Monitoring device, monitoring method, and monitoring program

Abstract

To accurately determine an object not to be detected.SOLUTION: A monitoring device 100 comprises an acquisition unit 121 and a determination unit 122. The acquisition unit 121 acquires the coordinates of a specified moving object based on the information detected by the moving object sensor provided in a vehicle. The determination unit 122 determines whether or not the moving body is an object that should not be detected based on the coordinates of the moving body acquired by the acquisition unit 121.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a monitoring device, a monitoring method, and a monitoring program. [Background technology]

[0002] Conventionally, there is technology for microwave sensors that use microwaves to detect objects, which accurately distinguishes between objects that should be detected, such as human bodies, and objects that should not be detected (for example, vegetation swaying in the wind) to avoid false alarms (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2003-207462 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, there are cases where it is not possible to accurately determine an object that should not be detected. For example, when the movement of a person, which is an object to be detected, is small or when the person is far away, there is a risk that the person, which is an object to be detected, will be mistakenly detected as an object that should not be detected. Thus, the above-mentioned problem is one example of the problem that the present invention is intended to solve. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems and achieve the object, the invention described in claim 1 is characterized in having an acquisition unit that acquires coordinates of a moving object identified based on information detected by a motion sensor installed in the vehicle, and a judgment unit that judges whether the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition unit.

[0006] The invention described in claim 7 is a method executed by a monitoring device, characterized in that it includes an acquisition step of acquiring coordinates of a moving object identified based on information detected by a moving object sensor installed in the vehicle, and a determination step of determining whether or not the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition step.

[0007] The invention described in claim 8 is characterized by having an acquisition step of acquiring coordinates of a moving object identified based on information detected by a moving object sensor installed in the vehicle, and a determination step of determining whether the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition step. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a monitoring device system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of the configuration of a monitoring device according to an embodiment. [Diagram 3] FIG. 3 is a diagram illustrating an example of an installation location of the moving body sensor according to the embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Diagram 5] FIG. 5 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Figure 6] FIG. 6 is a diagram showing a change process performed by the monitoring device according to the embodiment. [Figure 7] FIG. 7 is a flowchart showing an example of a process flow by the monitoring device according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Figure 11]FIG. 11 is a diagram illustrating an example of a determination process performed by the monitoring device according to the embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of a process flow by the monitoring device according to the embodiment. [Figure 13] FIG. 13 is a flowchart showing an example of a process flow by the monitoring device according to the embodiment. [Figure 14] FIG. 14 is a flowchart showing an example of a process flow by the monitoring device according to the embodiment. [Figure 15] FIG. 15 is a hardware configuration diagram showing an example of a computer that realizes the functions of the monitoring device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, a mode for carrying out the present invention (hereinafter, referred to as an embodiment) will be described with reference to the drawings. Note that the present invention is not limited to the embodiment described below. Furthermore, in the description of the drawings, the same parts are given the same reference numerals.

[0010] [First embodiment] 1. System Configuration First, the configuration of a monitoring system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the configuration of a monitoring system according to an embodiment. Fig. 1 shows a monitoring system 1 as an example of the monitoring system according to the embodiment.

[0011] 1, the monitoring system 1 may include an in-vehicle device 10 and a monitoring device 100. The in-vehicle device 10 and the monitoring device 100 are connected to each other via a network N so as to be able to communicate with each other via a wired or wireless connection. The monitoring system 1 shown in FIG. 1 may include any number of in-vehicle devices 10 and any number of monitoring devices 100.

[0012] The in-vehicle device 10 may be a dedicated sensor device built into or externally attached to the vehicle VEx, or may be a device such as a recording device (dashcam) installed in the vehicle VEx for crime prevention or anti-tailgating purposes.

[0013] The in-vehicle device 10 may also be configured with a sensor device and a notification device. As an example, the in-vehicle device 10 may be a composite device in which a sensor device and a notification device that are independent of each other are communicatively connected. As another example, the in-vehicle device 10 may be a single device having a sensor function and a notification function.

[0014] Furthermore, a user can connect a predetermined sensor to a portable terminal device (e.g., a smartphone, a tablet terminal, a notebook PC, a desktop PC, a PDA, etc.) that he or she uses on a daily basis and install a predetermined application to use it as a substitute for the in-vehicle device 10. For example, a portable terminal device that is equipped with a predetermined sensor or to which a predetermined sensor is connected can be understood as the in-vehicle device 10 referred to here. When the portable terminal device is used as the in-vehicle device 10, for example, it is installed on the dashboard of the vehicle VEx while driving.

[0015] The in-vehicle device 10 may also include various sensors, such as a distance sensor, a microwave sensor, a LiDAR (light detection and ranging) or other motion sensor, a temperature sensor, a microphone, a GPS sensor, an acceleration sensor, a gyro sensor, a camera, and an air pressure sensor.

[0016] The monitoring device 100 may acquire various types of data based on the sensor information detected by these sensors (for example, by analyzing the sensor information). For example, the monitoring device 100 acquires information on moving objects inside and outside the vehicle from a moving object sensor. Also, for example, the monitoring device 100 acquires the temperature inside the vehicle from a temperature sensor. Also, for example, the monitoring device 100 acquires audio from a microphone. Also, for example, the monitoring device 100 acquires angular velocity from a gyro sensor. Also, for example, the monitoring device 100 acquires video data of the outside captured from inside the vehicle VEx by a camera. Note that the monitoring device 100 may acquire sensor information detected not only by sensors provided in the in-vehicle device 10, but also by sensors provided in the vehicle VEx itself.

[0017] The monitoring device 100 is a device that determines an object that should not be detected. Conventionally, parked vehicles are monitored in order to prevent theft and theft of parked vehicles. In such a device that monitors parked vehicles, a person who approaches or looks into a parked vehicle is considered to be an object to be detected. However, when an object that should not be detected, such as plants such as grass and trees, or objects such as banners and flags, exists near the parked vehicle, the device may mistakenly detect the presence of a person, which is an object that should be detected. Therefore, the monitoring device 100 accurately determines an object that should not be detected that exists near the parked vehicle, thereby preventing erroneous detection.

[0018] For example, when the standard deviation of the strength of a signal received by a motion sensor provided in the vehicle and the standard deviation of the coordinates of a moving object identified based on information detected by the motion sensor are less than a threshold, the monitoring device 100 determines that the moving object is an object that should not be detected. Also, for example, the monitoring device 100 determines whether or not the moving object is an object that should not be detected based on the coordinates of the moving object identified based on information detected by the motion sensor provided in the vehicle.

[0019] Here, if the in-vehicle device 10 is an edge computer that performs edge processing near the user, the monitoring device 100 may be, for example, a cloud computer that performs processing on the cloud side. In other words, the monitoring device 100 may be a server device.

[0020] In the following embodiment, an example is shown in which the monitoring according to the embodiment is realized in the monitoring system 1 by transmitting and receiving information between the in-vehicle device 10 and the monitoring device 100. However, the monitoring according to the embodiment may be realized only on the edge side, i.e., the in-vehicle device 10. In this case, the in-vehicle device 10 may be configured to behave like the monitoring device 100 by, for example, a monitoring program according to the embodiment.

[0021] 2. Configuration of the monitoring device Next, the monitoring device 100 according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the monitoring device 100 according to the embodiment. As shown in Fig. 2, the monitoring device 100 has a communication unit 110, a storage unit 130, and a control unit 120. Each unit of the monitoring device 100 will be described below.

[0022] The communication unit 110 is realized by, for example, a network interface card (NIC), etc. The communication unit 110 is connected to the network N by wire or wirelessly, and transmits and receives information to and from the in-vehicle device 10, for example.

[0023] The storage unit 130 is realized by, for example, a semiconductor memory element such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk, an optical disk, etc. The storage unit 130 stores information such as the position where the motion sensor is installed, the strength of the signal to be transmitted, the sensitivity of receiving the signal, the strength of the received signal, the angle calculated from the received signal, the distance, the coordinates of the motion sensor, and other information necessary for determining whether an object should not be detected.

[0024] The control unit 120 is realized using a CPU (Central Processing Unit), an NP (Network Processor), an FPGA (Field Programmable Gate Array), etc., and executes a processing program stored in a memory. As shown in Fig. 2, the control unit 120 has an acquisition unit 121, a determination unit 122, and a change unit 123. Each unit of the control unit 120 will be described below.

[0025] The acquisition unit 121 acquires the strength of a signal received by a motion sensor provided in the vehicle and the coordinates of a moving object identified based on information detected by the motion sensor. For example, the acquisition unit 121 acquires the strength of a signal received by a motion sensor provided in the vehicle and the coordinates of a moving object identified from information on distance and angle detected by the motion sensor. At this time, the number of motion sensors may be multiple. For example, the acquisition unit 121 acquires the strength of each signal received by multiple motion sensors provided in the vehicle so as to include the vehicle interior in its detection range and the coordinates of a moving object identified based on information detected by the multiple motion sensors.

[0026] The location of the motion sensor is not limited as long as it is inside the vehicle. For example, it may be installed near the rearview mirror as shown in Fig. 3(1), or on the center pillar as shown in Fig. 3(2). In other words, the motion sensor is installed in a location inside the vehicle according to the purpose, such as the front pillar, center pillar, rear pillar, rearview mirror, ceiling, seat, rear window, etc.

[0027] The determination unit 122 determines that the moving object is an object that should not be detected when the standard deviation of the intensity of the signal acquired by the acquisition unit 121 is less than a threshold value and the standard deviation of the moving distance is less than a threshold value. Here, the moving distance (movement amount) may be the moving distance of the coordinates of the moving object acquired by the acquisition unit 121, or the moving distance of the center of gravity that is the midpoint of the coordinates of consecutive moving objects. In addition, the standard deviation may be calculated for samples from a certain sample up to a predetermined period (e.g., 2.0 seconds) before, or may be calculated for samples from a certain sample up to a predetermined number (e.g., 40) before. A specific example of the process of the determination unit 122 will be described later in the determination process.

[0028] In other words, when the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value for a period of at least a specified percentage of the specified period, and the standard deviation of the moving distance is less than the threshold value for a period of at least a specified percentage of the specified period, the judgment unit 122 judges that the moving object is an object that should not be detected.

[0029] More specifically, the judgment unit 122 judges that a moving object is one that should not be detected if the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value (1.3) for more than 90% of a period of 3.5 seconds and the standard deviation of the moving distance is less than the threshold value (4.0) for more than 90% of a period of 3.5 seconds.

[0030] The above-mentioned condition of the time element may be expressed by the number of data. For example, if 20 data are taken per second, the above-mentioned 3.5 seconds is expressed by 70 data. That is, the determination unit 122 determines that the moving object is an object that should not be detected when the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value (1.3) for 63 or more data and the standard deviation of the moving distance is less than the threshold value (4.0) for 63 or more data.

[0031] Furthermore, the determination unit 122 can further add a condition of the distance between the moving object and the moving object sensor to determine that the moving object is an object that should not be detected. For example, the determination unit 122 determines that the moving object is an object that should not be detected when the standard deviation of the intensity of the signal acquired by the acquisition unit 121 is less than a threshold, the standard deviation of the moving distance is less than a threshold, and the distance between the moving object and the moving object sensor is less than a threshold.

[0032] More specifically, when the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value (1.3), the standard deviation of the moving distance is less than the threshold value (4.0), and the distance between the moving object and the moving object sensor is less than 300 cm, the determination unit 122 determines that the moving object is an object that should not be detected. Here, the condition of the distance between the moving object and the moving object sensor may be expressed as the distance on each of the X-axis and the Y-axis. For example, assuming that the coordinates of the moving object sensor are X-axis: 0 and Y-axis: 0, the condition of the distance between the moving object and the moving object sensor is expressed as "when a moving object is detected within the coordinate range of X-axis: -300 to 300 cm, Y-axis: 0 to 500 cm."

[0033] The change unit 123 changes the settings of the motion sensor when the determination unit 122 determines that the moving object is an object that should not be detected. For example, the change unit 123 changes the sensitivity with which the motion sensor receives a signal when the determination unit 122 determines that the moving object is an object that should not be detected. For example, when the determination unit 122 determines that the moving object is an object that should not be detected, the change unit 123 lowers the sensitivity with which the motion sensor receives a signal reflected near the coordinates of the moving object. Also, for example, when the determination unit 122 determines that the moving object is an object that should not be detected, the change unit 123 lowers the sensitivity with which the motion sensor receives a signal from the coordinate direction of the moving object.

[0034] 3. Judgment process Next, the determination process by the monitoring device 100 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 and Fig. 5 are diagrams for explaining an example of the determination process by the monitoring device 100. Fig. 4(1) shows data identified based on information detected by a motion sensor in a situation where a tree is swaying. For example, information such as the coordinates (X, Y) of the moving object and the signal strength (Level) is shown. Here, when an object that should not be detected, such as a swaying tree, is detected by the motion sensor, characteristic coordinate movement and signal strength are observed as described below.

[0035] For example, when a motion sensor detects the swaying movement of a tree, the coordinates of the moving object move finely due to the small movements of the branches and leaves. That is, as shown in Figure 4 (2), the standard deviation of the amount of movement is a low value. Also, for example, when a motion sensor detects the swaying movement of a tree, there is little change in the signal strength because plants do not move spontaneously and their position does not change much. That is, as shown in Figure 4 (3), the standard deviation of the signal strength is a low value.

[0036] Therefore, the determination unit 122 determines whether the object is an object that should not be detected based on the movement of coordinates and the change in signal strength that are characteristically observed when an object that should not be detected is detected by the motion sensor. For example, as shown in Fig. 4(2), the determination unit 122 determines that the moving object is an object that should not be detected when the standard deviation of the moving distance acquired by the acquisition unit 121 is less than the threshold value (4.0) for 90% or more of a period of 3.5 seconds, and when the standard deviation of the signal strength is less than the threshold value (1.3) for 90% or more of a period of 3.5 seconds, as shown in Fig. 4(3).

[0037] This allows the monitoring device 100 to determine that a moving object is an object that should not be detected, based on the signal strength that is characteristic of an object that should not be detected being detected as a moving object, and the movement of the coordinates of the moving object.

[0038] Next, the addition of the distance condition by the determination unit 122 will be described. In both Figs. 5(1) and (2), coordinates of a moving object (person) detected at a position far away from the vehicle are shown. In this way, when a moving object is detected at a position far away from the vehicle, blurring, noise, and attenuation occur in the coordinates of the specified moving object and the intensity of the signal. For example, as shown in Fig. 5(1), when a moving object is detected at a position far away from the vehicle on the X-axis, coordinates in which the coordinates of the moving object move minutely within a certain range and signal intensity with little fluctuation are obtained. This point is also the same when a moving object is detected at a position far away from the vehicle on the Y-axis as shown in Fig. 5(2).

[0039] That is, even for a moving object detected at a far distance, erroneous determination (false detection) may occur if determination is made using only the coordinates of the moving object and the standard deviation of the signal intensity as explained with reference to Fig. 4. Therefore, the determination unit 122 further adds a condition of the distance between the moving object and the moving object sensor, and determines that the moving object is an object that should not be detected.

[0040] For example, the determination unit 122 determines that the moving object is an object that should not be detected when the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value (1.3) for 90% or more of a period of 3.5 seconds, the standard deviation of the moving distance is less than the threshold value (4.0) for 90% or more of a period of 3.5 seconds, the distance between the moving object and the moving object sensor on the X coordinate is within 300 cm, and the distance between the moving object and the moving object sensor on the Y coordinate is within 500 cm. In addition to the distance condition, the determination unit 122 can appropriately combine other conditions, such as the signal strength being greater than 0 and the moving object not entering the vehicle.

[0041] This allows the monitoring device 100 to exclude moving objects detected at a distant location from the targets of judgment, thereby preventing erroneous judgment. Note that the distances from the moving object on the X and Y coordinates are examples of values ​​shown in an experiment conducted on a minivan with a total length of about 4600 mm and a width of about 1700 mm as the target vehicle, and when using the technology described in this specification, it is desirable to change them appropriately depending on the vehicle model, vehicle size, situation, etc.

[0042] [4. Change Processing] Next, the change processing performed by the monitoring device 100 will be described with reference to Fig. 6. Fig. 6 is a diagram for explaining an example of the change processing performed by the monitoring device 100. In the example of Fig. 6, a tree is located near the right front seat of the vehicle. When the tree sways due to the influence of wind, for example, the determination unit 122 determines that the moving object is an object that should not be detected by the above-mentioned determination processing.

[0043] Thereafter, the change unit 123 changes the settings of the moving object sensor. For example, when the determination unit 122 determines that a moving object (tree) located near the right front seat of the vehicle is an object that should not be detected, the change unit 123 lowers the sensitivity for receiving a signal reflected near the coordinates (X axis: XXX, Y axis: XXX) of the moving object (tree). At this time, the change unit 123 does not need to change the sensitivity for receiving a signal reflected from other than the vicinity of the coordinates of the moving object (tree).

[0044] The change unit 123 can also lower the sensitivity for receiving a signal from a direction in which a moving object determined to be an object that should not be detected is located. For example, the change unit 123 lowers the sensitivity for receiving a signal from an angle (000° to 000°) in which a moving object (tree) determined to be an object that should not be detected is located.

[0045] In other words, the monitoring device 100 reduces the sensitivity for receiving signals from moving objects that are determined to be objects that should not be detected, thereby preventing signals from moving objects that do not need to be monitored from being received, and can receive signals from other positions and directions without turning off the power to the moving object sensor, thereby continuously performing the determination process, thereby making it possible to accurately determine objects that should not be detected.

[0046] [5. Flowchart] Next, the processing by the monitoring device 100 configured as described above will be explained using the flowchart in Fig. 7. The flowchart in Fig. 7 is mainly executed by the control unit 120. Moreover, this flowchart can be configured as a program executed by the CPU of the control unit 120 to become a monitoring program. Note that the steps below can be executed in a different order, and some processing may be omitted.

[0047] First, the acquisition unit 121 acquires the strength of a signal received by a motion sensor provided in the vehicle and the coordinates of a moving object identified based on information detected by the motion sensor (step S101). For example, the acquisition unit 121 acquires the strength of a signal received by a motion sensor provided in the vehicle and the coordinates of a moving object identified from information on the distance and angle detected by the motion sensor.

[0048] Next, the determination unit 122 determines whether the standard deviation of the signal strength acquired by the acquisition unit 121 is less than the threshold value (step S102). If the determination unit 122 determines that the standard deviation of the signal strength is not less than the threshold value (step S102 "No"), the process returns to step S101.

[0049] On the other hand, if the determination unit 122 determines that the standard deviation of the signal intensity is less than the threshold value (step S102 "Yes"), the determination unit 122 determines whether the standard deviation of the moving distance calculated from the coordinates of the moving object acquired by the acquisition unit 121 is less than the threshold value (step S103). Here, if the determination unit 122 determines that the standard deviation of the moving distance is not less than the threshold value (step S103 "No"), the process returns to step S101 again.

[0050] On the other hand, if the determination unit 122 determines that the standard deviation of the moving distance is less than the threshold (step S103 "Yes"), the determination unit 122 determines whether the distance between the moving object and the moving object sensor is less than a predetermined threshold (step S104). For example, the determination unit 122 determines whether the distance between the moving object and the moving object sensor calculated from the coordinates of the moving object and the coordinates of the moving object sensor is less than the threshold. Here, if the determination unit 122 determines that the distance between the moving object and the moving object sensor is not less than the threshold (step S104 "No"), the process returns to step S101 again.

[0051] On the other hand, if the determination unit 122 determines that the distance between the moving object and the moving object sensor is less than the threshold value (step S104 "Yes"), the determination unit 122 determines that the moving object is an object that should not be detected (step S105). Next, the change unit 123 changes the setting of the moving object sensor (step S106). For example, the change unit 123 lowers the receiving sensitivity to signals from the coordinate direction of the moving object determined to be an object that should not be detected.

[0052] 6. Effects The monitoring device 100 according to the embodiment includes an acquisition unit 121 that acquires the strength of a signal received by a motion sensor provided in the vehicle and the coordinates of a moving object identified based on information detected by the motion sensor, and a determination unit 122 that determines that the moving object is an object that should not be detected if the standard deviation of the signal strength acquired by the acquisition unit 121 is less than a threshold value and the standard deviation of the moving distance is less than a threshold value.

[0053] In this way, the monitoring device 100 can accurately determine whether an object that should not be detected is an object that should not be detected by determining whether the standard deviation of the signal strength and the standard deviation of the moving distance of the moving object are below the respective thresholds. That is, the monitoring device 100 determines that the moving object is an object that should not be detected based on the signal strength that is characteristically observed when an object that should not be detected is detected as a moving object and the movement of the coordinates of the moving object.

[0054] The determination unit 122 of the monitoring device 100 according to the embodiment further determines that the moving object is an object that should not be detected when the distance between the moving object and the moving object sensor is less than a threshold value. This allows the monitoring device 100 to determine whether the standard deviation of the signal intensity and the standard deviation of the coordinates of the moving object are each less than the threshold value, and the distance between the moving object and the moving object sensor is less than the threshold value, thereby enabling the monitoring device 100 to accurately determine that the moving object is not to be detected.

[0055] The monitoring device 100 according to the embodiment further includes a change unit 123 that changes the settings of the moving object sensor when the determination unit 122 determines that the moving object is an object that should not be detected. In this way, the monitoring device 100 reduces the reception sensitivity of the signal from the moving object determined to be an object that should not be detected, thereby preventing the reception of signals from moving objects that do not need to be monitored, and can receive signals from other positions and directions without turning off the power of the moving object sensor and perform the determination process continuously, thereby accurately determining objects that should not be detected.

[0056] [Second embodiment] [1. Configuration of monitoring device] In the first embodiment, an example is described in which the signal strength and coordinates of the moving object are used to determine whether the moving object is an object that should not be detected, but in the second embodiment described below, an example is described in which the coordinates of the moving object are used to determine whether the moving object is an object that should not be detected. Note that the same content as in the first embodiment will not be described as appropriate.

[0057] First, the monitoring device 100 according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the monitoring device 100 according to the embodiment. As shown in Fig. 2, the control unit 120 of the monitoring device 100 has an acquisition unit 121, a determination unit 122, and a change unit 123. Each unit of the control unit 120 will be described below.

[0058] The acquisition unit 121 acquires the coordinates of a moving object identified based on information detected by a moving object sensor provided in the vehicle. For example, the acquisition unit 121 acquires the coordinates of a moving object identified from information on distance and angle detected by the moving object sensor.

[0059] The determination unit 122 determines whether or not the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition unit 121. For example, the determination unit 122 determines that the moving object is an object that should not be detected when a value obtained by dividing the total amount of movement of the coordinates of the moving object acquired by the acquisition unit 121 in a predetermined period by the amount of movement of the coordinates of the moving object between the start point and the end point in the predetermined period is equal to or greater than a threshold. At this time, the determination unit 122 can perform threshold determination by performing calculations for each of the X coordinate and the Y coordinate. More specifically, the determination unit 122 determines that the moving object is an object that should not be detected when the value calculated using Equation 1 is equal to or greater than a threshold (15) and the value calculated using Equation 2 is equal to or greater than a threshold (15).

[0060]

number

[0061]

number

[0062] Furthermore, the determination unit 122 can perform threshold determination on the number of data exceeding the threshold. For example, when the total number of data is 100, the determination unit 122 determines that the moving object is an object that should not be detected if the number of data whose value calculated using Equation 1 is equal to or greater than the threshold (15) is equal to or greater than the threshold (20) and the number of data whose value calculated using Equation 2 is equal to or greater than the threshold (15) is equal to or greater than the threshold (20). Any value can be used for each threshold depending on the purpose.

[0063] Furthermore, the determination unit 122 determines that the moving object is an object that should not be detected when the sum of the amount of movement of the coordinates of the moving object acquired by the acquisition unit 121 during a predetermined period divided by the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate of the moving object during the predetermined period and the square of the difference between the maximum and minimum values ​​of the Y coordinate of the moving object during the predetermined period is equal to or greater than a threshold value. More specifically, the determination unit 122 determines that the moving object is an object that should not be detected when the value calculated using Equation 3 is equal to or greater than a threshold value (15).

[0064]

number

[0065] Furthermore, the determination unit 122 performs frequency analysis on the coordinates of the moving object acquired by the acquisition unit 121, and when high frequency components are included, determines that the moving object is an object that should not be detected. For example, the determination unit 122 performs frequency analysis by Fourier transform on the coordinates of the moving object acquired by the acquisition unit 121, and when high frequency components equal to or higher than a threshold value (2 Hz) are included, estimates that the moving object is an object that should not be detected. Note that any value according to the purpose can be used as the threshold value.

[0066] Furthermore, the determination unit 122 can determine that the moving object is an object that should not be detected by adding a condition of the distance between the moving object and the moving object sensor. For example, the determination unit 122 further determines that the moving object is an object that should not be detected when the distance between the moving object and the moving object sensor is less than a threshold value.

[0067] More specifically, when the distance between the moving object and the moving object sensor is less than 300 cm, the determination unit 122 determines that the moving object is an object that should not be detected. Here, the condition of the distance between the moving object and the moving object sensor may be expressed as the distance on each of the X-axis and the Y-axis. For example, assuming that the coordinates of the moving object sensor are X-axis: 0 and Y-axis: 0, the condition of the distance between the moving object and the moving object sensor is expressed as "when a moving object is detected within the coordinate range of X-axis: -300 to 300 cm, Y-axis: 0 to 500 cm."

[0068] The change unit 123 changes the settings of the motion sensor when the determination unit 122 determines that the moving object is an object that should not be detected. For example, the change unit 123 changes the sensitivity with which the motion sensor receives a signal when the determination unit 122 determines that the moving object is an object that should not be detected. For example, the change unit 123 lowers the sensitivity with which the motion sensor receives a signal from the vicinity of the coordinates of the moving object when the determination unit 122 determines that the moving object is an object that should not be detected. For example, the change unit 123 lowers the sensitivity with which the motion sensor receives a signal from the coordinate direction of the moving object when the determination unit 122 determines that the moving object is an object that should not be detected.

[0069] [2. Judgment process] Next, the determination process by the monitoring device 100 will be described with reference to Figs. 8 to 11. Figs. 8 to 11 are diagrams for explaining an example of the determination process by the monitoring device 100. First, with reference to Figs. 8 and 9, an example of determining an object that should not be detected using the sum of the movement amounts of each point relative to the movement amounts of the start point and end point will be described.

[0070] The difference between when a person is detected and when an object that should not be detected is detected will be explained using Fig. 8 and Fig. 9. The left side of Fig. 8 shows the X coordinate, Y coordinate, X coordinate ratio value, and Y coordinate ratio value when the motion sensor detects a moving object (person). The ratio value is the ratio of the total movement amount in a specified period to the movement amount between the start point and the end point in the specified period. The right side of Fig. 8 shows the movement amount between the start point and the end point with arrows, and each movement amount with a line.

[0071] When the motion sensor detects a moving object (person), there is little data that exceeds the threshold (15) for the ratio value of the X coordinate, as shown in the left side of Figure 8. Similarly, there is little data that exceeds the threshold (15) for the ratio value of the Y coordinate. In addition, when the motion sensor detects a moving object (person), it can be visually understood from the right side of Figure 8 that the total amount of movement of each point is small compared to the amount of movement of the start point and end point.

[0072] The left side of Fig. 9(1) shows the X coordinate, Y coordinate, X coordinate ratio value, and Y coordinate ratio value when the motion sensor detects a moving object (tree swaying). The right side of Fig. 9(1) shows the movement amount of the start point and end point with arrows, and the movement amount of each point with a line. When the motion sensor detects a moving object (tree swaying), as shown in the left side of Fig. 9(1), there is a lot of data that exceeds the threshold value (15) for the X coordinate ratio value, and similarly, there is a lot of data that exceeds the threshold value (15) for the Y coordinate ratio value. In addition, when the motion sensor detects a moving object (person), it can be visually understood from the right side of Fig. 9(1) that the total movement amount of each point is large compared to the movement amount of the start point and end point.

[0073] In other words, when a person is detected as a moving object, the person rarely stays in a fixed position and moves widely, so the total amount of movement of each point relative to the amount of movement of the start and end points is small. In contrast, when the swaying of a tree is detected as a moving object, although the branches move finely up and down and left and right, they move within a certain range, so compared to the case of a person, the total amount of movement of each point relative to the amount of movement of the start and end points is larger.

[0074] Therefore, the monitoring device 100 performs threshold determination on the total amount of movement of each point with respect to the amount of movement of the start point and the end point. For example, as shown in the condition of FIG. 9(2), when the total number of data is 200, if the number of data pieces in which the total amount of movement of each point on the X coordinate in 30 samples is divided by the amount of movement between the start point and the end point on the X coordinate is equal to or greater than the threshold (25), and if the number of data pieces in which the total amount of movement of each point on the Y coordinate in 30 samples is divided by the amount of movement between the start point and the end point on the Y coordinate is equal to or greater than the threshold (25), the monitoring device 100 determines that the moving object is an object that should not be detected with high accuracy. This allows the monitoring device 100 to perform threshold determination on the value obtained by dividing the total amount of movement by the amount of movement between the start point and the end point of the coordinate, thereby enabling the monitoring device 100 to accurately determine an object that should not be detected.

[0075] Next, an example of determining an object that should not be detected using the total amount of movement in a specified position coordinate area will be described with reference to FIG. 10. FIG. 10(1) shows the movement of coordinates when grass sways in the wind. For example, when a plant sways in the wind, the branches and leaves move in fixed positions. That is, the total amount of movement in a specified position coordinate area tends to be large. Here, the specified position coordinate area is an area determined by the maximum and minimum values ​​of the X coordinate and the maximum and minimum values ​​of the Y coordinate in a specified period, as shown by the diagonal line (La) of the rectangle in FIG. 9(1).

[0076] For example, La is expressed as the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate of the moving object in a predetermined period and the square of the difference between the maximum and minimum values ​​of the Y coordinate of the moving object in a predetermined period. Note that the predetermined period may be represented by the number of data.

[0077] For example, the monitoring device 100 performs threshold determination on the amount of movement in a predetermined position coordinate area under the conditions shown in Fig. 10(2). For example, when the total number of data samples is 100, the determination unit 122 determines that the moving object is an object that should not be detected if the sum of the distances moved for the 100 samples divided by the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate and the square of the difference between the maximum and minimum values ​​of the Y coordinate in a predetermined period of the moving object coordinate is equal to or greater than a predetermined threshold.

[0078] In this way, the monitoring device 100 performs threshold judgment on the value obtained by dividing the total amount of movement by the square root of the sum of the squares of the differences between the maximum and minimum values ​​for each coordinate axis, thereby enabling it to evaluate the movement distance of each point without separating the X and Y coordinates, and to accurately determine objects that should not be detected.

[0079] Next, an example of determining an object that should not be detected by frequency analysis will be described with reference to Fig. 11. Fig. 11(1) shows the coordinate movement of a moving object detected by the swaying of a tree. As shown in Fig. 11(2) and (3), the coordinate movement of a moving object detected by the swaying of a tree shown in Fig. 11(1) contains a plurality of frequencies. That is, a tree that sways due to the influence of wind or the like performs a repetitive movement in a fixed position, so the coordinate movement of a moving object detected by the swaying of a tree contains high-frequency components that are not seen when a person passes near a vehicle or looks into the vehicle.

[0080] Therefore, the determination unit 122 performs frequency analysis on the data of the coordinates of the moving object, and if high-frequency components equal to or greater than a threshold are included, determines that the moving object is an object that should not be detected. For example, the determination unit 122 performs frequency analysis by Fourier transform on the coordinates of the moving object acquired by the acquisition unit 121, and estimates that the moving object is an object that should not be detected if high-frequency components equal to or greater than a threshold (2 Hz) are included.

[0081] As a result, the monitoring device 100 can determine whether the coordinates of a moving object that should not be detected show characteristic movements or properties, and thereby determine that the moving object is an object that should not be detected that performs repetitive movements in a fixed position.

[0082] [3. Flowchart] Next, the processing by the monitoring device 100 configured as described above will be described with reference to the flowcharts of Figures 12 to 14. The flowcharts of Figures 12 to 14 are mainly executed by the control unit 120. Moreover, the flowcharts can be configured as a program executed by the CPU of the control unit 120 to form a monitoring program. Note that the steps below can be executed in a different order, and some processing may be omitted.

[0083] First, the procedure of the process in which the monitoring device 100 determines that a moving object is an object that should not be detected by using the method of using the sum of the movement amount of each point with respect to the movement amount between the start point and the end point will be described with reference to Fig. 12. First, the acquisition unit 121 acquires the coordinates of the moving object identified based on the information detected by the moving object sensor provided in the vehicle (step S201). For example, the acquisition unit 121 acquires the coordinates of the moving object identified from the information of the distance and angle detected by the moving object sensor.

[0084] Next, the determination unit 122 determines whether the value obtained by dividing the total amount of movement of the coordinates of the moving object in a predetermined period acquired by the acquisition unit 121 by the amount of movement of the coordinates of the moving object between the start point and the end point in the predetermined period is equal to or greater than a threshold (step S202). For example, the determination unit 122 determines whether the value calculated using Equation 1 is equal to or greater than the threshold, and whether the value calculated using Equation 2 is equal to or greater than the threshold. If the determination unit 122 determines that the value is not equal to or greater than the threshold (step S202 "No"), the process returns to step S201.

[0085] On the other hand, if the determination unit 122 determines that the distance is equal to or greater than the threshold (step S202 "Yes"), the determination unit 122 determines whether the distance between the moving object and the moving object sensor is less than the threshold (step S203). If the determination unit 122 determines that the distance is not less than the threshold (step S203 "No"), the process returns to step S201.

[0086] On the other hand, if the determination unit 122 determines that the moving object is less than the threshold value (step S203 "Yes"), the determination unit 122 determines that the moving object is an object that should not be detected (step S204). Next, the change unit 123 changes the setting of the moving object sensor (step S205). For example, the change unit 123 lowers the receiving sensitivity to signals from the coordinate direction of the moving object determined to be an object that should not be detected.

[0087] Next, the procedure of the process in which the monitoring device 100 determines that a moving object is an object that should not be detected by using the method of using the total amount of movement in a predetermined position coordinate area will be described with reference to Fig. 13. First, the acquisition unit 121 acquires the coordinates of the moving object identified based on information detected by a moving object sensor provided in the vehicle (step S301). For example, the acquisition unit 121 acquires the coordinates of the moving object identified from information on the distance and angle detected by the moving object sensor.

[0088] Next, the determination unit 122 determines whether the value obtained by dividing the total amount of movement of the coordinates of the moving object acquired by the acquisition unit 121 during the predetermined period by the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate of the moving object during the predetermined period and the square of the difference between the maximum and minimum values ​​of the Y coordinate of the moving object during the predetermined period is equal to or greater than a threshold (step S302). For example, the determination unit 122 determines whether the value calculated using Equation 3 is equal to or greater than a threshold. Here, if the determination unit 122 determines that the value is not equal to or greater than the threshold (step S302 "No"), the process returns to step S301.

[0089] On the other hand, if the determination unit 122 determines that the distance is equal to or greater than the threshold (step S302 "Yes"), the determination unit 122 determines whether the distance between the moving object and the moving object sensor is less than the threshold (step S303). If the determination unit 122 determines that the distance is not less than the threshold (step S303 "No"), the process returns to step S301.

[0090] On the other hand, if the determination unit 122 determines that the moving object is less than the threshold value (step S303 "Yes"), the determination unit 122 determines that the moving object is an object that should not be detected (step S304). Next, the change unit 123 changes the setting of the moving object sensor (step S305). For example, the change unit 123 lowers the receiving sensitivity for signals from the coordinate direction of the moving object determined to be an object that should not be detected.

[0091] Next, the procedure of the process in which the monitoring device 100 determines that a moving object is an object that should not be detected by frequency analysis will be described with reference to Fig. 14. First, the acquisition unit 121 acquires the coordinates of a moving object identified based on information detected by a moving object sensor provided in the vehicle (step S401). For example, the acquisition unit 121 acquires the coordinates of the moving object identified from information on the distance and angle detected by the moving object sensor.

[0092] Next, the determination unit 122 performs frequency analysis on the coordinate data of the moving object (step S402). For example, the determination unit 122 performs frequency analysis on the coordinate data of the moving object by Fourier transform. Next, the determination unit 122 determines whether the coordinate data of the moving object includes high-frequency components (step S403). For example, the determination unit 122 determines whether the coordinate data of the moving object subjected to frequency analysis includes high frequencies equal to or higher than a predetermined threshold. Here, if the determination unit 122 determines that the frequency is not equal to or higher than the threshold (step S403 "No"), the process returns to step S401 again.

[0093] On the other hand, if the determination unit 122 determines that a high frequency component is included (step S403 "Yes"), the determination unit 122 determines whether the distance between the moving object and the moving object sensor is less than the threshold value (step S404). If the determination unit 122 determines that the distance is not less than the threshold value (step S404 "No"), the process returns to step S401.

[0094] On the other hand, if the determination unit 122 determines that the moving object is less than the threshold value (step S404 "Yes"), the determination unit 122 determines that the moving object is an object that should not be detected (step S405). Next, the change unit 123 changes the setting of the moving object sensor (step S406). For example, the change unit 123 lowers the receiving sensitivity for signals from the coordinate direction of the moving object determined to be an object that should not be detected.

[0095] 4. Effects The monitoring device 100 according to the embodiment has an acquisition unit 121 that acquires the coordinates of a moving object identified based on information detected by a moving object sensor installed in the vehicle, and a determination unit 122 that determines whether the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition unit 121.

[0096] This allows the monitoring device 100 to accurately determine whether an object should not be detected based on the coordinates of the moving object. That is, the monitoring device 100 can determine whether the coordinates of the moving object show characteristic movements or properties, thereby determining that the moving object is an object that makes repetitive movements in a fixed position and should not be detected.

[0097] The determination unit 122 of the monitoring device 100 according to the embodiment determines that the moving object is an object that should not be detected when the value obtained by dividing the total amount of movement of the coordinates of the moving object in a predetermined period acquired by the acquisition unit 121 by the amount of movement of the coordinates of the moving object between the start point and the end point in the predetermined period is equal to or greater than a threshold. This allows the monitoring device 100 to accurately determine whether the object is an object that should not be detected by performing threshold determination on the value obtained by dividing the total amount of movement by the amount of movement of the coordinates between the start point and the end point.

[0098] The determination unit 122 of the monitoring device 100 according to the embodiment determines that the moving object is an object that should not be detected when the sum of the amount of movement of the coordinates of the moving object acquired by the acquisition unit 121 during a specified period divided by the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate of the moving object during the specified period and the square of the difference between the maximum and minimum values ​​of the Y coordinate of the moving object during the specified period is equal to or greater than a threshold value.

[0099] In this way, the monitoring device 100 performs threshold judgment on the value obtained by dividing the total amount of movement by the square root of the sum of the squares of the differences between the maximum and minimum values ​​for each coordinate axis, thereby enabling it to evaluate the movement distance of each point without separating the X and Y coordinates, and to accurately determine objects that should not be detected.

[0100] The determination unit 122 of the monitoring device 100 according to the embodiment performs frequency analysis on the coordinates of the moving object acquired by the acquisition unit 121, and determines that the moving object is an object that should not be detected if a high-frequency component is included. In this way, the monitoring device 100 can accurately determine whether an object that should not be detected is an object by determining whether the data of the coordinates of the moving object subjected to frequency analysis includes a high frequency equal to or higher than a predetermined threshold.

[0101] The determination unit 122 of the monitoring device 100 according to the embodiment further determines that the moving object is an object that should not be detected when the distance between the moving object and the moving object sensor is less than a threshold value. This allows the monitoring device 100 to determine whether the coordinates of the moving object show characteristic movements or properties and whether the distance between the moving object and the moving object sensor is less than a threshold value, thereby enabling the monitoring device 100 to accurately determine whether the moving object is an object that should not be detected.

[0102] The monitoring device 100 according to the embodiment further includes a change unit 123 that changes the settings of the moving object sensor when the moving object is determined to be an object that should not be detected. As a result, the monitoring device 100 reduces the reception sensitivity of the signal from the moving object determined to be an object that should not be detected, thereby preventing the reception of signals from moving objects that do not need to be monitored, and can receive signals from other positions and directions without turning off the power of the moving object sensor to continuously perform the determination process, thereby accurately determining objects that should not be detected.

[0103] [others] [1. Hardware configuration] Moreover, the monitoring device 100 according to the embodiment described above is realized, for example, by a computer 1000 having a configuration as shown in Fig. 15. Fig. 15 is a hardware configuration diagram showing an example of a computer that realizes the functions of the monitoring device 100. The computer 1000 has a CPU 1100, a RAM 1200, a ROM 1300, a HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700.

[0104] The CPU 1100 operates and controls each unit based on a program stored in the ROM 1300 or the HDD 1400. The ROM 1300 stores a boot program executed by the CPU 1100 when the computer 1000 is started up, programs that depend on the hardware of the computer 1000, and the like.

[0105] The HDD 1400 stores programs executed by the CPU 1100 and data used by the programs. The communication interface 1500 receives data from other devices via a predetermined communication network and sends the data to the CPU 1100, and transmits data generated by the CPU 1100 to other devices via the predetermined communication network.

[0106] The CPU 1100 controls output devices such as a display and a printer, and input devices such as a keyboard and a mouse, via the input / output interface 1600. The CPU 1100 acquires data from the input devices via the input / output interface 1600. The CPU 1100 also outputs generated data to the output devices via the input / output interface 1600.

[0107] The media interface 1700 reads a program or data stored in the recording medium 1800 and provides it to the CPU 1100 via the RAM 1200. The CPU 1100 loads the program from the recording medium 1800 onto the RAM 1200 via the media interface 1700 and executes the loaded program. The recording medium 1800 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable Disc), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory.

[0108] For example, when the computer 1000 functions as the monitoring device 100 according to the embodiment, the CPU 1100 of the computer 1000 executes programs loaded onto the RAM 1200 to realize the functions of the control unit 120. The CPU 1100 of the computer 1000 reads and executes these programs from the recording medium 1800, but as another example, the CPU 1100 may obtain these programs from other devices via a predetermined communication network.

[0109] [2. Other] Although an example of an embodiment of the present invention has been described above, the present invention is not limited to the above example. In other words, a person skilled in the art can implement the present invention by modifying it in various ways according to conventional knowledge without departing from the gist of the present invention. As long as the monitoring device of the present invention is still included in such modifications, it is of course included in the scope of the present invention. [Explanation of symbols]

[0110] 1. Surveillance System 10 Onboard equipment 100 Monitoring equipment 110 Communications Department 120 Control section 121 Acquisition Department 122 Judgment section 123 Changes 130 Storage section

Claims

1. an acquisition unit that acquires coordinates of a moving object identified based on information detected by a moving object sensor provided in the vehicle; a determination unit that determines whether or not the moving object is an object that should not be detected based on the coordinates of the moving object acquired by the acquisition unit; A monitoring device comprising:

2. The determination unit is When a value obtained by dividing a total amount of movement of the coordinates of the moving object acquired by the acquisition unit in a predetermined period by an amount of movement of the coordinates of the moving object between a start point and an end point in the predetermined period is equal to or greater than a threshold, the moving object is determined to be an object that should not be detected.

2. The monitoring device according to claim 1.

3. The determination unit is When a value obtained by dividing the total amount of movement of the coordinates of the moving object acquired by the acquisition unit during a predetermined period by the square root of the sum of the square of the difference between the maximum and minimum values ​​of the X coordinate of the moving object during the predetermined period and the square of the difference between the maximum and minimum values ​​of the Y coordinate of the moving object during the predetermined period is equal to or greater than a threshold, the moving object is determined to be an object that should not be detected.

2. The monitoring device according to claim 1.

4. The monitoring device according to claim 1, characterized in that the determination unit performs frequency analysis on the coordinates of the moving object acquired by the acquisition unit, and determines that the moving object is an object that should not be detected if high-frequency components are included.

5. The monitoring device according to any one of claims 1 to 4, characterized in that the determination unit further determines that the moving object is an object that should not be detected when the distance between the moving object and the moving object sensor is less than a threshold value.

6. 2. The monitoring device according to claim 1, further comprising a change unit that changes a setting of the motion sensor when the motion is determined to be an object that should not be detected.

7. A method performed by a monitoring device, comprising: acquiring coordinates of a moving object identified based on information detected by a moving object sensor provided in the vehicle; a determination step of determining whether or not the moving object is an object that should not be detected based on the coordinates of the moving object acquired in the acquisition step; A monitoring method comprising:

8. an acquisition step of acquiring coordinates of a moving object identified based on information detected by a moving object sensor provided in the vehicle; a determination step of determining whether or not the moving object is an object that should not be detected based on the coordinates of the moving object acquired in the acquisition step; A monitoring program comprising:

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