Detection device

Abstract

The detection device has: an acquisition unit that acquires time-series data of a point group showing one or more detection points indicating the position of an object moving in a vehicle cabin, based on a reflected wave that is reflected by the object moving in the vehicle cabin from a transmission wave transmitted to the vehicle cabin; a calculation unit that analyzes the behavior of the point group moving with the passage of time, based on the time-series data of the point group; and a determination unit that determines whether the object has entered or exited the vehicle cabin, based on the behavior of the point group.

Description

Technical Field

[0001] Embodiments of the present invention relate to a detection device. Background Technology

[0002] To monitor the interior and exterior of a vehicle, for example, in Patent Document 1, a surveillance camera with a convex mirror is installed in the vehicle. However, when using a surveillance camera, it is difficult to identify the target, for example, at night.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2004-026144 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] The present invention was made in view of the above, and provides a detection device capable of monitoring the condition of a vehicle without being affected by the surrounding environment such as night.

[0008] Technical means to solve the problem

[0009] The detection device of the embodiment includes: an acquisition unit that acquires time-series data of a group of points representing the position of the moving object in the vehicle interior, based on a reflected wave of a transmitted wave transmitted into the vehicle interior and reflected by an object moving in the vehicle interior; a calculation unit that analyzes the behavior of the group of points moving over time based on the time-series data of the group of points; and a determination unit that determines whether the object has entered or exited the vehicle interior based on the behavior of the group of points.

[0010] The detection device described in this embodiment can monitor the condition of a vehicle regardless of the surrounding environment, such as at night. Attached Figure Description

[0011] Figure 1 This is a perspective side view showing an example of the structure inside a vehicle equipped with the detection system according to the embodiment.

[0012] Figure 2 This is a perspective top view showing an example of the structure inside a vehicle equipped with the detection system according to the embodiment.

[0013] Figure 3 This is a block diagram illustrating an example of the hardware structure of the detection system involved in the implementation method.

[0014] Figure 4 This is a block diagram illustrating an example of the functional structure of the detection system involved in the implementation method.

[0015] Figure 5 This diagram illustrates the determination method based on the detection system involved in the implementation method.

[0016] Figure 6 This diagram illustrates the determination method based on the detection system involved in the implementation method.

[0017] Figure 7 This diagram illustrates the determination method based on the detection system involved in the implementation method.

[0018] Figure 8 This is a flowchart illustrating an example of the detection processing steps based on the detection apparatus involved in the implementation method. Detailed Implementation

[0019] The following describes exemplary embodiments of the present invention. The structures of the embodiments shown below, as well as the effects, results, and outcomes resulting from these structures, are merely examples. The present invention can be implemented in ways other than those disclosed in the following embodiments, and at least one of various effects or derivative effects based on the basic structure can be obtained.

[0020] (Example of a detection system structure)

[0021] Figure 1 This is a perspective side view showing an example of the structure inside the cabin R of a vehicle C equipped with the detection system 1 according to the embodiment. Figure 2 This is a perspective top view showing an example of the structure of the rear interior of the vehicle C, which is equipped with the detection system 1 according to the embodiment.

[0022] In the diagram, the +X direction is from the center of vehicle C to the right, and the -X direction is from the center of vehicle C to the left. The left and right directions of vehicle C are from the driver's seat. The +Y direction is from the center of vehicle C to the rear, and the -Y direction is from the center of vehicle C to the front. The +Z direction is from the roof 5 of vehicle C downwards.

[0023] Vehicle C can be, for example, a car powered by an internal combustion engine or an electric motor, or a hybrid vehicle powered by both.

[0024] exist Figure 1 and Figure 2 The example shown is a so-called three-row vehicle, namely vehicle C. That is, in this embodiment, vehicle C has, from the front of vehicle C, rows of seats SR1, SR2, and SR3 in sequence. However, vehicle C in this embodiment is not limited to a three-row vehicle; it can be a regular passenger car with front and rear seats, or it can be any other type of vehicle.

[0025] Seating row SR1 includes the driver's seat and the front passenger seat. Seating rows SR2 and SR3 each consist of multiple adjacent seats. Figure 2 In the example, seat row SR2 includes three adjacent seats, showing occupant P seated on either side of the central seat. Seat row SR3 includes two adjacent seats, showing occupant P seated on the right side of vehicle C.

[0026] The detection system 1 has the function of detecting the presence of an occupant P within the vehicle compartment R and the location of the occupant P. Additionally, the detection system 1 has the function of detecting the presence and intrusion path of a person who intrudes from outside the vehicle C. The detection results of the occupant P or intruders, etc., based on the detection system 1, can be used for applications such as seatbelt reminders or intrusion monitoring within the vehicle compartment R.

[0027] When functioning as a seatbelt reminder, detection system 1 primarily operates while vehicle C is in motion, detecting occupants within the vehicle compartment R. Conversely, when monitoring intrusion into the vehicle compartment R, detection system 1 primarily operates while vehicle C is stationary, detecting intrusions into the vehicle compartment R.

[0028] The detection system 1 has a sensor device 2 and a detection device 3.

[0029] Sensor device 2 is, for example, installed on the ceiling 5 near the center in the ±X direction of vehicle C, transmitting a transmitted wave into the passenger compartment R, and receiving reflected waves generated by the transmitted wave being reflected by objects present in the passenger compartment R. Viewed from the ceiling 5, sensor device 2 in this embodiment is positioned further rearward than the backrest of the seat row SR1. Detection device 3 is, for example, installed inside the dashboard and connected to sensor device 2 via a network such as CAN (Controller Area Network).

[0030] Furthermore, the installation locations of the sensor device 2 and the detection device 3 are not limited to those described above. However, the sensor device 2 is preferably positioned, for example, in a location that includes approximately the entire vehicle compartment R within the detection range and is capable of monitoring all windows of the vehicle C, which could become entry points for the vehicle C. Additionally, the number of sensor devices 2 installed within the vehicle compartment R is not limited to... Figure 1 For example, by installing a plurality of sensor devices 2 inside the vehicle compartment R, it is possible to monitor the general whole of the vehicle compartment R.

[0031] Figure 3 This is a block diagram illustrating an example of the hardware structure of the detection system 1 according to the implementation method.

[0032] like Figure 3As shown, the sensor device 2 of the detection system 1 includes a transmitter 21, a receiver 22, a sensor ECU (Electronic Control Unit) 23, and an input / output unit 24.

[0033] Transmitter 21 transmits (irradiates) electromagnetic waves of a specified frequency, such as 60 GHz to 65 GHz, into the vehicle compartment R. Receiver 22 receives reflected waves generated by the transmitted waves being reflected by objects within the vehicle compartment R, and generates an electrical signal representing the intensity of the reflected waves. Transmitter 21 and receiver 22 can be constructed using, for example, an oscillating circuit, a piezoelectric element, an AD converter, an amplifier, or a filter circuit. Transmitter 21 and receiver 22 can be constructed separately or as a single unit.

[0034] The sensor ECU23 is a microcontroller composed of a CPU (Central Processing unit) and memory, which performs related processing such as controlling the transmitter 21 and receiver 22 and generating data based on the reflected wave received by the receiver 22.

[0035] The input / output unit 24 is an interface device that establishes communication between the detection device 3 and other devices in accordance with standards such as CAN.

[0036] As described above, the sensor device 2 has, for example, the following structure: an electromagnetic wave sensor including a transmitter 21 and a receiver 22, integrated with a sensor ECU 23 that generates data based on the transmitted and received waves acquired by the electromagnetic wave sensor.

[0037] The detection device 3 of the detection system 1 is an ECU, etc., which has a CPU 31, a memory 32 and an input / output unit 33.

[0038] CPU 31 performs various arithmetic operations based on programs stored in memory 32. Memory 32 can be constructed using volatile memory and non-volatile memory. Memory 32 stores programs for causing CPU 31 to perform various processes to realize the functions of detection device 3, setting data, data acquired by sensor device 2, data generated by CPU 31, etc.

[0039] The input / output unit 33 is an interface device that establishes communication between the sensor device 2 and other devices in accordance with standards such as CAN.

[0040] also, Figure 3 The hardware structure shown is illustrative, and the hardware structure of the detection system 1 is not limited to the above.

[0041] Figure 4 This is a block diagram illustrating an example of the functional structure of the detection system 1 according to the implementation method.

[0042] like Figure 4 As shown, the sensor device 2 of the detection system 1 has a transceiver unit 201 and a generator unit 202 as functional units.

[0043] The transceiver unit 201 transmits electromagnetic waves and other transmitted waves into the vehicle compartment R, and receives reflected waves after the transmitted waves are reflected by objects present in the vehicle compartment R, thereby generating an electrical signal representing the intensity of the reflected waves.

[0044] The generation unit 202 generates point group information based on the electrical signal generated by the transceiver unit 201. The point group information is information displayed as a group of one or more detection points representing the location of a passenger P present in the vehicle compartment R or an intruder entering the vehicle compartment R on a three-dimensional map corresponding to the space within the vehicle compartment R. The three-dimensional map corresponding to the space within the vehicle compartment R can be, for example, a voxel map. In this case, the detection points representing the passenger P or the intruder can be voxels within the voxel map.

[0045] Here, the electrical signal generated by the transceiver unit 201 includes not only detected objects such as passengers P or intruders inside the vehicle compartment R, but also reflected waves from structures of the vehicle C, such as the vehicle body and seats, as well as luggage placed on the seats. The structures of the vehicle C and luggage either remain almost stationary or exhibit changes highly correlated with the movement of the vehicle body due to swaying. Therefore, the structures of the vehicle C and luggage exhibit changes highly correlated with sensor devices 2 installed on the roof 5 of the vehicle C, for example. On the other hand, passengers P or intruders inside the vehicle compartment R typically exhibit some form of spontaneous movement.

[0046] Therefore, by extracting reflectors with motion asynchronous with the vehicle body from the electrical signal generated by the transceiver unit 201 as detection points representing passengers P or intruders, the aforementioned point group information can be obtained. For example, the detection point representing passenger P could be a point where the change in the intensity of the reflected wave per unit time due to motion asynchronous with the vehicle body exceeds a preset threshold. However, the type of point used as the detection point representing passenger P or intruders can be appropriately determined based on the function of the sensor device 2 used.

[0047] The detection device 3 of the detection system 1, as a functional unit, includes an acquisition unit 301, a calculation unit 302, a judgment unit 303, an output unit 304, and a storage unit 305. These functional units can, for example, be... Figure 3The illustrated hardware and program collaboration constitutes the structure. Alternatively, some or all of these functional units can also be constructed using dedicated hardware (circuits, etc.) such as ASICs (Application Specific Integrated Circuits) and FPGAs (Field-Programmable Gate Arrays).

[0048] The acquisition unit 301 acquires point group information generated by the sensor device 2 at predetermined intervals. Thus, the detection device 3 is able to acquire temporal data of the point group that can move over time.

[0049] For each predetermined time moment included in the time-series data, the calculation unit 302 counts the number of occurrence areas for each point group in the point group information. In a three-dimensional map that arranges point groups corresponding to the space inside the vehicle compartment R, areas where the passenger P should sit or areas that may become intrusion paths into the vehicle compartment R are designated as occurrence areas for counting the number of point groups. The calculation unit 302 counts the number of point groups in these areas at each predetermined time moment and analyzes the behavior of the point groups as time passes.

[0050] The determination unit 303 determines whether there is a passenger P or an intruder in the carriage R based on the behavior of the point group that has passed over time as analyzed by the calculation unit 302, and determines the seating position of the passenger P or the intruder's intrusion path.

[0051] The determination made by the determination unit 303 can be based on statistical data, for example. More specifically, typical patterns such as the distribution of points of occupant P in the vehicle compartment R and the distribution of points of intruders entering the vehicle compartment R from a specific intrusion path can be databaseed and stored in the storage unit 305. Alternatively, a determination model can be constructed using 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.

[0052] If the determination unit 303 determines that an intrusion into the vehicle compartment R is occurring, the output unit 304 outputs an alarm to the alarm device 4, for example. The alarm device 4 is, for example, a buzzer installed in the vehicle C, and the alarm is emitted by outputting an alarm from the output unit 304. The alarm emitted by the alarm device 4 may be, for example, an alarm tone or a warning announcement.

[0053] The storage unit 305 stores, for example, programs and control parameters used to implement various functions of the detection device 3. Additionally, the storage unit 305 stores the timing data of the point clusters acquired by the detection device 3 from the sensor device 2, the number of point clusters in each area, and the determination results regarding the presence or absence of a passenger P or intruder. Furthermore, the storage unit 305 stores a three-dimensional map corresponding to the space within the vehicle compartment R, the dimensions and configuration of various areas within the three-dimensional map, and a database or determination model of point cluster distribution patterns.

[0054] (Judgment method of detection system)

[0055] Next, use Figures 5-7 The determination method of the detection system 1 based on the implementation method will be described. In the following example, the case of intrusion monitoring into the vehicle compartment R by the detection system 1 will be described.

[0056] Figures 5-7 This is an explanatory diagram illustrating the determination method of the detection system 1 according to the implementation method. More specifically, Figures 5-7 The left image is an overhead view of the interior of vehicle R to show the actual conditions inside vehicle R. Figures 5-6 The right figure shows an example of the analysis results of the detection system 1 on the actual situation.

[0057] Figure 5 The left figure shows an intruder B attempting to reach his arm into the vehicle compartment R through one of the windows W of vehicle C. Thus, multiple windows W of vehicle C can serve as entry points (entrances / exits) for intrusion into the vehicle compartment R.

[0058] Therefore, as Figure 5 As shown in the right figure, on the 3D map Cm corresponding to the space inside the vehicle compartment R, a pre-defined area A is defined within the vehicle compartment R corresponding to each window W of the vehicle C. This area A is also called the Region of Interest (ROI). Figure 5 In the example shown in the right figure, as detection system 1... Figure 5 The analysis of the situation in the left figure shows that multiple point groups PP appear in area A corresponding to a car window W, which serves as the entry point for intruder B.

[0059] Figure 6 The left image shows an intruder, B, extending his arm further into the interior of the vehicle's compartment R from the window W through which he attempted to break in. Figure 6 In the example shown in the right figure, as detection system 1... Figure 6 The analysis of the situation in the left figure shows that, on the three-dimensional map Cm corresponding to the space inside the car compartment R, the area where the point group PP appears extends further into the interior of the car compartment R from the area A corresponding to the window W, which serves as the entry point.

[0060] The arithmetic unit 302 of the detection device 3, for example, includes... Figure 5 and Figure 6 The right figure shows the time-series data of point group PP, and the behavior of point group PP changes over time. More specifically, the behavior of point group PP includes, for example, the behavior of point group PP moving from the region A corresponding to any window W in vehicle C into the interior of vehicle R; or the behavior of point group PP remaining within a local area inside vehicle R, although there is some movement.

[0061] The determination unit 303 refers to the database of the storage unit 305 or uses the determination model, and determines whether an intrusion into the vehicle compartment R is occurring based on the behavior of the point group PP parsed by the calculation unit 302, and determines the intrusion path.

[0062] exist Figure 5 and Figure 6 For example, the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred, originating from one of the windows W installed on the vehicle C. In this case, the output unit 304 outputs an alarm to the alarm device 4, and the alarm device 4 emits an alarm sound, etc.

[0063] In addition, Figure 5 and Figure 6 In the example, part of the intruder B's body, such as an arm, enters the vehicle compartment R and is detected as point group PP. However, other parts of the intruder B's body could also enter the vehicle compartment R, or it could be a tool used by the intruder B to break a window, etc. As long as part of the intruder B's body or an object controlled by the intruder B enters the vehicle compartment R and is accompanied by spontaneous movement, it can be detected as point group PP by detection system 1.

[0064] On the other hand, if a passenger P in the vehicle compartment R changes his posture and sits in a window seat, even if there is no intrusion into the vehicle compartment R, a group of points PP may appear in the area A corresponding to the window W of the vehicle C.

[0065] Figure 7 The left image shows passenger P, seated at the left end of seat row SR2 inside vehicle C, leaning against the adjacent window W. Figure 7 In the example shown in the right figure, as detection system 1... Figure 7 The analysis of the situation in the left figure shows that, on the three-dimensional map Cm corresponding to the space inside the car compartment R, a point group PP appears within a defined area A, which includes the window W that the passenger P is leaning against.

[0066] The arithmetic unit 302, for example, according to the included Figure 7The time-series data of point group PP shown in the right figure are analyzed. The behavior of point group PP over time is analyzed, and the determination unit 303 determines whether an intrusion into the vehicle compartment R is occurring.

[0067] like Figure 7 For example, if a passenger P in the carriage R is leaning against the window W, it can be assumed that the point group PP will not move a predetermined distance over time without remaining in a local area, or that the area where the point group PP appears will expand into the interior of the carriage R.

[0068] Therefore, the determination unit 303 makes a determination. Figure 7 The dot group PP shown in the right figure does not represent an intrusion into the vehicle compartment R, but is caused by a passenger P who is already inside the vehicle compartment R. In this case, the output unit 304 does not output an alarm, and the alarm device 4 does not emit an alarm sound.

[0069] (Processing example of the detection device)

[0070] Next, use Figure 8 An example of intruder detection processing of the detection device 3 of the embodiment will be described. Figure 8 This is a flowchart illustrating an example of the detection processing steps based on the detection device 3 according to the implementation method. Figure 8 The process of each determination by the detection device 3 is shown.

[0071] like Figure 8 As shown, the acquisition unit 301 acquires the point group information of the point group PP, which is detected by the transceiver unit 201 of the sensor device 2 and generated by the generation unit 202 and displayed on the three-dimensional map in the vehicle compartment R, by acquiring the point group information of the point group PP displayed on the three-dimensional map in the vehicle compartment R at a predetermined period (step S101).

[0072] The calculation unit 302 analyzes the behavior of the point group PP, which changes over time, based on the time-series data of the point group PP (step S102). The determination unit 303 determines whether the point group PP indicates an intrusion into the vehicle compartment R based on the behavior of the point group PP analyzed by the calculation unit 302 (step S103).

[0073] As described above, for example, if the behavior of the point group PP moving from the area A corresponding to the window W, which may become an entry point, into the interior of the vehicle compartment R is observed, the determination unit 303 determines that an intrusion into the vehicle compartment R is occurring (step S103: "Yes"). The output unit 304 outputs an alarm to the alarm device 4 (step S104).

[0074] On the other hand, if no point group PP originally appeared in the vehicle compartment R, or if a point group PP appeared and remained in a local area within the vehicle compartment R, the determination unit 303 determines that no intrusion into the vehicle compartment R has occurred (step S103: "No"). In this case, the processing of step S104 is skipped.

[0075] The detection process of the detection device 3 in the above embodiment is now complete.

[0076] The detection device 3 starts at a predetermined time, such as when the engine of vehicle C stops. Figure 8 The process shown is repeated until a predetermined time, such as when the engine of vehicle C is restarted, is reached. This allows monitoring of any intrusion into the vehicle compartment R while vehicle C is stationary.

[0077] (Summary)

[0078] As described in Patent Document 1 above, there is a known technology that involves installing a surveillance camera or similar device in a vehicle to monitor the interior and exterior of the vehicle. However, when using a surveillance camera for vehicle monitoring, it is difficult to identify the monitored object in environments such as nighttime, resulting in reduced detection accuracy.

[0079] According to the embodiment of the detection device 3, based on the reflected wave of the transmitted wave sent into the vehicle compartment R of the vehicle C and reflected by an object moving in the vehicle compartment R, and based on the time sequence data of the point group PP, which represents the position of one or more detection points representing the position of the object moving in the vehicle compartment R, the device analyzes the behavior of the point group PP that moves over time and determines whether an object has entered or exited the vehicle compartment R.

[0080] In this way, the detection device 3 performs detection processing based on point group information from the sensor device 2, which includes a radio wave sensor and the like. This allows for monitoring of the vehicle C's condition regardless of surrounding environmental factors such as nighttime. Furthermore, by analyzing the behavior of the point group PP as it changes over time based on the time-series data of the point group PP, it is possible to determine with high accuracy whether an object has entered or exited the vehicle compartment R, such as whether there has been intrusion into the vehicle compartment R.

[0081] According to the detection device 3 of the embodiment, when the point group PP exhibits behavior of moving deeper into the interior of the vehicle compartment R from the window W that connects to the inside and outside of the vehicle compartment R, it is determined that an object has intruded into the vehicle compartment R. In this way, based on the behavior of the point group PP starting from the window W, etc., which may become an intrusion point (entrance / exit) into the vehicle compartment R, it is possible to determine with high accuracy whether there is an intrusion into the vehicle compartment R.

[0082] The detection device 3 according to the embodiment also includes an output unit 304 that outputs an alarm when it is determined that an object is intruding into the vehicle compartment R. This discourages the intruder B from attempting to enter the vehicle compartment R, and helps to prevent damage to the vehicle C caused by the intrusion.

[0083] Furthermore, in the above embodiment, the output unit 304 of the detection device 3 outputs an alarm to the alarm device 4, for example. However, for example, the storage unit 305 of the detection device 3 may store the email address of the user of vehicle C, and the output unit 304 may output an alarm to the stored email address. Thus, the user can receive a notification that an intrusion into the vehicle compartment R has been detected and can respond quickly.

[0084] Furthermore, in the above embodiment, the detection system 1 is specifically designed to monitor for intrusions into the vehicle compartment R. However, the detection targets of the detection system 1 are not limited to this.

[0085] For example, detection system 1 can also detect passenger P entering and exiting the vehicle compartment R through a door provided in vehicle C. Passenger P's entry into the vehicle can be determined by a point group PP, for example, showing movement from the door of vehicle C, which serves as the entrance / exit in the compartment R, into the interior of the compartment R. Passenger P's exit from the vehicle can be determined by a point group PP, showing movement from the interior of the compartment R towards the door of vehicle C, with the door as the endpoint.

[0086] This detection method, which detects a passenger P entering or leaving the vehicle compartment R, can be used to detect, for example, a passenger P boarding or alighting from a driverless autonomous vehicle. This, for example, enables the smooth operation of autonomous vehicles.

[0087] The embodiments of the present invention have been described above, but these embodiments are provided as examples and are not intended to limit the scope of the invention. New embodiments can also be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the invention, and are included within the scope of the invention and its equivalents as described in the claims.

[0088] [Summary of this implementation method]

[0089] This embodiment has at least the following structure.

[0090] The detection device includes: an acquisition unit that acquires time-series data of a group of points representing the position of the moving object in the vehicle interior, based on a reflected wave of a transmitted wave transmitted into the vehicle interior and reflected by an object moving in the vehicle interior; a calculation unit that analyzes the behavior of the group of points moving over time based on the time-series data of the group of points; and a determination unit that determines whether the object has entered or exited the vehicle interior based on the behavior of the group of points.

[0091] With this structure, since the behavior is determined based on points such as windows that could potentially become entry points (entrances) into the vehicle interior, it is possible to determine with high accuracy whether there is an intrusion into the vehicle interior. Therefore, the vehicle's condition can be monitored regardless of the surrounding environment, such as at night.

[0092] Furthermore, if the group of points exhibits a behavior of moving deeper into the interior of the vehicle compartment from an entrance or exit that connects to the interior or exterior of the vehicle compartment, the determination unit determines that an intrusion of the object into the vehicle compartment has occurred.

[0093] This structure allows for highly accurate determination of whether there is any intrusion into the vehicle interior.

[0094] In addition, it also has an output unit that outputs an alarm when it is determined that the object has intruded into the vehicle interior.

[0095] This structure, by issuing alarms, discourages intruders from entering the vehicle and thus prevents damage to the vehicle caused by intrusion.

[0096] Furthermore, the effects of dependent claims and embodiments are additional effects that differ from the effects of the independent claims.

[0097] Explanation of reference numerals in the attached figures

[0098] 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: Transceiver unit; 202: Generation unit; 301: Acquisition unit; 302: Calculation unit; 303: Judgment unit; 304: Output unit; 305: Storage unit; A: Area; B: Intruder; C: Vehicle; P: Occupant; PP: Point group; R: Cabin; SR1, SR2, SR3: Seat row.

Claims

1. A detection device, wherein, have: The acquisition unit acquires time-series data of a point group, which represents the position of one or more detection points indicating the position of the moving object in the vehicle interior, based on the reflected wave of a transmitted wave sent into the vehicle interior and reflected by an object moving in the vehicle interior. The computing unit analyzes the behavior of the point group as it moves over time, based on the time-series data of the point group. as well as The determination unit, based on the behavior of the point group, determines whether the object has entered or exited the vehicle compartment.

2. The detection device according to claim 1, wherein, If the group of points exhibits a behavior of moving deeper into the interior of the vehicle compartment from an entrance or exit that connects to the interior or exterior of the vehicle compartment, the determination unit determines that an intrusion of the object into the vehicle compartment has occurred.

3. The detection device according to claim 2, wherein, It also has an output unit that outputs an alarm when it is determined that the object has intruded into the vehicle interior.

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