensor device 2 and the detection device 3 are not limited to those described above. However, it is desirable that the sensor device 2 is installed in a position where, for example, substantially the entire vehicle interior R is included in its detection range and where all windows and the like of the vehicle C that could be used as entry points into the vehicle C can be monitored. Furthermore, the number of sensor devices 2 installed in the vehicle interior R is not limited to the example in Fig. 1; for example, by installing multiple sensor devices 2 in the vehicle interior R, it may be possible to monitor substantially the entire vehicle interior R.

[0019] FIG. 3 is a block diagram illustrating an example of a hardware configuration of the detection system 1 according to the embodiment.

[0020] As shown in FIG. 3, the sensor device 2 included in the detection system 1 includes a transmitter 21, a receiver 22, a sensor ECU (Electronic Control Unit) 23, and an input / output unit 24.

[0021] The transmitter 21 transmits (irradiates) an electromagnetic wave of a predetermined frequency, such as 60 GHz to 65 GHz, as a transmission wave into the vehicle interior R. The receiver 22 receives a reflected wave generated when the transmission wave is reflected by an object present in the vehicle interior R, and generates an electrical signal indicating the intensity of the reflected wave. The transmitter 21 and the receiver 22 may be configured using, for example, an oscillator circuit, a piezoelectric element, an AD converter, an amplifier, a filter circuit, etc. The transmitter 21 and the receiver 22 may be configured separately from each other, or may be configured integrally.

[0022] The sensor ECU 23 is a microcontroller configured using a CPU (Central Processing unit), memory, etc., and performs processes related to control of the transmitter 21 and receiver 22, generation of data based on the reflected waves received by the receiver 22, etc.

[0023] The input / output unit 24 is an interface device that establishes communication between the detection device 3 and other devices in accordance with a predetermined standard such as CAN.

[0024] As described above, the sensor device 2 has a configuration in which a radio wave sensor including, for example, the transmitter 21 and the receiver 22 is integrated with the sensor ECU 23 that generates data based on transmitted and received waves obtained from the radio wave sensor.

[0025] The detection device 3 included in the detection system 1 is an ECU or the like including a CPU 31, a memory 32, and an input / output unit 33.

[0026] The CPU 31 executes various arithmetic processes according to programs stored in, for example, the memory 32. The memory 32 may be configured using a volatile memory and a non-volatile memory. The memory 32 stores programs that cause the CPU 31 to execute various processes for realizing the functions of the detection device 3, setting data, data acquired from the sensor device 2, data generated by the CPU 31, and the like.

[0027] The input / output unit 33 is an interface device that establishes communication between the sensor device 2 and other devices in accordance with a predetermined standard such as CAN.

[0028] It should be noted that the hardware configuration shown in FIG. 3 is an example, and the hardware configuration of the detection system 1 is not limited to the above.

[0029] FIG. 4 is a block diagram illustrating an example of a functional configuration of the detection system 1 according to the embodiment.

[0030] As shown in FIG. 4, the sensor device 2 included in the detection system 1 includes a wave transmitting / receiving unit 201 and a generating unit 202 as functional units.

[0031] The wave transmitting / receiving unit 201 transmits a transmission wave such as an electromagnetic wave into the vehicle interior R, receives a reflected wave of the transmission wave reflected by an object present in the vehicle interior R, and generates an electrical signal indicating the intensity of the reflected wave.

[0032] The generation unit 202 generates point cloud information based on the electrical signal generated by the wave transmitting and receiving unit 201. The point cloud information is a point cloud showing one or more detection points representing the position of an occupant P present in the vehicle cabin R or an intruder into the vehicle cabin R on a three-dimensional map corresponding to the space within the vehicle cabin R. The three-dimensional map corresponding to the space within the vehicle cabin R may be, for example, a voxel map. In this case, the detection points representing the occupant P or the intruder may be voxels within the voxel map.

[0033] Here, the electrical signal generated by the wave transmitting / receiving unit 201 includes not only the detection target such as an occupant P or an intruder in the vehicle cabin R, but also reflected waves reflected from the vehicle C components such as the vehicle body and seats, and luggage placed on the seats, etc. Among these, the vehicle C components and luggage, etc. maintain a substantially stationary state, or fluctuate in a manner highly correlated with the movement of the vehicle body as the vehicle body sways. Therefore, the vehicle C components and luggage, etc. also fluctuate in a manner highly correlated with the sensor device 2 installed on, for example, the ceiling 5 of the vehicle C. On the other hand, the occupant P or an intruder, etc. in the vehicle cabin R usually moves spontaneously in some way.

[0034] Therefore, the point cloud information can be obtained by extracting, from the electrical signals generated by the wave transmitting and receiving unit 201, reflecting objects whose movements are not synchronized with the movement of the vehicle body as detection points representing the occupant P, an intruder, etc. As an example, the detection points representing the occupant P can be points where the amount of change in the intensity of the reflected waves per unit time caused by movements not synchronized with the movement of the vehicle body is greater than a predetermined threshold. However, the type of points to be set as detection points representing the occupant P, an intruder, etc. can be determined appropriately depending on the function of the sensor device 2 to be used, etc.

[0035] The detection device 3 included in the detection system 1 includes, as functional units, an acquisition unit 301, a calculation unit 302, a determination unit 303, an output unit 304, and a storage unit 305. These functional units may be configured, for example, by a combination of hardware and a program as illustrated in Fig. 3. Furthermore, some or all of these functional units may be configured by dedicated hardware (circuits, etc.), such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0036] The acquisition unit 301 periodically acquires point cloud information generated by the sensor device 2. This allows the detection device 3 to acquire time-series data of point clouds that may move over time.

[0037] The calculation unit 302 counts the number of points included in the point cloud information for each appearance region for each predetermined time included in the time-series data. In a three-dimensional map in which the point clouds are arranged and correspond to the space inside the vehicle compartment R, areas where the occupant P should be seated or areas that could be a route of entry into the vehicle compartment R are set as appearance regions for counting the number of points. The calculation unit 302 counts the number of points in these regions for each predetermined time and analyzes the behavior of the point clouds over time.

[0038] The determination unit 303 determines whether or not an occupant P or an intruder is present in the vehicle compartment R based on the behavior of the point cloud over time analyzed by the calculation unit 302, and also identifies the seating position of the occupant P or the intruder's entry route.

[0039] The determination unit 303 can make the above determination based on, for example, statistical data. More specifically, typical patterns such as a point cloud distribution when the occupant P is in the vehicle compartment R and a point cloud distribution when an intruder enters the vehicle compartment R from a specific intrusion route can be compiled into a database and stored in the storage unit 305. Alternatively, a determination model can be constructed by machine learning or the like and stored in the storage unit 305. The determination unit 303 can make the above determination by referring to the database stored in the storage unit 305 or by using the determination model.

[0040] When the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred, the output unit 304 outputs an alarm to, for example, the alarm device 4. The alarm device 4 is, for example, a buzzer or the like provided in the vehicle C, and issues the alarm when the alarm is output from the output unit 304. The alarm issued by the alarm device 4 may be, for example, an alarm sound or an announcement such as a warning.

[0041] The storage unit 305 stores, for example, programs and control parameters that realize various functions of the detection device 3. The storage unit 305 also stores time-series data of point clouds acquired by the detection device 3 from the sensor device 2, as well as the number of point clouds in each area and determination results such as the presence or absence of an occupant P or an intruder. The storage unit 305 also stores a three-dimensional map corresponding to the space within the vehicle interior R, the sizes and arrangements of various areas within the three-dimensional map, a database of point cloud distribution patterns, or a determination model, etc.

[0042] (Detection system judgment method) Next, a determination method by the detection system 1 of the embodiment will be described with reference to Figures 5 to 7. In the following example, a case where the detection system 1 monitors intrusions into the vehicle compartment R will be described.

[0043] 5 to 7 are explanatory diagrams of a determination method by the detection system 1 according to the embodiment. More specifically, the left diagrams of Fig. 5 to 7 show an overhead view of the actual situation in the vehicle compartment R. The right diagrams of Fig. 5 to 6 show examples of analysis results of the actual situation by the detection system 1.

[0044] The left diagram in Figure 5 shows an intruder B trying to insert his arm into the vehicle compartment R through one of the windows W provided in the vehicle C. In this way, the multiple windows W provided in the vehicle C can serve as entry points (entrances and exits) into the vehicle compartment R.

[0045] Therefore, as shown in the right diagram of Fig. 5, on a three-dimensional map Cm corresponding to the space inside the vehicle cabin R, regions A of a predetermined range within the vehicle cabin R corresponding to each window W of the vehicle C are set in advance. These regions A are also called regions of interest (ROI). In the example of the right diagram of Fig. 5, as a result of the detection system 1 analyzing the situation in the left diagram of Fig. 5, a plurality of point clouds PP appear within the region A corresponding to one window W that was the entry point for the intruder B.

[0046] The left diagram in Fig. 6 shows a situation in which intruder B extends his arm from window W, through which he is attempting to break in, further into the interior of vehicle compartment R. In the example shown on the right diagram in Fig. 6, as a result of the detection system 1 analyzing the situation shown on the left diagram in Fig. 6, the area in which point cloud PP appears expands from area A corresponding to window W, which was the entry point, further into the interior of vehicle compartment R on the 3D map Cm corresponding to the space inside vehicle compartment R.

[0047] The calculation unit 302 of the detection device 3 analyzes the behavior of the point cloud PP, which changes over time, from time-series data of the point cloud PP including the point cloud information shown in, for example, the right diagrams of Figures 5 and 6. More specifically, the behavior of the point cloud PP may include, for example, a behavior in which the point cloud PP starts from an area A corresponding to one of the windows W of the vehicle C and moves toward the interior of the vehicle compartment R, or a behavior in which the point cloud PP moves slightly but remains within a local range within the vehicle compartment R.

[0048] The judgment unit 303 refers to the database in the memory unit 305 or uses a judgment model to determine whether or not an intrusion has occurred into the vehicle interior R based on the behavior of the point cloud PP analyzed by the calculation unit 302, and also identifies the intrusion route.

[0049] 5 and 6, the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred, for example, starting from one of the windows W provided in the vehicle C. In this case, the output unit 304 outputs an alarm to the alarm device 4, and the alarm device 4 issues an alarm sound or the like.

[0050] 5 and 6, a part of the body of intruder B, such as an arm, enters the vehicle compartment R and is detected as the point cloud PP. However, it may be another part of the body of intruder B that has entered the vehicle compartment R, or it may be a tool that intruder B is carrying to break a window glass, etc. Any part of the body of intruder B or an object controlled by intruder B that enters the vehicle compartment R and moves spontaneously can be detected as the point cloud PP by the detection system 1.

[0051] On the other hand, even if no intrusion into the vehicle cabin R has occurred, such as when an occupant P in the vehicle cabin R is sitting in a seat by the window with their posture slumped, a point cloud PP may appear in the area A corresponding to the window W of the vehicle C.

[0052] The left diagram in Fig. 7 shows an occupant P seated at the left end of seat row SR2 in vehicle C leaning against the adjacent window W. In the example shown on the right diagram in Fig. 7, as a result of the detection system 1 analyzing the situation shown in the left diagram in Fig. 7, a point cloud PP appears on a three-dimensional map Cm corresponding to the space inside the vehicle compartment R within a predetermined range including an area A corresponding to the window W against which the occupant P is leaning.

[0053] The calculation unit 302 analyzes the behavior of the point cloud PP over time from time series data of the point cloud PP, which includes point cloud information, for example, as shown in the right diagram of Figure 7, and the judgment unit 303 judges based on the analysis whether or not an intrusion into the vehicle compartment R has occurred.

[0054] As shown in the example of Figure 7, for example, when an occupant P in the vehicle compartment R is leaning against a window W, it is unlikely that the point cloud PP will move a predetermined distance over time without remaining in a local area, or that the area in which the point cloud PP appears will expand toward the interior of the vehicle compartment R.

[0055] Therefore, the determination unit 303 determines that the point cloud PP shown in the right diagram of Fig. 7 does not indicate an intrusion into the vehicle compartment R, but is caused by the occupant P inside the vehicle compartment R. In this case, the output unit 304 does not output an alarm, and the alarm device 4 does not issue an alarm sound or the like.

[0056] (Example of detection device processing) Next, an example of an intruder detection process by the detection device 3 according to the embodiment will be described with reference to Fig. 8. Fig. 8 is a flow diagram showing an example of the procedure of the detection process by the detection device 3 according to the embodiment. Fig. 8 shows a determination process performed by the detection device 3 at one time.

[0057] As shown in Figure 8, the acquisition unit 301 acquires point cloud information at a predetermined interval, in which the point cloud PP is displayed on a three-dimensional map of the vehicle interior R, which is detected by the transmitting and receiving unit 201 of the sensor device 2 and generated by the generation unit 202, thereby acquiring time series data of the point cloud PP (step S101).

[0058] The calculation unit 302 analyzes the behavior of the point cloud PP, which changes over time, based on the time-series data of the point cloud PP (step S102). The determination unit 303 determines, based on the behavior of the point cloud PP analyzed by the calculation unit 302, whether or not the point cloud PP indicates that an intrusion into the vehicle interior R has occurred (step S103).

[0059] As described above, when the behavior of the point cloud PP is observed to start from the area A corresponding to a window W or the like that may be a potential entry point and move toward the interior of the vehicle compartment R, the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred (step S103: Yes). The output unit 304 outputs an alarm to the alarm device 4 (step S104).

[0060] On the other hand, if the point cloud PP does not appear in the vehicle interior R in the first place, or if the point cloud PP that has appeared in the vehicle interior R remains within a localized area, the determination unit 303 determines that no intrusion into the vehicle interior R has occurred (step S103: No). In this case, the processing of step S104 is skipped.

[0061] This completes one detection process of the detection device 3 of this embodiment.

[0062] 8 at a predetermined timing, such as when the engine of the vehicle C is stopped, and repeats the process until a predetermined timing, such as when the engine of the vehicle C is started again, is reached. This allows the detection device 3 to monitor whether or not an intrusion into the vehicle compartment R has occurred while the vehicle C is stopped.

[0063] (Overview) As mentioned above in Patent Document 1, there is known a technology for monitoring the inside and outside of a vehicle by installing a surveillance camera or the like in the vehicle. However, when a surveillance camera is used for vehicle monitoring, it is difficult to recognize the monitored object in an environment such as nighttime, and the detection accuracy decreases.

[0064] According to the embodiment of the detection device 3, the transmitted wave transmitted toward the interior R of the vehicle C is reflected by an object moving within the interior R, and based on the reflected wave, the behavior of the point cloud PP that moves over time is analyzed based on the time series data of the point cloud PP, which shows one or more detection points that represent the position of an object moving within the interior R, and it is determined whether an object is entering or leaving the interior R.

[0065] In this way, the detection device 3 performs detection processing based on point cloud information from the sensor device 2, which includes a radio wave sensor, etc. This makes it possible to monitor the status of the vehicle C without being affected by the surrounding environment, such as at night. Furthermore, because the behavior of the point cloud PP, which changes over time, is analyzed based on the time-series data of the point cloud PP, it is possible to determine with high accuracy whether an object is entering or leaving the vehicle compartment R, for example, whether an object has entered the vehicle compartment R.

[0066] According to the detection device 3 of the embodiment, when the point cloud PP indicates a behavior of an object moving from a window W that communicates with the inside and outside of the vehicle compartment R as a starting point toward the interior of the vehicle compartment R, it is determined that an object has entered the vehicle compartment R. In this way, since the determination is made based on the behavior of the point cloud PP starting from a window W or the like that may be an entry point (doorway) into the vehicle compartment R, it is possible to determine with high accuracy whether an object has entered the vehicle compartment R.

[0067] The detection device 3 of the embodiment further includes an output unit 304 that outputs an alarm when it is determined that an object has entered the vehicle compartment R. This can deter the intruder B from entering the vehicle compartment R, thereby reducing damage to the vehicle C caused by the intrusion.

[0068] In the above-described embodiment, the output unit 304 of the detection device 3 outputs an alarm to, for example, the alarm device 4. However, for example, the storage unit 305 of the detection device 3 may store the email address or the like of the user of the vehicle C, and the output unit 304 may output the alarm to the stored email address. This allows the user to receive a notification that an intrusion into the vehicle compartment R has been detected and to take prompt action.

[0069] In the above-described embodiment, the detection system 1 performs monitoring solely to detect intrusion into the vehicle compartment R. However, the detection target of the detection system 1 is not limited to this.

[0070] For example, the detection system 1 may be capable of detecting an occupant P entering or exiting the vehicle compartment R through a door provided on the vehicle C. The occupant P getting in can be determined by, for example, the point cloud PP indicating a behavior starting from the door of the vehicle C, which serves as an entrance and exit to the vehicle compartment R, and moving toward the interior of the vehicle compartment R. The occupant P getting out can be determined by, for example, the point cloud PP indicating a behavior starting from the interior of the vehicle compartment R, moving toward the door of the vehicle C, and ending at the door.

[0071] Such detection of the occupant P entering or exiting the vehicle compartment R can be used, for example, to detect the occupant P getting in or out of an autonomous vehicle without a driver, etc. This allows, for example, the autonomous vehicle to operate smoothly.

[0072] Although the embodiments of the present invention have been described above, the above embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as set forth in the claims. [Explanation of symbols]

[0073] 1...detection system, 2...sensor device, 3...detection device, 4...alarm device, 5...ceiling, 21...transmitter, 22...receiver, 23...sensor ECU, 24...input / output unit, 31...CPU, 32...memory, 33...input / output unit, 201...transmitter / receiver unit, 202...generation unit, 301...acquisition unit, 302...calculation unit, 303...determination unit, 304...output unit, 305...memory unit, A...area, B...intruder, C...vehicle, P...occupant, PP...point cloud, R...vehicle compartment, SR1, SR2, SR3...seat rows.

Claims

1. an acquisition unit that acquires time series data of a point cloud that indicates, as a point cloud, one or more detection points that represent the position of an object moving within the vehicle cabin, based on a transmission wave that is transmitted toward the vehicle cabin and reflected by the object moving within the vehicle cabin; a calculation unit that analyzes the behavior of the point cloud that moves over time based on time-series data of the point cloud; a determination unit that determines whether the object is entering or leaving the vehicle compartment based on the behavior of the point cloud. Detection device.

2. The determination unit If the point cloud indicates a behavior of moving from an entrance communicating with the inside and outside of the vehicle compartment as a starting point toward the interior of the vehicle compartment, it is determined that the object has entered the vehicle compartment. The detection device of claim 1 .

3. an output unit that outputs an alarm when it is determined that the object has entered the vehicle interior; The detection device of claim 2 .

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