Monitoring device, monitoring method and monitoring program

Abstract

To accurately determine whether there is any danger to a vehicle.SOLUTION: A monitoring device 100 has: an acquisition part 121 which acquires information concerning a vehicle body size; and a change part 126 which changes setting of a risk value concerning an advancement direction of a dynamic body that is detected by a dynamic body sensor in response to information acquired by the acquisition part 121.SELECTED DRAWING: Figure 11

Description

Technical Field

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

Background Art

[0002] Conventionally, there has been a technique for preventing damage to a vehicle by determining the safety of the vehicle and issuing a warning or a caution before an illegal act occurs (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art, there are cases where it is impossible to accurately determine the presence or absence of danger to a vehicle. For example, the presence or absence of danger to a vehicle is determined based on the positional relationship between the moving object detected by the moving object sensor and the vehicle, but the positional relationship between the moving object and the vehicle may change depending on the size of the vehicle. Thus, as an example of the problem to be solved by the present invention, the above-described problem can be cited.

Means for Solving the Problems

[0005] In order to solve the above-described problems and achieve the object, the invention according to claim 1 is characterized by including an acquisition unit that acquires information regarding the size of a vehicle body, and a change unit that changes the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired by the acquisition unit.

[0006] The invention according to claim 6 is a method executed by a monitoring device, comprising: an acquisition step of acquiring information regarding the size of a vehicle body; and a modification step of modifying the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired in the acquisition step.

[0007] The invention according to claim 7 is characterized in that a computer is caused to execute: an acquisition step of acquiring information regarding the size of a vehicle body; and a modification step of modifying the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired in the acquisition step.

Brief Description of the Drawings

[0008]

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

[0010] [First Embodiment] [1. Overview] First, an overview of the monitoring device 100 according to the first embodiment will be described. The monitoring device 100 is a device that determines the presence or absence of danger to a vehicle. Here, an example of the problem of the prior art will be described with reference to FIG. 1. FIG. 1 is a diagram for explaining an example of the problem of the prior art. Conventionally, in order to prevent a parked vehicle from being stolen or vandalized, the parked vehicle has been monitored. In a device or the like that monitors such a parked vehicle, it may be determined whether there is a possibility of danger to the vehicle from the information on the distance between the vehicle and a moving object.

[0011] However, when determining whether there is a possibility of danger to the vehicle based on the information on the distance between the vehicle and the moving object, a determination that does not match the actual situation may be made. For example, as shown in FIG. 1(1), in a situation where the moving object passes by the side of the vehicle, it may be determined that it is dangerous. Also, for example, as shown in FIG. 1(2), in a situation where a moving object existing far from the vehicle moves towards the vehicle, it may be determined that it is not dangerous.

[0012] Therefore, the monitoring device 100 determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object calculated from the coordinates of the moving object. For example, the monitoring device 100 acquires the coordinates of the moving object specified based on the information detected by the moving object sensor provided in the vehicle, specifies the risk regarding the traveling direction of the moving object based on the acquired coordinates of the moving object, and determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object. Thereby, the monitoring device 100 can accurately determine the presence or absence of danger to the vehicle. The monitoring according to the following embodiments shows an example realized only by the monitoring device 100.

[0013] 〔2. Configuration of 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 a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 2, the monitoring device 100 includes a communication unit 110, a storage unit 130, and a control unit 120. Hereinafter, each unit included in the monitoring device 100 will be described.

[0014] The communication unit 110 is realized by, for example, a NIC (Network Interface Card) or the like. The communication unit 110 is connected to the network N by wire or wirelessly, and performs information transmission and reception with, for example, the in-vehicle device 10.

[0015] The storage unit 130 is implemented 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 or an optical disk. The storage unit 130 stores the position where the moving body sensor is installed, the intensity of the signal to be transmitted, the sensitivity to receive the signal, the intensity of the received signal, the angle calculated from the received signal, the distance, the coordinates of the moving body, the traveling direction, the risk related to the traveling direction of the moving body, the risk related to the position of the moving body, the threshold value, the interval, the period, information related to the size of the vehicle body (body type, vehicle model, etc.), the mounting position of the moving body sensor, information related to notification (notification setting, user terminal information, address information, etc.), images (including moving images and still images), and other information necessary for determining the presence or absence of danger and determining actions.

[0016] The control unit 120 is implemented using a CPU (Central Processing Unit), an NP (Network Processor), an FPGA (Field Programmable Gate Array), etc., and executes a processing program stored in the memory. As shown in FIG. 2, the control unit 120 includes a sensor unit 121, an acquisition unit 122, a direction risk calculation unit 123, a position risk calculation unit 124, a determination unit 125, and an output unit 126. Hereinafter, each unit included in the control unit 120 will be described.

[0017] The sensor unit 121 detects (acquires) information by various sensors. For example, the sensor unit 121 detects a moving body by a moving body sensor such as a distance sensor, a microwave sensor, or LiDAR (light detection and ranging). In addition, the sensor unit 121 detects the position of the vehicle by a positioning sensor such as a GNSS (Global Navigation Satellite System) sensor or a GPS (Global Positioning System) sensor. In addition, the sensor unit 121 detects the acceleration of the vehicle by an acceleration sensor. Also, for example, the sensor unit 121 detects the angular velocity of the vehicle by a gyro sensor. Also, for example, the sensor unit 121 acquires an image (moving image or still image) around the vehicle by an imaging device.

[0018] The acquisition unit 122 acquires the coordinates of a moving object identified based on the information detected by a moving object sensor provided in the vehicle. For example, the acquisition unit 122 analyzes the signal received by the moving object sensor provided in the rearview mirror and acquires the coordinates of the moving object identified from the information on the distance and angle. Here, as an example of the installation location of the moving object sensor, the rearview mirror is mentioned. However, for example, the moving object sensor may be installed near the rearview mirror or on the side mirror. That is, the moving object sensor is installed at a location inside or outside the vehicle according to the purpose, such as the front pillar, center pillar, rear pillar, rearview mirror, side mirror, ceiling, seat, rear glass, etc.

[0019] The direction risk calculation unit 123 calculates a risk value related to the traveling direction of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122. For example, the direction risk calculation unit 123 identifies the traveling direction of the moving object from the coordinates of two or more consecutive points of the moving object acquired by the acquisition unit 122, and calculates a risk value related to the traveling direction of the moving object at a predetermined interval from the traveling direction of the moving object. Details of the calculation of the risk value related to the traveling direction of the moving object performed by the direction risk calculation unit 123 will be described in [3. Direction risk calculation process] described later.

[0020] The position risk calculation unit 124 calculates a risk value related to the position of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122. For example, the position risk calculation unit 124 calculates a risk value related to the position of the moving object at a predetermined interval according to the distance between the moving object sensor and the moving object. Details of the calculation of the risk value related to the position of the moving object performed by the position risk calculation unit 124 will be described in [4. Position risk calculation process] described later.

[0021] The position risk calculation unit 124 calculates a risk value related to the position of the moving object so that the risk related to the position of the moving object decreases linearly as the distance between the moving object sensor and the moving object increases within a predetermined distance range between the moving object sensor and the moving object. For example, when the distance between the moving object sensor and the moving object is in the range of 100 cm to 180 cm, the position risk calculation unit 124 calculates a risk value related to the position of the moving object so that the risk related to the position of the moving object decreases linearly as the distance between the moving object sensor and the moving object increases. Note that the distance range of 100 cm to 180 cm described above is an example, and the range in which the risk related to the position of the moving object decreases linearly as the distance between the moving object sensor and the moving object increases can be changed to a value according to the purpose.

[0022] The determination unit 125 determines the presence or absence of danger according to the risk value related to the traveling direction of the moving object calculated by the direction risk calculation unit 123. For example, the determination unit 125 determines that there is danger when the integrated value (total value) of the risk related to the traveling direction of the moving object calculated at a predetermined interval by the direction risk calculation unit 123 exceeds a predetermined threshold within a predetermined period. More specifically, the determination unit 125 determines that there is danger because the integrated value of the risk related to the traveling direction of the moving object calculated at 50 millisecond intervals by the direction risk calculation unit 123 within a period of 0.5 seconds is 16 and exceeds the predetermined threshold "10" within 0.5 seconds.

[0023] The determination unit 125 determines the presence or absence of danger according to the risk value related to the traveling direction of the moving object calculated by the direction risk calculation unit 123 and the risk value related to the position of the moving object calculated by the position risk calculation unit 124. For example, the determination unit 125 determines that there is danger when the integrated value of the value obtained by multiplying the risk related to the traveling direction of the moving object calculated at a predetermined interval by the direction risk calculation unit 123 and the risk value related to the position of the moving object calculated at a predetermined interval by the position risk calculation unit 124 exceeds a predetermined threshold within a predetermined period.

[0024] More specifically, the determination unit 125 determines that there is a risk because the integrated value of the product of the risk regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 at 50 - millisecond intervals and the risk regarding the position of the moving object calculated by the position risk calculation unit 124 at 50 - millisecond intervals over 0.5 seconds is 11, which exceeds a predetermined threshold value of "10".

[0025] That is, when the moving object approaches the vehicle, the determination unit 125 determines that there is a risk because the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object increase. When the moving object moves away from the vehicle, the determination unit 125 can determine that there is no risk because the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object decrease. In addition, when the moving object is not approaching the vehicle, the determination unit 125 can determine that there is no risk because the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object do not increase.

[0026] Also, the determination unit 125 can use the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object not only for determining the presence or absence of risk but also for classifying the moving object. For example, the determination unit 125 classifies the moving object based on the change per unit time of the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object.

[0027] More specifically, when the rate of change of the risk value regarding the moving direction of the moving object exceeds a predetermined threshold value and the rate of change of the risk value regarding the position of the moving object is equal to or less than the predetermined threshold value, the determination unit 125 classifies the moving object as grass or trees because it is considered that the moving object is moving in various directions within a predetermined range. As an example of the classification of the moving object, grass and trees are mentioned. However, for example, the determination unit 125 classifies the moving object into an object that can be classified based on the characteristics of the change per unit time of the risk value regarding the moving direction of the moving object and the risk value regarding the position of the moving object, such as when the moving object is rain or a flag.

[0028] When the determination unit 125 determines that there is danger, it determines the behavior of the moving object according to the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124. For example, when the determination unit 125 determines that there is danger, if the integrated value of the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124 is equal to or greater than the first threshold value and less than the second threshold value, the behavior of the moving object is determined to be approaching. If it exceeds the second threshold value, the behavior of the moving object is determined to be reconnaissance.

[0029] For example, when the determination unit 125 determines that there is danger, if the integrated value within a predetermined period of the value obtained by multiplying the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 at a predetermined interval and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124 at a predetermined interval is equal to or greater than the first threshold value and less than the second threshold value, the behavior of the moving object is determined to be approaching. If it exceeds the second threshold value, the behavior of the moving object is determined to be reconnaissance.

[0030] More specifically, when the determination unit 125 determines that there is danger, since the integrated value 55 within 1.5 seconds of the value obtained by multiplying the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 at intervals of 50 milliseconds and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124 at intervals of 50 milliseconds exceeds the first threshold value "30" and is less than the second threshold value "60", the behavior of the moving object is determined to be approaching.

[0031] As another example, when the determination unit 125 determines that there is danger, since the integrated value 72 within 1.5 seconds of the value obtained by multiplying the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 at intervals of 50 milliseconds and the risk value regarding the position of the moving object calculated by the position risk calculation unit at intervals of 50 milliseconds exceeds the second threshold value "60", the behavior of the moving object is determined to be reconnaissance.

[0032] Further, when the coordinates of the moving object acquired by the acquisition unit 122 fall within the range of the vehicle, the determination unit 125 determines that the behavior of the moving object is an intrusion into the vehicle interior. For example, when the determination unit 125 determines that there is danger, if the X-axis coordinate of the moving object acquired by the acquisition unit 122 is within the range of the X-axis where the vehicle exists, and the Y-axis coordinate of the moving object acquired by the acquisition unit 122 is within the range of the Y-axis where the vehicle exists, the determination unit 125 determines that the behavior of the moving object is an intrusion into the vehicle interior.

[0033] Note that when determining the behavior of the moving object, the determination unit 125 can re-determine that there is no danger when the coordinates of the moving object move away from the vehicle. For example, even when the determination unit 125 has determined that there is danger, if the movement of the coordinates of the moving object is in a direction away from the vehicle, the determination unit 125 can determine that there is no danger.

[0034] The determination unit 125 changes the first threshold value and the second threshold value according to the location where the vehicle equipped with the moving object sensor is located. For example, the determination unit 125 acquires the position information of the vehicle from a GPS or the like, and when the vehicle exists in a congested location, the determination unit 125 greatly changes the first threshold value and the second threshold value. Conversely, when the determination unit 125 acquires the position information of the vehicle from a GPS or the like and the vehicle exists in a sparse location, the determination unit 125 slightly changes the first threshold value and the second threshold value.

[0035] The determination unit 125 changes the first threshold value and the second threshold value according to time. For example, during a time period when congestion is expected, the determination unit 125 greatly changes the first threshold value and the second threshold value. Conversely, during a time period when sparse conditions are expected, the determination unit 125 slightly changes the first threshold value and the second threshold value.

[0036] The output unit 126 performs a predetermined output according to the behavior of the moving object determined by the determination unit 125. For example, when the determination unit 125 determines that the behavior of the moving object is approaching, the output unit 126 notifies a pre-registered user terminal that a moving object is approaching the vehicle. Note that the notification to the user terminal includes those that can be performed using functions provided in the user terminal, such as email, incoming call, and notification to an application. At this time, the output unit 126 may transmit an image captured by an imaging device such as a camera provided in the vehicle to the user terminal.

[0037] Also, for example, when the determination unit 125 determines that the behavior of the moving object is reconnaissance, the output unit 126 issues an alarm by sound or light around the vehicle. Note that when the determination unit 125 determines that the behavior of the moving object is reconnaissance, the output unit 126 can also perform a predetermined output process performed when it is determined to be approaching.

[0038] 〔3. Direction risk calculation process〕 Next, an example of the direction risk calculation process by the monitoring device 100 according to the embodiment will be described with reference to FIG. 3. FIG. 3 is a diagram showing an example of the direction risk calculation process by the monitoring device 100 according to the embodiment. FIGS. 3(1) and (2) are diagrams for explaining the calculation of the risk regarding the traveling direction of the moving object. In FIG. 3(1), the risk value regarding the traveling direction of the moving object is indicated by 1 to 4 points (points).

[0039] First, the direction risk calculation unit 123 specifies the traveling direction of the moving object from the coordinates of two or more consecutive points of the moving object acquired by the acquisition unit 122. Then, when the specified traveling direction of the moving object is, for example, the direction away from the vehicle as shown by 1 in FIG. 3(2), the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is "1" as shown in FIG. 3(1).

[0040] Also, for example, as shown at 2 in Fig. 3(2), when the traveling direction of the identified moving object is parallel to the vehicle, the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is "2" as shown in Fig. 3(1). Also, for example, as shown at 3 in Fig. 3(2), when the traveling direction of the identified moving object is toward the vehicle, the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is "3" as shown in Fig. 3(1).

[0041] Also, for example, as shown at 4 in Fig. 3(2), when the traveling direction of the identified moving object is toward the door portion of the vehicle, the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is "4" as shown in Fig. 3(1).

[0042] Note that Figs. 3(1) and (2) show an example of calculating the risk value regarding the traveling direction of a moving object existing on the side of the vehicle for the purpose of explanation. However, the moving objects subject to the risk value calculation process regarding the traveling direction of the moving object performed by the direction risk calculation unit 123 are not only the moving objects existing on the side of the vehicle but also the moving objects existing around the vehicle including the front and rear directions. Also, the direction risk calculation unit 123 calculates the risk value regarding the traveling direction of the above moving object at a predetermined interval. For example, the direction risk calculation unit 123 calculates the risk value regarding the traveling direction of the moving object at an interval of 50 milliseconds.

[0043] Next, the specific process of calculating the risk value regarding the traveling direction of the moving object performed by the direction risk calculation unit 123 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing an example of the flow of the risk value calculation process regarding the traveling direction of the moving object by the monitoring device 100 according to the embodiment. First, the direction risk calculation unit 123 determines whether the X coordinate of the moving object acquired by the acquisition unit 122 is the same as the X coordinate of the moving object acquired last time (step S101).

[0044] Here, when it is determined by the direction risk calculation unit 123 that they are the same (step S101: Yes), the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is 1 (step S102). That is, since the X coordinates are the same and the moving object is moving parallel to the vehicle, the direction risk calculation unit 123 calculates a low value as the risk value regarding the traveling direction of the moving object.

[0045] On the other hand, when it is determined by the direction risk calculation unit 123 that they are not the same (step S101: No), the direction risk calculation unit 123 calculates the inclination (step S103). For example, the direction risk calculation unit 123 calculates the inclination by dividing the value obtained by subtracting the Y coordinate of the current moving object from the Y coordinate of the previous moving object by the value obtained by subtracting the X coordinate of the current moving object from the X coordinate of the previous moving object.

[0046] Subsequently, the direction risk calculation unit 123 determines whether the X coordinate of the moving object acquired by the acquisition unit 122 is less than 0 (step S104). Here, when it is determined by the direction risk calculation unit 123 that it is less (step S104: Yes), the direction risk calculation unit 123 calculates the X coordinate or Y coordinate of the intersection point of the door wall, outer wall, and lower wall with the moving object (step S105).

[0047] Here, the door wall is a line extending in front of and behind the vehicle on the side surface of the vehicle. As shown in FIG. 3(1), it is a line with descriptions of four points and three points. In FIG. 3(1), the door wall is set outside the vehicle, but it is not limited to this. It may be a line set inside the vehicle as long as it is parallel to the side surface of the vehicle. Also, if risk values are defined for each point of the line inside the vehicle, the risk value of the intersection point with the traveling direction of the moving object can be determined, so it does not have to be parallel. The outer wall is a line parallel to the door wall at a certain distance from the side surface of the vehicle. As shown in FIG. 3(1), it is a line with a description of one point. The lower wall is a line extending from the door wall to the outer wall on the side of the vehicle at the rear surface of the vehicle. As shown in FIG. 3(1), it is a line at the rear of the vehicle with descriptions of two points. Note that the upper wall described later is a line parallel to the lower wall extending from the door wall to the outer wall on the side of the vehicle at the front surface of the vehicle. As shown in FIG. 3(1), it is a line at the front of the vehicle with descriptions of two points.

[0048] Return to the description of step S105 in FIG. 4 again. For example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current X coordinate of the moving object from the value of the X coordinate of the position where the vehicle door exists by the slope, and then adds the value of the current Y coordinate of the moving object, thereby calculating the Y coordinate of the intersection point between the moving direction of the moving object and the door wall.

[0049] Also, for example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current X coordinate of the moving object from the value of the X coordinate of the outer wall of the vehicle by the slope, and then adds the value of the current Y coordinate of the moving object, thereby calculating the Y coordinate of the intersection point between the moving direction of the moving object and the outer wall. Also, for example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current Y coordinate of the moving object from the value of the Y coordinate of the lower wall by the slope, and then adds the value of the current X coordinate of the moving object, thereby calculating the X coordinate of the intersection point between the moving direction of the moving object and the lower wall.

[0050] On the other hand, when it is determined by the direction risk calculation unit 123 that it is not small (step S104: No), the direction risk calculation unit 123 similarly calculates the X coordinate or Y coordinate of the intersection point between the door wall, the outer wall, the lower wall and the moving object (step S106). For example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current X coordinate of the moving object from the negative value of the X coordinate of the position where the vehicle door exists by the slope, and then adds the value of the current Y coordinate of the moving object, thereby calculating the Y coordinate of the intersection point between the moving direction of the moving object and the door wall.

[0051] Also, for example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current X coordinate of the moving object from the negative value of the X coordinate of the outer wall of the vehicle by the slope, and then adds the value of the current Y coordinate of the moving object, thereby calculating the Y coordinate of the intersection point between the moving direction of the moving object and the outer wall. Also, for example, the direction risk calculation unit 123 multiplies the value obtained by subtracting the value of the current Y coordinate of the moving object from the value of the Y coordinate of the lower wall by the slope, and then adds the value of the current X coordinate of the moving object, thereby calculating the X coordinate of the intersection point between the moving direction of the moving object and the lower wall.

[0052] Subsequently, the direction risk calculation unit 123 determines whether the absolute value of the current moving object's X coordinate is less than or equal to the absolute value of the previous moving object's X coordinate (step S107). That is, the direction risk calculation unit 123 determines whether the moving object is moving in the vehicle direction. Here, when it is determined by the direction risk calculation unit 123 that it is less than or equal to the absolute value of the previous moving object's X coordinate (step S107: Yes), subsequently, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the moving direction of the moving object and the door wall of the vehicle is within the range of the door (step S108). For example, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the moving direction of the moving object and the door wall of the vehicle is within the Y coordinate range where the vehicle door exists.

[0053] Here, when it is determined by the direction risk calculation unit 123 that it is within the range of the door (step S108: Yes), the direction risk calculation unit 123 calculates that the risk value regarding the moving direction of the moving object is 4 (step S109). That is, since the moving object is moving in the direction of the vehicle door, the highest value is calculated as the risk value regarding the moving direction of the moving object.

[0054] On the other hand, when it is determined by the direction risk calculation unit 123 that it is not within the range of the door (step S108: No), subsequently, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the moving direction of the moving object and the outer wall of the vehicle is within the range of the vehicle (step S110). For example, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the moving direction of the moving object and the outer wall of the vehicle is within the Y coordinate range where the vehicle exists.

[0055] Here, when it is determined by the direction risk calculation unit 123 that it is within the range of the vehicle (step S110: Yes), the direction risk calculation unit 123 calculates that the risk value regarding the moving direction of the moving object is 3 (step S111). That is, since the moving object is moving in the direction of the outer wall of the vehicle, a high value is calculated as the risk value regarding the moving direction of the moving object.

[0056] On the other hand, when it is determined by the direction risk calculation unit 123 that the object is not within the vehicle range (step S110: No), subsequently, the direction risk calculation unit 123 determines whether the X coordinate of the intersection point between the traveling direction of the moving object and the lower wall of the vehicle is within the vehicle range (step S112). For example, the direction risk calculation unit 123 determines whether the X coordinate of the intersection point between the traveling direction of the moving object and the lower wall of the vehicle is within the X coordinate range where the vehicle exists.

[0057] Here, when it is determined by the direction risk calculation unit 123 that the object is within the range of the lower wall of the vehicle (step S112: Yes), the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is 3 (step S113). That is, since the moving object is advancing in the direction of the lower wall of the vehicle, a high value is calculated as the risk regarding the traveling direction of the moving object.

[0058] On the other hand, when it is determined by the direction risk calculation unit 123 that the object is not within the range of the lower wall of the vehicle (step S112: No), the direction risk calculation unit 123 calculates that the risk regarding the traveling direction of the moving object is 2 (step S114). That is, since the moving object is not advancing in the direction of the lower wall of the vehicle, a low value is calculated as the risk regarding the traveling direction of the moving object.

[0059] Here, returning to step S107, when it is determined by the direction risk calculation unit 123 that the absolute value of the X coordinate of the previous moving object is not less than the current value (step S107: No), subsequently, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the traveling direction of the moving object and the outer wall of the vehicle is within the vehicle range (step S115). For example, the direction risk calculation unit 123 determines whether the Y coordinate of the intersection point between the traveling direction of the moving object and the outer wall of the vehicle is within the Y coordinate range where the outer wall of the vehicle exists.

[0060] Here, when it is determined by the direction risk calculation unit 123 that the object is within the range of the outer wall of the vehicle (step S115: Yes), the direction risk calculation unit 123 calculates that the risk value regarding the traveling direction of the moving object is 1 (step S116). That is, since the moving object is advancing in the direction opposite to the vehicle, the lowest value is calculated as the risk regarding the traveling direction of the moving object.

[0061] On the other hand, when it is determined by the direction risk calculation unit 123 that the object is not within the range of the outer wall of the vehicle (step S115: No), the direction risk calculation unit 123 calculates that the risk regarding the traveling direction of the object is 2 (step S117). That is, since the object is moving away from the vehicle, a low value is calculated as the risk regarding the traveling direction of the object. The direction risk calculation unit 123 calculates the risk regarding the traveling direction of the object by performing the above-described processing.

[0062] [4. Position risk calculation process] Next, with reference to FIGS. 5 and 6, an example of the position risk calculation process by the monitoring device 100 according to the embodiment will be described. FIGS. 5 and 6 are diagrams showing an example of the position risk calculation process by the monitoring device 100 according to the embodiment. FIGS. 5(1) and (2) are diagrams for explaining the calculation of the risk regarding the position of the object. In FIG. 5(1), the risk value is indicated by 0 to 1 point (point) according to the distance between the vehicle and the object.

[0063] That is, the position risk calculation unit 124 calculates the risk value regarding the position of the object according to the distance between the vehicle and the object. Here, the calculation method of the distance between the vehicle and the object sensor differs depending on the position where the object exists. For example, as shown in 1 of FIG. 5(2), when the object exists above the upper wall of the vehicle, the position risk calculation unit 124 calculates the distance from the upper wall to the object as the distance between the vehicle and the object.

[0064] Also, for example, as shown in 2 of FIG. 5(2), when the object exists below the lower wall of the vehicle, the position risk calculation unit 124 calculates the distance from the lower wall to the object as the distance between the vehicle and the object. Also, for example, as shown in 3 of FIG. 5(2), when the object exists above the upper wall of the vehicle and outside the door wall, the position risk calculation unit 124 calculates the distance from the intersection of the upper wall and the door wall to the object as the distance between the vehicle and the object.

[0065] Further, for example, as shown at 4 in Fig. 5(2), when the moving object is below the lower wall of the vehicle and outside the door wall, the position risk calculation unit 124 calculates the distance from the intersection of the lower wall and the door wall to the moving object as the distance between the vehicle and the moving object. Further, for example, as shown at 5 in Fig. 5(2), when the moving object is between the upper wall and the lower wall of the vehicle and outside the door wall, the position risk calculation unit 124 calculates the distance from the door wall to the moving object as the distance between the vehicle and the moving object.

[0066] Here, the position risk calculation unit 124 can calculate a risk value regarding the position of the moving object such that the risk regarding the position of the moving object linearly decreases as the distance between the moving object sensor and the moving object increases within a predetermined distance range between the moving object sensor and the moving object. For example, as shown in Fig. 6, when the distance between the moving object sensor and the moving object is in the range of 0 to 100 cm, the position risk calculation unit 124 calculates the risk value regarding the position of the moving object as 1, and when the distance between the moving object sensor and the moving object is in the range of 100 cm to 180 cm, the position risk calculation unit 124 calculates the risk value regarding the position of the moving object such that the risk value regarding the position of the moving object linearly decreases from 1 to 0 as the distance between the moving object sensor and the moving object increases.

[0067] Note that the position risk calculation unit 124 calculates the risk value regarding the position of the moving object at a predetermined interval. For example, the position risk calculation unit 124 calculates the risk value regarding the position of the moving object at an interval of 50 milliseconds.

[0068] Next, a specific process of calculating the risk value regarding the position of the moving object performed by the position risk calculation unit 124 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of the flow of the process of calculating the risk value regarding the position of the moving object according to the embodiment. First, the position risk calculation unit 124 determines whether the X coordinate of the moving object acquired by the acquisition unit 122 is inside the door wall (step S201). For example, the position risk calculation unit 124 determines whether the value of the X coordinate of the moving object acquired by the acquisition unit 122 is within the range inside the left and right doors of the vehicle (for example, -90 ≤ X coordinate ≤ 90).

[0069] Here, when the position risk calculation unit 124 determines that the X coordinate of the moving object is inside the door wall of the vehicle (step S201: Yes), subsequently, the position risk calculation unit 124 determines whether the Y coordinate of the moving object acquired by the acquisition unit 122 is above the upper wall of the vehicle (step S202). For example, the position risk calculation unit 124 determines whether the value of the Y coordinate of the moving object acquired by the acquisition unit 122 is greater than the value of the Y coordinate of the upper wall of the vehicle (e.g., Y coordinate > 360).

[0070] Here, when the position risk calculation unit 124 determines that it is above the upper wall of the vehicle (step S202: Yes), the position risk calculation unit 124 calculates the value obtained by subtracting the Y coordinate value of the upper wall of the vehicle from the Y coordinate value of the moving object as the risk determination distance (step S203).

[0071] On the other hand, when the position risk calculation unit 124 determines that it is not above the upper wall of the vehicle (step S202: No), subsequently, the position risk calculation unit 124 determines whether the Y coordinate of the moving object acquired by the acquisition unit 122 is below the lower wall of the vehicle (step S204). For example, the position risk calculation unit 124 determines whether the value of the Y coordinate of the moving object acquired by the acquisition unit 122 is less than the value of the Y coordinate of the lower wall of the vehicle (e.g., Y coordinate < -90).

[0072] Here, when the position risk calculation unit 124 determines that it is below the lower wall of the vehicle (step S204: Yes), the position risk calculation unit 124 calculates the value obtained by subtracting the Y coordinate value of the lower wall from the Y coordinate value of the moving object as the risk determination distance (step S205).

[0073] On the other hand, when the position risk calculation unit 124 determines that it is not below the lower wall of the vehicle (step S204: No), the position risk calculation unit 124 calculates that the risk determination distance is 0 (step S206). That is, since it is the coordinate when the moving object exists inside the vehicle, it is excluded from the target of risk determination.

[0074] Here, returning to step S201, when the position risk calculation unit 124 determines that the X coordinate of the moving object is not inside the door wall (step S201: No), subsequently, the position risk calculation unit 124 calculates the coordinates used for the determination (step S207). For example, the position risk calculation unit 124 calculates the value obtained by subtracting the X coordinate value of the door wall from the X coordinate value of the moving object as the determination X coordinate. Also, for example, the position risk calculation unit 124 calculates the Y coordinate value of the moving object as the determination Y coordinate.

[0075] Subsequently, the position risk calculation unit 124 determines whether the Y coordinate of the moving object acquired by the acquisition unit 122 is above the upper wall (step S208). For example, the position risk calculation unit 124 determines whether the value of the Y coordinate of the moving object acquired by the acquisition unit 122 is greater than the Y coordinate value of the upper wall of the vehicle (e.g., Y coordinate > 360).

[0076] Here, when the position risk calculation unit 124 determines that it is above the upper wall (step S208: Yes), the position risk calculation unit 124 calculates the square root of the value obtained by adding the square of the difference between the estimated Y coordinate value and the Y coordinate value of the upper wall to the square of the value of the determination X coordinate as the risk determination distance (step S209).

[0077] On the other hand, when the position risk calculation unit 124 determines that it is not above the upper wall of the vehicle (step S208: No), subsequently, the position risk calculation unit 124 determines whether the Y coordinate of the moving object acquired by the acquisition unit 122 is below the lower wall of the vehicle (step S210). For example, the position risk calculation unit 124 determines whether the value of the Y coordinate of the moving object acquired by the acquisition unit 122 is less than the Y coordinate value of the lower wall of the vehicle (e.g., Y coordinate < -90).

[0078] Here, when it is determined by the position risk calculation unit 124 that the object is below the lower wall of the vehicle (step S210: Yes), the position risk calculation unit 124 calculates the square root of the value obtained by adding the square of the difference between the estimated Y coordinate value and the Y coordinate value of the lower wall to the square of the value of the determined X coordinate as the risk determination distance (step S211).

[0079] On the other hand, when it is determined by the position risk calculation unit 124 that the object is not below the lower wall of the vehicle (step S210: No), the position risk calculation unit 124 calculates the determined X coordinate as the risk determination distance (step S212).

[0080] Thereafter, the position risk calculation unit 124 makes a determination regarding the calculated determination distance. The subsequent processing is continued after the processing of S203, S205, S206, S209, S211, and S212. First, the position risk calculation unit 124 determines whether the risk determination distance is 100 cm or less (step S213). Here, when it is determined by the position risk calculation unit 124 that the risk determination distance is 100 cm or less (step S213: Yes), the position risk calculation unit 124 calculates that the risk regarding the position of the moving object is 1 (step S214).

[0081] On the other hand, when it is determined by the position risk calculation unit 124 that the risk determination distance is not 100 cm or less (step S213: No), subsequently, the position risk calculation unit 124 determines whether the risk determination distance is 180 cm or less (step S215). Here, when it is determined by the position risk calculation unit 124 that the risk determination distance is 180 cm or less (step S215: Yes), the position risk calculation unit 124 calculates the value obtained by adding 2.25 to the value obtained by dividing the risk determination distance by -80 as the risk value regarding the position of the moving object (step S216). That is, when the risk determination distance is within the range of 100 cm to 180 cm, the risk value regarding the position of the moving object linearly decreases from 1 to 0.

[0082] On the other hand, when the position risk calculation unit 124 determines that the risk determination distance is not less than 180 cm (step S215: No), the position risk calculation unit 124 calculates that the risk regarding the position of the moving object is 0 (step S217). The position risk calculation unit 124 calculates the risk regarding the position of the moving object by performing the above-described processing.

[0083] 〔5. Determination Process〕 Next, with reference to FIG. 8, an example of the determination process by the monitoring device 100 according to the embodiment will be described. FIG. 8 is a diagram showing an example of the determination process by the monitoring device 100 according to the embodiment. The determination unit 125 performs the determination process according to the flow shown in FIG. 8. First, the determination unit 125 calculates the integrated value over 0.5 seconds of the value obtained by multiplying the risk value regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123 at 50-millisecond intervals and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124 at 50-millisecond intervals.

[0084] Subsequently, the determination unit 125 determines whether or not the integrated value over 0.5 seconds of the value obtained by multiplying the risk regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123 at 50-millisecond intervals and the risk regarding the position of the moving object calculated by the position risk calculation unit 124 at 50-millisecond intervals exceeds a predetermined threshold value "10". If it does not exceed, it is determined that there is no risk, and if it exceeds, it is determined that there is a risk (approach or reconnaissance).

[0085] Subsequently, the determination unit 125 calculates the integrated value over the most recent 3 seconds of the value obtained by multiplying the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object. Subsequently, the determination unit 125 determines whether or not the integrated value over the most recent 3 seconds of the value obtained by multiplying the risk regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123 at 50-millisecond intervals and the risk regarding the position of the moving object calculated by the position risk calculation unit 124 at 50-millisecond intervals is equal to or greater than a predetermined threshold value "120". If it does not exceed, it is determined that the behavior of the moving object is approach, and if it exceeds, it is determined that the behavior of the moving object is reconnaissance.

[0086] 〔6. Flowchart〕 Next, an example of the processing flow by the monitoring device 100 configured as described above will be described with reference to the flowchart of FIG. 9. FIG. 9 is a flowchart showing an example of the processing flow by the monitoring device 100 according to the embodiment. The flowchart of FIG. 9 is mainly executed by the control unit 120. Further, this flowchart can be configured as a program executed by the CPU included in the control unit 120 to be a monitoring program. Note that each of the following steps can also be executed in a different order, and there may be processes that are omitted.

[0087] First, the acquisition unit 122 acquires the coordinates of the moving object specified based on the information detected by the moving object sensor provided in the vehicle (step S301). For example, the acquisition unit 122 analyzes the signal received by the moving object sensor provided in the vehicle, and acquires the coordinates of the moving object specified from the information on the distance and the angle.

[0088] Subsequently, the direction risk calculation unit 123 calculates a risk value regarding the traveling direction of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122 (step S302). For example, the direction risk calculation unit 123 calculates a risk value regarding the traveling direction of the moving object by performing the processes of steps S101 to S117 described above.

[0089] Subsequently, the position risk calculation unit 124 calculates a risk value regarding the position of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122 (step S303). For example, the position risk calculation unit 124 calculates a risk value regarding the position of the moving object by performing the processes of steps S201 to S217 described above.

[0090] Subsequently, the determination unit 125 determines whether or not the integrated value of the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object within a predetermined period is equal to or greater than a threshold value (step S304). For example, the determination unit 125 determines whether or not the integrated value of the value obtained by multiplying the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object within 0.5 seconds is greater than 10.

[0091] Here, when the determination unit 125 determines that it is smaller than the threshold value (step S304: No), the determination unit 125 determines that there is no danger (step S305). On the other hand, when the determination unit 125 determines that it is larger than the threshold value (step S304: Yes), the determination unit 125 determines that there is danger (step S306).

[0092] Subsequently, the determination unit 125 determines whether the integrated value of the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object within a predetermined period is equal to or greater than the threshold value (step S307). For example, the determination unit 125 determines whether the integrated value of the value obtained by multiplying the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object for 1.5 seconds is greater than 60.

[0093] Here, when the determination unit 125 determines that it is larger than the threshold value (step S307: Yes), the determination unit 125 determines that the behavior of the moving object is a reconnaissance (step S308). On the other hand, when the determination unit 125 determines that it is not larger than the threshold value (step S307: No), subsequently, the determination unit 125 determines whether the coordinates of the moving object acquired by the acquisition unit 122 are moving in a direction away from the vehicle (step S309). For example, the determination unit 125 specifies the traveling direction of the moving object from the coordinates of the moving object at two or more consecutive points, and determines whether the traveling direction of the moving object is a direction away from the vehicle.

[0094] Here, when the determination unit 125 determines that the coordinates of the moving object are moving in a direction away from the vehicle (step S309: Yes), the determination unit 125 determines that there is no danger (step S305). On the other hand, when the determination unit 125 determines that the coordinates of the moving object are not moving in a direction away from the vehicle (step S309: No), the determination unit 125 determines that the behavior of the moving object is an approach (step S310).

[0095] 〔7. Effect〕 The monitoring device 100 according to the embodiment includes an acquisition unit that acquires the coordinates of a moving object specified based on information detected by a moving object sensor provided in a vehicle, a direction risk calculation unit 123 that calculates a risk value regarding the traveling direction of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122, and a determination unit 125 that determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123.

[0096] Thereby, the monitoring device 100 determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object calculated based on the coordinates of the moving object, and can accurately determine the presence or absence of danger to the vehicle. That is, the monitoring device 100 can prevent false detection when determining the presence or absence of danger based only on the distance between the moving object and the vehicle by using the traveling direction of the moving object with respect to the position of the vehicle for determination.

[0097] The monitoring device 100 according to the embodiment further includes a position risk calculation unit 124 that calculates a risk value regarding the position of the moving object based on the coordinates of the moving object acquired by the acquisition unit 122, and the determination unit 125 determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123 and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124.

[0098] Thereby, the monitoring device 100 determines the presence or absence of danger according to the risk value regarding the traveling direction of the moving object and the risk value regarding the position of the moving object calculated based on the coordinates of the moving object, and can accurately determine the presence or absence of danger to the vehicle.

[0099] When the determination unit 125 of the monitoring device 100 according to the embodiment determines that there is danger, it determines the behavior of the moving object according to the risk value regarding the traveling direction of the moving object calculated by the direction risk calculation unit 123 and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124.

[0100] Accordingly, when the monitoring device 100 determines that there is danger, it determines the behavior of the moving object according to the risk value regarding the moving direction of the moving object calculated based on the coordinates of the moving object and the risk value regarding the position of the moving object, and can accurately determine a dangerous behavior with respect to the vehicle.

[0101] The position risk calculation unit 124 of the monitoring device 100 according to the embodiment calculates a risk value regarding the position of the moving object such that, within a predetermined distance range between the moving object sensor and the moving object, the risk regarding the position of the moving object linearly decreases as the distance between the moving object sensor and the moving object increases. Accordingly, when the distance between the moving object sensor and the moving object is within the predetermined range, the monitoring device 100 calculates a risk value regarding the position of the moving object such that the risk regarding the position of the moving object linearly decreases as the distance between the moving object sensor and the moving object increases, and by using the calculated value for determination, it can accurately determine the danger to the vehicle.

[0102] When the determination unit 125 of the monitoring device 100 according to the embodiment determines that there is danger, if the integrated value of the risk value regarding the moving direction of the moving object calculated by the direction risk calculation unit 123 and the risk value regarding the position of the moving object calculated by the position risk calculation unit 124 is equal to or greater than the first threshold and less than the second threshold, it determines that the behavior of the moving object is approaching, and if it exceeds the second threshold, it determines that the behavior of the moving object is scouting.

[0103] Accordingly, when the monitoring device 100 determines that there is danger, by performing threshold determination on the value of the integrated value of the risk value regarding the moving direction of the moving object calculated based on the coordinates of the moving object and the risk value regarding the position of the moving object, it can accurately determine a dangerous behavior with respect to the vehicle.

[0104] The determination unit 125 of the monitoring device 100 according to the embodiment changes the first threshold and the second threshold according to the location where the vehicle equipped with the moving object sensor exists. Accordingly, the monitoring device 100 can increase the accuracy of threshold determination and accurately determine the presence or absence of danger to the vehicle by changing the threshold according to the location where the vehicle exists.

[0105] The determination unit 125 of the monitoring device 100 according to the embodiment changes the first threshold value and the second threshold value according to time. Thereby, the monitoring device 100 can increase the accuracy of threshold value determination and accurately determine the presence or absence of danger to the vehicle by changing the threshold value according to time.

[0106] The monitoring device 100 according to the embodiment further includes an output unit 126 that performs a predetermined output according to the behavior of the moving object determined by the determination unit 125. Thereby, the monitoring device 100 can perform outputs such as notifications and alarms corresponding to the determined behavior of the moving object, and prevent the vehicle from being endangered.

[0107] [Second Embodiment] In the first embodiment, an example of determining the presence or absence of danger to a vehicle according to the risk value related to the traveling direction of a moving object and the risk value related to the position of the moving object has been described. In the following second embodiment, an example of changing the settings of the risk value related to the traveling direction of the moving object and the risk value related to the position of the moving object will be described. Note that descriptions of the content common to the first embodiment will be omitted as appropriate.

[0108] [1. Overview] First, the overview of the monitoring device 100 according to the second embodiment will be described. The monitoring device 100 is a device that changes the setting of the risk value related to the traveling direction of a moving object. The setting of the risk value related to the traveling direction of the moving object described in the first embodiment is preferably changed according to information related to the size of the vehicle, such as the body type and vehicle model.

[0109] This is because, for example, in a vehicle with a large (small) size, the sizes of each part of the vehicle, such as the length from the upper wall to the lower wall of the vehicle and the size and position of the door, are different from those of a general vehicle. Therefore, if the setting of the risk value related to the traveling direction of the moving object for a general vehicle is applied to all vehicles, there is a risk of false detection.

[0110] Therefore, the monitoring device 100 acquires information regarding the size of the vehicle body, and changes the setting of the risk value regarding the traveling direction of the moving object detected by the moving object sensor according to the acquired information. Thereby, the monitoring device 100 can accurately determine the presence or absence of danger to the vehicle.

[0111] [2. Configuration of Monitoring Device] Next, the monitoring device 100 according to the embodiment will be described with reference to FIG. 10. FIG. 10 is a diagram showing a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 10, the control unit 120 of the monitoring device 100 includes a sensor unit 121, an acquisition unit 122, a direction risk calculation unit 123, a position risk calculation unit 124, a determination unit 125, an output unit 126, and a change unit 127. Hereinafter, each unit included in the control unit 120 will be described.

[0112] The acquisition unit 122 acquires information regarding the size of the vehicle body. For example, the acquisition unit 122 acquires information on the body type. More specifically, the acquisition unit 122 acquires information on the body type "sedan". As another example, the acquisition unit 122 acquires information on the vehicle model. For example, the acquisition unit 122 acquires the model number "*****" as information on the vehicle model. Although the model number is exemplified as information on the vehicle model, it is not limited to this as long as the information can specify the size of the vehicle body.

[0113] As another example, in addition to the information regarding the size of the vehicle body, the acquisition unit 122 acquires information on the mounting position of the moving object sensor. For example, the acquisition unit 122 acquires information on the mounting position of the moving object sensor by receiving an input from the user. For example, the acquisition unit 122 acquires information on the mounting position of the moving object sensor by receiving an input from an external device.

[0114] The change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information acquired by the acquisition unit 122. For example, the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information regarding the size of the vehicle acquired by the acquisition unit 122. Also, for example, the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information regarding the mounting position of the motion sensor acquired by the acquisition unit 122.

[0115] The change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object and the setting of the risk value regarding the position of the moving object according to the information acquired by the acquisition unit 122. For example, the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object and the setting of the risk value regarding the position of the moving object according to the information regarding the size of the vehicle acquired by the acquisition unit 122. Also, for example, the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor and the setting of the risk value regarding the position of the moving object according to the information regarding the mounting position of the motion sensor acquired by the acquisition unit 122.

[0116] 〔3. Change process〕 Next, with reference to FIGS. 11 and 12, the change process by the monitoring device 100 according to the embodiment will be described. FIGS. 11 and 12 are diagrams showing an example of the change process of the monitoring device 100 according to the embodiment. First, an example of changing the setting of the risk value regarding the traveling direction of the moving object will be described. FIGS. 11(1) and (2) are bird's-eye views for explaining the change of the setting of the risk value regarding the traveling direction of the moving object.

[0117] The dimensions of the vehicle body (e.g., the overall length of the vehicle body, the position of the door, etc.) vary depending on the body type and vehicle model. Therefore, the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the moving object sensor according to the information on the size of the vehicle body acquired by the acquisition unit 122. That is, since the setting of the risk value regarding the traveling direction of the moving object is set according to the dimensions of the vehicle body, the change unit 127 identifies the overall length of the vehicle body, the position of the door, etc. from the acquired information on the size of the vehicle body, and changes the setting of the risk value regarding the traveling direction of the moving object according to the identified overall length of the vehicle body, the position of the door, etc.

[0118] In the following example, before the change unit 127 changes the setting of the risk value regarding the traveling direction of the moving object (Fig. 11(1)), as the setting of the risk value regarding the traveling direction of the moving object, corresponding to the traveling direction of the moving object, the length from the upper wall of the vehicle to the door on the side of the vehicle where the risk value regarding the traveling direction of the moving object is calculated as 3 points is 1400 mm, the range where the door exists on the side of the vehicle where the risk value regarding the traveling direction of the moving object is calculated as 4 points is in the range of 1400 mm to 3800 mm from the upper wall, and the length from the lower wall to the door where the risk value regarding the traveling direction of the moving object is calculated as 3 points is 900 mm will be described. Note that only the change in the range where the risk value regarding the traveling direction of the moving object is calculated as 3 points and the range where the risk value regarding the traveling direction of the moving object is calculated as 4 points is shown as an example, but the processing by the change unit 127 is not limited to this.

[0119] When the body type "sedan" is acquired as information regarding the vehicle body, first, the change unit 127 identifies the general dimensions of the vehicle body in the body type "sedan" (overall length "4950 mm", length from the upper wall to the door "1500 mm", length from the lower wall to the door "1000 mm", etc.). Subsequently, as shown in Fig. 11(2), the change unit 127 changes the length from the upper wall of the vehicle to the door on the side of the vehicle corresponding to the traveling direction of the moving object and where the risk value regarding the traveling direction of the moving object is calculated as 3 points to 1500 mm.

[0120] Further, as shown in Fig. 11(2), the modification part 127 corresponds to the traveling direction of the moving object, and changes the range where the door exists on the vehicle side surface, which calculates the risk value regarding the traveling direction of the moving object as 4 points, from 1500 mm to 3950 (4950 - 1000) mm from the upper wall. Also, as shown in Fig. 11(2), the modification part 127 corresponds to the traveling direction of the moving object, and changes the length from the lower wall of the vehicle to the door on the vehicle side surface, which calculates the risk value regarding the traveling direction of the moving object as 3 points, to 1000 mm.

[0121] As another example, when the vehicle type "*****" is acquired as information regarding the vehicle body, first, the modification part 127 specifies the dimensions of the vehicle body of the vehicle type "*****" (overall length "4800 mm", length from the upper wall to the door "1450 mm", length from the lower wall to the door "950 mm", etc.). Subsequently, the modification part 127 corresponds to the traveling direction of the moving object, and changes the length from the upper wall of the vehicle to the door on the vehicle side surface, which calculates the risk value regarding the traveling direction of the moving object as 3 points, to 1450 mm.

[0122] Further, the modification part 127 corresponds to the traveling direction of the moving object, and changes the range where the door exists on the vehicle side surface, which calculates the risk value regarding the traveling direction of the moving object as 4 points, from 1450 mm to 3850 (4800 - 950) mm from the upper wall. Also, the modification part 127 corresponds to the traveling direction of the moving object, and changes the length from the lower wall of the vehicle to the door on the vehicle side surface, which calculates the risk value regarding the traveling direction of the moving object as 3 points, to 950 mm.

[0123] Next, an example of changing the setting of the risk value regarding the position of the moving object will be described. Fig. 12(1) is a top view for explaining the setting of the risk value regarding the position of the moving object. Fig. 12(2) is a diagram showing the change in the setting of the risk value regarding the position of the moving object. The setting of the risk regarding the position of the moving object is set such that a value from 0 to 1 is calculated according to the distance between the vehicle (or the moving object sensor) and the moving object, as shown in Fig. 12(1).

[0124] Here, even when there is a moving object at the same distance from the vehicle, the degree of risk varies between a vehicle of a general size and a vehicle of a larger (smaller) size than the general one. Therefore, the changing unit 127 identifies the dimensions of the vehicle body from the acquired information regarding the size of the vehicle body, and changes the setting of the risk value regarding the position of the moving object according to the identified dimensions of the vehicle body.

[0125] More specifically, first, when the body type "SUV (Sport Utility Vehicle)" is acquired as information regarding the vehicle body, the changing unit 127 identifies the general dimensions of the vehicle body (total length "4300 mm") in the body type "SUV".

[0126] Then, as shown in FIG. 12(2), when the distance between the moving object sensor and the moving object is in the range of 0 to 80 cm, the changing unit 127 calculates the risk value regarding the position of the moving object as 1, and when the distance between the moving object sensor and the moving object is in the range of 80 cm to 160 cm, the changing unit 127 changes the setting so as to calculate the risk value regarding the position of the moving object such that the risk value regarding the position of the moving object linearly decreases from 1 to 0 as the distance between the moving object sensor and the moving object increases.

[0127] Next, an example of changing the setting of the risk value regarding the traveling direction of the moving object and the setting of the risk value regarding the position of the moving object according to the mounting position of the moving object sensor will be described. The moving object sensor can be installed at a part inside or outside the vehicle according to the purpose, such as a front pillar, a center pillar, a rear pillar, a rearview mirror, a side mirror, a ceiling, a seat, and a rear glass. When the mounting position of the moving object sensor changes, the positional relationship between the moving object sensor and the vehicle body changes. Therefore, it is necessary to change the setting of the risk value regarding the traveling direction of the moving object and the setting of the risk value regarding the position of the moving object according to the mounting position of the moving object sensor.

[0128] That is, for example, when a motion sensor is attached to a rearview mirror, depending on the position of the rearview mirror, a risk value is set for the moving direction of the moving object (Fig. 11(1)) and a risk value is set for the position of the moving object (Fig. 12(1)). If the risk value setting is not changed accordingly when the attachment location of the motion sensor is changed to the rear glass, the risk value for the moving direction of the moving object and the risk value for the position of the moving object will be calculated for coordinates shifted by the distance from the rearview mirror to the rear glass.

[0129] Therefore, the changing unit 127 changes the setting of the risk value for the moving direction of the moving object and the setting of the risk value for the position of the moving object according to the attachment position of the motion sensor. More specifically, when the attachment position "rear glass" of the motion sensor is acquired by the acquisition unit 122, the changing unit 127 changes the setting of the risk value for the moving direction of the motion sensor and the setting of the risk value for the position of the moving object so that they become coordinate positions corresponding to the attachment position "rear glass" of the motion sensor.

[0130] [4. Flowchart] Next, the processing by the monitoring device 100 with the above-described configuration will be described with reference to the flowchart of Fig. 13. Fig. 13 is a flowchart showing an example of the processing flow by the monitoring device 100 according to the embodiment. The flowchart of Fig. 13 is mainly executed by the control unit 120. Also, this flowchart can be configured as a program executed by the CPU of the control unit 120 to obtain a monitoring program. Note that each of the following steps can also be executed in a different order, and there may be processes that are omitted.

[0131] First, the acquisition unit 122 acquires information regarding the size of the vehicle body (step S401). For example, the acquisition unit 122 acquires information on the body type "sedan". Subsequently, the acquisition unit 122 acquires information on the attachment position of the motion sensor (step S402). For example, the acquisition unit 122 acquires information on the attachment position "rearview mirror" of the motion sensor.

[0132] Subsequently, the modification unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information acquired by the acquisition unit 122 (step S403). For example, the modification unit 127 changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information regarding the size of the vehicle acquired by the acquisition unit 122.

[0133] The modification unit 127 changes the setting of the risk value regarding the position of the moving object according to the information acquired by the acquisition unit 122 (step S404). For example, the modification unit 127 changes the setting of the risk value regarding the position of the moving object according to the information regarding the size of the vehicle acquired by the acquisition unit 122.

[0134] [5. Effects] The monitoring device 100 according to the embodiment includes an acquisition unit 122 that acquires information regarding the size of the vehicle body, and a modification unit 127 that changes the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information acquired by the acquisition unit 122.

[0135] Thereby, the monitoring device 100 can change the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the information regarding the size of the vehicle body, and accurately determine the presence or absence of danger to the vehicle.

[0136] In the monitoring device 100 according to the embodiment, the information regarding the size of the vehicle body is the body type. Thereby, the monitoring device 100 can change the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the body type, and accurately determine the presence or absence of danger to the vehicle.

[0137] In the monitoring device 100 according to the embodiment, the information regarding the size of the vehicle body is the vehicle type. Thereby, the monitoring device 100 can change the setting of the risk value regarding the traveling direction of the moving object detected by the motion sensor according to the vehicle type, and accurately determine the presence or absence of danger to the vehicle.

[0138] The acquisition unit 122 of the monitoring device 100 according to the embodiment acquires information on the mounting position of the moving body sensor in addition to information on the size of the vehicle body. Thereby, the monitoring device 100 can change the setting of the risk value regarding the traveling direction of the moving body detected by the moving body sensor according to the information on the size of the vehicle body and the information on the mounting position of the moving body sensor, and can accurately determine the presence or absence of danger to the vehicle.

[0139] The change unit 127 of the monitoring device 100 according to the embodiment changes the setting of the risk value regarding the traveling direction of the moving body and the setting of the risk value regarding the position of the moving body according to the information acquired by the acquisition unit 122. Thereby, the monitoring device 100 can change the setting of the risk value regarding the traveling direction of the moving body detected by the moving body sensor and the risk value regarding the position of the moving body according to the information on the size of the vehicle body, and can accurately determine the presence or absence of danger to the vehicle.

[0140] [Modification Example] [1. Configuration of the System] So far, the examples in which the monitoring according to the first embodiment and the second embodiment are realized only by the monitoring device 100 provided in the vehicle have been described. Hereinafter, modification examples of the above embodiments will be described. As a modification example, an example in which the monitoring according to the first embodiment and the second embodiment is realized by communication between the monitoring device 100 existing on the cloud and the in-vehicle device 10 provided in the vehicle will be described. FIG. 14 is a diagram showing the configuration of the monitoring system according to the embodiment. In FIG. 14, a monitoring system 1 is shown as an example of the monitoring system according to the embodiment. Note that descriptions of the contents common to the first embodiment and the second embodiment will be omitted as appropriate.

[0141] As shown in FIG. 14, the monitoring system 1 includes an in-vehicle device 10 and a monitoring device 100. Further, the in-vehicle device 10 and the monitoring device 100 are communicably connected by wire or wirelessly via a network N. Also, the monitoring system 1 shown in FIG. 14 may include any number of in-vehicle devices 10 and any number of monitoring devices 100. 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. That is, the monitoring device 100 may be a server device. In the present invention, as shown in FIG. 14, by transmitting and receiving information between the monitoring device 100, which is a server device existing on the cloud, and the in-vehicle device 10 provided in the vehicle, the monitoring according to the embodiment is realized in the monitoring system 1.

[0142] The in-vehicle device 10 may be a dedicated sensor device built in or externally attached to the vehicle VEx, or may be a device such as a recording device (drive recorder) installed in the vehicle VEx for crime prevention or countermeasures against reckless driving.

[0143] Further, the in-vehicle device 10 may be composed of a sensor device and a notification device. As an example of this, the in-vehicle device 10 may be a composite device in which a sensor device and a notification device independent of each other are communicably connected. Also, as another example, the in-vehicle device 10 may be a single device having a sensor function and a notification function.

[0144] Also, the user can substitute this by connecting a predetermined sensor to a portable terminal device (for example, a smartphone, a tablet terminal, a notebook PC, a desktop PC, a PDA, etc.) that is used daily and introducing a predetermined application as the in-vehicle device 10. For example, a portable terminal device equipped with a predetermined sensor or to which a predetermined sensor is connected can be regarded as the in-vehicle device 10 referred to here. When the portable terminal device is utilized as the in-vehicle device 10, for example, it is installed on the dashboard of the vehicle VEx during driving.

[0145] In addition, the in-vehicle device 10 may be provided with various sensors. For example, the in-vehicle device 10 may be provided with a distance sensor, a moving body sensor such as a microwave sensor or LiDAR, a temperature sensor, a microphone, a positioning sensor such as a GNSS sensor or a GPS sensor, an acceleration sensor, a gyro sensor, an imaging device such as a camera, and various sensors such as a barometric pressure sensor.

[0146] The monitoring device 100 may acquire various 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 bodies inside and outside the vehicle from the moving body sensor. Also, for example, the monitoring device 100 acquires the temperature inside the vehicle from the temperature sensor. Also, for example, the monitoring device 100 acquires sound from the microphone. Also, for example, the monitoring device 100 acquires the angular velocity from the gyro sensor. Also, for example, the monitoring device 100 acquires data of a moving image obtained by photographing the outside from inside the vehicle VEx by the camera. Note that the monitoring device 100 may acquire the sensor information detected not only by the sensors provided in the in-vehicle device 10 but also by the sensors provided in the vehicle VEx itself.

[0147] [2. Configuration of Monitoring Device] Next, the monitoring device 100 according to the embodiment will be described with reference to FIG. 15. FIG. 15 is a diagram showing a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 15, the monitoring device 100 includes a communication unit 110, a storage unit 130, and a control unit 120.

[0148] The control unit 120 is realized by using a CPU, NP, FPGA, etc., and executes a processing program stored in a memory. As shown in FIG. 15, the control unit 120 includes an acquisition unit 122, a direction risk calculation unit 123, a position risk calculation unit 124, a determination unit 125, an output unit 126, and a change unit 127.

[0149] [Others] [1. Hardware Configuration] Further, the monitoring device 100 according to the above-described embodiments and modifications is realized by, for example, a computer 1000 configured as shown in FIG. 16. FIG. 16 is a hardware configuration diagram showing an example of a computer that realizes the functions of the monitoring device 100. The computer 1000 includes a CPU 1100, a RAM 1200, a ROM 1300, an HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700.

[0150] The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400 and controls each part. The ROM 1300 stores a boot program executed by the CPU 1100 when the computer 1000 starts up, a program dependent on the hardware of the computer 1000, and the like.

[0151] The HDD 1400 stores a program executed by the CPU 1100 and data used by such a program. The communication interface 1500 receives data from other devices via a predetermined communication network and sends it to the CPU 1100, and sends data generated by the CPU 1100 to other devices via a predetermined communication network.

[0152] 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. Further, the CPU 1100 outputs the generated data to the output devices via the input / output interface 1600.

[0153] 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 such a 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), PD (Phase change rewritable Disk), a magneto-optical recording medium such as an MO (Magneto-Optical disk), a tape medium, a magnetic recording medium, or a semiconductor memory, etc.

[0154] For example, when the computer 1000 functions as the monitoring device 100 according to the embodiment, the CPU 1100 of the computer 1000 realizes the functions of the control unit 120 by executing the program loaded onto the RAM 1200. The CPU 1100 of the computer 1000 reads and executes these programs from the recording medium 1800. As another example, these programs may be acquired from another device via a predetermined communication network.

[0155] 〔2. Others〕 So far, an example of the embodiment according to the present invention has been described, but the present invention is not limited to the above examples. That is, those skilled in the art can implement various modifications without departing from the gist of the present invention in accordance with conventionally known knowledge. As long as the monitoring device of the present invention is still included by such modifications, of course, it is included in the scope of the present invention.

Explanation of Reference Numerals

[0156] 1 Monitoring system 10 Vehicle-mounted device 100 Monitoring device 110 Communication unit 120 Control unit 121 Sensor unit 122 Acquisition unit 123 Direction risk calculation unit 124 Position risk calculation unit 125 Determination Unit 126 Output Unit 127 Modification Unit 130 Memory Unit

Claims

1. An acquisition unit that acquires information regarding the size of a vehicle body, A change unit that changes the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired by the acquisition unit A monitoring device, characterized by comprising the above.

2. The monitoring device according to claim 1, wherein the information regarding the size of the vehicle body is a body type.

3. The monitoring device according to claim 1, wherein the information regarding the size of the vehicle body is a vehicle type.

4. The acquisition unit further acquires information regarding the mounting position of the moving object sensor in addition to the information regarding the size of the vehicle body The monitoring device according to claim 1, characterized by the above.

5. The change unit Changes the setting of the risk value regarding the traveling direction of the moving object and the setting of the risk value regarding the position of the moving object according to the information acquired by the acquisition unit The monitoring device according to claim 1, characterized by the above.

6. A method executed by a monitoring device, comprising An acquisition step of acquiring information regarding the size of a vehicle body, A change step of changing the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired by the acquisition step A monitoring method, characterized by including the above.

7. An acquisition step of acquiring information regarding the size of a vehicle body, A change step of changing the setting of a risk value regarding the traveling direction of a moving object detected by a moving object sensor according to the information acquired by the acquisition step A monitoring program, characterized by causing a computer to execute the above.

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