Monitoring device, monitoring method, and monitoring program

Abstract

To enable accurate interpolation of the position of a moving object.SOLUTION: A monitoring device 100 is provided, comprising an acquisition unit 122 configured to sequentially acquire the position of a moving object as identified based on information detected by a moving object sensor provided in a vehicle, and an estimation unit 123 configured to use a displacement of the moving object at a given period before the point in time when coordinates of the moving object acquired by the acquisition unit 122 became invalid to estimate the position of the moving object that was identified as invalid.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Conventionally, there is a technique for estimating the position of a moving object from the position of the moving object in the past when the position of the moving object cannot be obtained. For example, it is possible to estimate the position by the linear interpolation method.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art, there are cases where the position of the moving object cannot be interpolated with high accuracy. For example, when the moving object detected by the moving object sensor enters the blind spot of the moving object sensor, noise may occur immediately before entry, and the coordinates of the moving object may fluctuate finely. Therefore, when interpolation is performed using the coordinates of the moving object immediately before it enters the blind spot, coordinates that are greatly different from the actual coordinates of the moving object may be estimated. Thus, the problems to be solved by the present invention include the above-mentioned problem as an example.

Means for Solving the Problems

[0005] In order to solve the above-described problems and achieve the object, the invention according to claim 1 includes an acquisition unit that sequentially acquires the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle, and the acquisition unit uses the amount of movement of the moving object a predetermined period before the time when the position of the moving object becomes an invalid value to estimate the position of the moving object specified as the invalid value, and is characterized by having an estimation unit.

[0006] The invention according to claim 10 includes an acquisition unit that sequentially acquires the coordinates of a moving object specified based on the intensity of a signal detected by a moving object sensor provided in a vehicle, and among the coordinates of the moving object acquired by the acquisition unit, the coordinates of the moving object a predetermined period before the time when the intensity of the signal becomes equal to or less than a threshold value are used to estimate the coordinates of the moving object when the intensity of the signal was equal to or less than the threshold value, and is characterized by having an estimation unit.

[0007] The invention according to claim 11 is a method executed by a monitoring device, and includes an acquisition step of sequentially acquiring the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle, and an estimation step of estimating the position of the moving object specified as an invalid value using the position of the moving object a predetermined period before the time when the position of the moving object becomes an invalid value among the positions of the moving object acquired in the acquisition step, and is characterized by including the above.

[0008] The invention according to claim 12 causes a computer to execute an acquisition step of sequentially acquiring the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle, and an estimation step of estimating the position of the moving object specified as an invalid value using the position of the moving object a predetermined period before the time when the position of the moving object becomes an invalid value among the positions of the moving object acquired in the acquisition step, and is characterized by the above.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments for carrying out the present invention (hereinafter, embodiments) will be described with reference to the drawings. Note that the present invention is not limited by the embodiments described below. Further, in the description of the drawings, the same parts are denoted by the same reference numerals.

[0011] [First Embodiment] [1. Overview] First, the overview of the monitoring device 100 according to the first embodiment will be described. The monitoring device 100 is a device that estimates the coordinates of a moving object to be monitored. For the purpose of preventing parked vehicles from acts such as car theft, vandalism in the vehicle, and vehicle damage, parked vehicles are monitored. In a device or the like that monitors a parked vehicle, when performing monitoring by specifying the position of the moving object to be monitored, if the moving object to be monitored enters the dead angle of the moving object sensor caused by a pillar or the like of the vehicle, it is conceivable to estimate the position of the moving object that has entered the dead angle from the position of the moving object before entering the dead angle.

[0012] However, when the moving object detected by the moving object sensor enters the dead angle of the moving object sensor, noise may occur in the information detected by the moving object sensor, and the position of the moving object may fluctuate finely. Therefore, if interpolation is performed using the position of the moving object during the period when noise is generated immediately before the moving object enters the dead angle of the moving object sensor, a greatly incorrect position of the moving object will be obtained. Therefore, the monitoring device 100 estimates the position of the moving object specified as an invalid value using the position of the moving object in a period before the period when noise occurs.

[0013] For example, the monitoring device 100 sequentially acquires the position of the moving object specified based on the information detected by the moving object sensor provided in the vehicle, and uses the position of the moving object a predetermined period before the time when the acquired position of the moving object becomes an invalid value to estimate the position of the moving object specified as an invalid value. The monitoring according to the following embodiments shows an example realized only by the monitoring device 100 provided in the vehicle.

[0014] [2. Configuration of Monitoring Device] Next, the monitoring device 100 according to the embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 1, the monitoring device 100 includes a communication unit 110, a storage unit 130, and a control unit 120. Hereinafter, each part included in the monitoring device 100 will be described.

[0015] The communication unit 110 is implemented 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 an external device, for example.

[0016] 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 object 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, distance, coordinates of the moving object, traveling direction, amount of movement per unit time, various thresholds, a predetermined period, an interpolation flag, vehicle type information (vehicle type, vehicle size, etc.), the mounting position of the moving object sensor, information regarding notification (notification setting, notification destination terminal information, address information, etc.), images (including moving images and still images), and other information necessary for estimating the coordinates of the moving object and excluding the moving object from the processing target.

[0017] The control unit 120 is implemented using a CPU (Central Processing Unit), an NP (Network Processor), an FPGA (Field Programmable Gate Array), or the like, and executes a processing program stored in the memory. As shown in FIG. 1, the control unit 120 includes a sensor unit 121, an acquisition unit 122, an estimation unit 123, an exclusion unit 124, and a notification unit 125. Hereinafter, each unit included in the control unit 120 will be described.

[0018] The sensor unit 121 detects (acquires) information using various sensors. For example, the sensor unit 121 detects moving objects using motion sensors such as distance sensors, microwave sensors, and LiDAR (light detection and ranging). Also, the sensor unit 121 detects the position of the vehicle using positioning sensors such as GNSS (Global Navigation Satellite System) sensors and GPS (Global Positioning System) sensors. Further, the sensor unit 121 detects the acceleration of the vehicle using an acceleration sensor. Also, for example, the sensor unit 121 detects the angular velocity of the vehicle using a gyro sensor. Also, for example, the sensor unit 121 acquires images (moving images / still images) around the vehicle using an imaging device.

[0019] The acquisition unit 122 sequentially acquires the positions of the moving objects identified based on the information detected by the motion sensors provided in the vehicle. For example, the acquisition unit 122 sequentially acquires the coordinates of the moving objects identified based on the information detected by the motion sensors provided in the vehicle. For example, the acquisition unit 122 analyzes the signals received by the motion sensors provided in the rearview mirror and acquires the coordinates of the moving objects identified from the distance and angle information at a predetermined interval (for example, at 50 millisecond intervals). Here, as an example of the installation location of the motion sensor, a rearview mirror has been mentioned. However, for example, as shown in Fig. 3(1), it may be installed near the rearview mirror, or as shown in Fig. 3(2), it may be installed on the center pillar. That is, the motion sensor is installed at locations inside and outside the vehicle according to the purpose, such as the front pillar, center pillar, rear pillar, rearview mirror, ceiling, seat, rear glass, and side mirror. Note that the motion sensor may be integrated as a device or may be arranged separately.

[0020] In addition, the acquisition unit 122 identifies the coordinates of the moving object based on the intensity of the signal detected by the motion sensor. When the intensity of the signal detected by the motion sensor is equal to or less than the threshold value, the acquisition unit 122 identifies the coordinates of the moving object as invalid values. For example, the acquisition unit 122 analyzes a signal whose intensity detected by the motion sensor exceeds the threshold value, and identifies the coordinates of the moving object from the information on the distance and the angle. On the other hand, for a signal whose intensity detected by the motion sensor is equal to or less than the threshold value, the acquisition unit 122 identifies the coordinates of the moving object as invalid values.

[0021] The estimation unit 123 estimates the position of the moving object identified as an invalid value by using the amount of movement of the moving object a predetermined period before the time when the position of the moving object acquired by the acquisition unit 122 becomes an invalid value. For example, the estimation unit 123 estimates the coordinates of the moving object identified as an invalid value by using the amount of movement of the moving object a predetermined period before the time when the coordinates of the moving object acquired by the acquisition unit 122 become an invalid value. That is, the estimation unit 123 estimates the coordinates of the moving object identified as an invalid value by using the coordinates of the moving object in the period before the period in which noise occurs immediately before the coordinates of the moving object become an invalid value. Note that, as the predetermined period, any period according to the purpose can be used. For example, the predetermined period is 300 ms.

[0022] Here, various reasons such as a decrease in the intensity of the signal received by the motion sensor, hardware malfunctions, and environmental factors can be considered as the cause for the coordinates of the moving object to become invalid values. Therefore, the estimation unit 123 may estimate the coordinates of the moving object whose signal intensity is equal to or less than the threshold value after determining the signal intensity as the threshold value.

[0023] For example, the estimation unit 123 estimates the coordinates of the moving object whose signal intensity is equal to or less than the threshold value by using the amount of movement of the moving object a predetermined period before the time when the intensity of the signal becomes equal to or less than the threshold value among the coordinates of the moving object acquired by the acquisition unit 122. For example, the estimation unit 123 estimates the coordinates of the moving object whose signal intensity is equal to or less than the threshold value from the coordinates of the moving object a predetermined period before the time when the intensity of the signal becomes equal to or less than the threshold value among the coordinates of the moving object acquired by the acquisition unit 122 and the amount of movement per unit time of the moving object in the period a predetermined period before the time when the intensity of the signal becomes equal to or less than the threshold value.

[0024] More specifically, the estimation unit 123 estimates the coordinates of the moving object at which the signal strength has become equal to or less than the threshold value by calculating the coordinates obtained by adding the moving amount per unit time of the moving object in the period a predetermined period before the time when the signal strength has become equal to or less than the threshold value to the coordinates of the moving object at a predetermined period before the time when the signal strength has become equal to or less than the threshold value, starting from the coordinates of the moving object at a predetermined period before the time when the signal strength has become equal to or less than the threshold value, in the traveling direction at the coordinates of the moving object at a predetermined period before the time when the signal strength has become equal to or less than the threshold value. Note that the estimation unit 123 can specify the traveling direction at the coordinates of a certain moving object from the positional relationship between the coordinates of the certain moving object and the coordinates of the moving object immediately before the coordinates of the certain moving object.

[0025] In addition, the estimation unit 123 estimates the coordinates of the moving object specified as an invalid value from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object have become an invalid value and the moving amount per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object have become an invalid value. For example, the estimation unit 123 estimates the coordinates of the moving object specified as an invalid value by applying the moving amount per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object have become an invalid value to the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object have become an invalid value.

[0026] More specifically, the estimation unit 123 estimates the coordinates of the moving object specified as an invalid value by calculating the coordinates obtained by adding the moving amount per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object have become an invalid value to the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object have become an invalid value, starting from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object have become an invalid value, in the traveling direction at the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object have become an invalid value.

[0027] Here, the moving amount per unit time of the moving object is a value obtained by dividing the average value of the moving amount on the Y axis of the moving object in the period a predetermined period before the time when the coordinates of the moving object have become an invalid value by the average value of the moving amount on the X axis of the moving object in the period a predetermined period before the time when the coordinates of the moving object have become an invalid value.

[0028] For example, the amount of movement of a moving object per unit time is the average value of the amount of movement of the moving object on the Y-axis during the period from 300 ms before to 1000 ms before the time when the coordinates of the moving object become invalid values (Equation 1), divided by the average value of the amount of movement of the moving object on the X-axis during the period from 300 ms before to 1000 ms before the time when the coordinates of the moving object become invalid values (Equation 2). Note that for the period before a predetermined period, the period from 300 ms before to 1000 ms before the time when the coordinates of the moving object become invalid values is taken as an example, but for example, depending on the sensor or the like, the situation of noise generation immediately before or an arbitrary period according to the purpose can be used.

[0029]

Equation

[0030]

Equation

[0031] Further, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values from the estimated coordinates of the moving object and the amount of movement of the moving object per unit time during a period before a predetermined period from the time when the coordinates of the moving object become invalid values. For example, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values by applying the amount of movement of the moving object per unit time during a period before a predetermined period from the time when the coordinates of the moving object become invalid values to the estimated coordinates of the moving object.

[0032] More specifically, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values by calculating the coordinates obtained by adding the amount of movement of the moving object per unit time during a period before a predetermined period from the time when the coordinates of the moving object become invalid values to the estimated coordinates of the moving object in the traveling direction at the estimated coordinates of the moving object starting from the estimated coordinates of the moving object. That is, the estimation unit 123 can recursively estimate the coordinates of the moving object by using the estimated coordinates of the moving object again for estimation.

[0033] When the coordinates of a moving object become invalid due to the moving object moving outside the detection range of the motion sensor, the exclusion unit 124 excludes the moving object from the estimation (interpolation) target. For example, when the moving object moves from within the detection range of the motion sensor to outside the detection range of the motion sensor, resulting in a decrease in signal strength or the like and the coordinates of the moving object becoming invalid, the exclusion unit 124 excludes the moving object from the estimation target.

[0034] As another example, when a moving object exists outside the dead zone range of the motion sensor caused by an obstacle existing in the vehicle equipped with the motion sensor and the coordinates of the moving object become invalid, the exclusion unit 124 excludes the moving object from the estimation target. For example, when a moving object exists outside the dead zone range of the motion sensor caused by an obstacle existing in the vehicle equipped with the motion sensor and the coordinates of the moving object become invalid due to a decrease in signal strength or the like, the exclusion unit 124 excludes the moving object from the estimation target. Here, the obstacles existing in the vehicle equipped with the motion sensor are objects such as front pillars, center pillars, rear pillars, seats, side mirrors, etc. that exist in the vehicle and narrow the detection range of the motion sensor.

[0035] The notification unit 125 performs a predetermined notification based on one or more of the position of the moving object acquired by the acquisition unit 122 and the position of the moving object estimated by the estimation unit 123. For example, when one or more of the position of the moving object acquired by the acquisition unit 122 and the position of the moving object estimated by the estimation unit 123 are in a predetermined positional relationship (for example, within a predetermined distance) with the vehicle, it notifies the 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 emails, incoming calls, and notifications to applications. At this time, the notification unit 125 may transmit the image captured by the imaging device to the user terminal.

[0036] Also, for example, when one or more of the position of the moving object acquired by the acquisition unit 122 and the position of the moving object estimated by the estimation unit 123 are in a predetermined positional relationship (for example, within a predetermined distance) with the vehicle, the notification unit 125 issues an alarm by sound or light around the vehicle using a speaker or a light.

[0037] 〔3. Estimation Process〕 Next, with reference to FIGS. 3 to 5, the estimation process by the monitoring device 100 will be described. FIGS. 3 to 5 are diagrams for explaining an example of the estimation process by the monitoring device 100. FIG. 3(1) shows the trajectory of a moving object detected by the moving object sensor when the moving object (human) crosses the dead zone of the moving object sensor and passes by the side of the vehicle. The triangular pyramid extending from the center of the vehicle in FIG. 3(1) indicates the dead zone of the moving object sensor.

[0038] FIG. 3(2) shows the coordinates (X-axis and Y-axis) of the moving object in the case of FIG. 3(1). As shown in FIG. 3(1), since there is a dead zone of the moving object sensor, data on the coordinates of the moving object cannot be obtained for the dotted line portions in FIGS. 3(1) and (2) corresponding to the dead zone range of the moving object sensor. Further, immediately before the moving object enters the dead zone of the moving object sensor, as shown by the dotted line portion in FIG. 4, noise may occur and the coordinates of the moving object may fluctuate finely.

[0039] Therefore, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values using the moving amount of the moving object in a predetermined period before the time when the coordinates of the moving object acquired by the acquisition unit 122 become invalid values. That is, the estimation unit 123 estimates the coordinates of the moving object that become unavailable due to the moving object entering the dead zone of the moving object sensor from the coordinates of the moving object in a period before the period when noise occurs immediately before the moving object enters the dead zone of the moving object sensor.

[0040] More specifically, the estimation unit 123 calculates the moving amount per unit time of the moving object in a period before the time when the coordinates of the moving object become invalid values, starting from the coordinates of the moving object in a period before the time when the coordinates of the moving object become invalid values, and adding the coordinates in the traveling direction at the coordinates of the moving object in a period before the time when the coordinates of the moving object become invalid values, thereby estimating the coordinates of the moving object specified as invalid values.

[0041] As a result, as shown in FIG. 5(1), which is a trajectory obtained by interpolating the trajectory of a moving object detected by a moving object sensor when the moving object passes by the side of the vehicle across the dead zone of the moving object sensor, and as shown by the dotted line portion of FIG. 5(2), which is the coordinates of the moving object in FIG. 5(1), the coordinates of the moving object can be estimated even in the dead zone of the moving object sensor, and the moving object can be tracked. That is, the monitoring device 100 can accurately interpolate the coordinates of the moving object by using the coordinates of the moving object in the period before the noise generation period.

[0042] [4. Exclusion process] Next, with reference to FIGS. 6 and 7, the exclusion process performed by the monitoring device 100 will be described. FIGS. 6 and 7 are diagrams for explaining an example of the exclusion process by the monitoring device 100. First, an example in which a moving object is excluded from the estimation target when the moving object becomes an invalid value due to moving outside the detection range of the moving object sensor will be described. FIG. 6 shows a case where a moving object moves from within the detection range of the moving object sensor to outside the detection range.

[0043] In the above-described estimation process, when there is a movement of a moving object outside the detection range of the moving object sensor as shown in FIG. 6, the moving object may become a target for estimation (interpolation), and interpolation may continue to be performed. Therefore, when the coordinates of the moving object become invalid values due to the moving object moving outside the detection range of the moving object sensor, the exclusion unit 124 excludes the moving object from the estimation (interpolation) target.

[0044] The exclusion unit 124 determines whether the coordinates of the moving object have become invalid values due to the moving object moving outside the detection range of the moving object sensor by using the signal strength. For example, when the signal strength gradually attenuates and the coordinates of the moving object become invalid values, the exclusion unit 124 determines that the coordinates of the moving object have become invalid values due to the moving object moving outside the detection range of the moving object sensor. More specifically, when the signal strength changes while maintaining a reduction rate within a predetermined range (reduction rate of ○% to ○○%) and falls below a threshold value, the exclusion unit 124 determines that the coordinates of the moving object have become invalid values outside the detection range of the moving object.

[0045] On the other hand, when the signal strength rapidly attenuates and the coordinates of the moving object become invalid values, the external elimination unit 124 determines that the coordinates of the moving object are invalid within the detection range of the moving object sensor. More specifically, when the signal strength, which is equal to or greater than a predetermined value, decreases to ○○% or less within a predetermined period and falls below the threshold value, the external elimination unit 124 determines that the coordinates of the moving object are invalid within the detection range of the moving object.

[0046] In addition, the external elimination unit 124 determines whether the coordinates of the moving object have become invalid due to the moving object moving outside the detection range of the moving object sensor using the coordinates of the moving object. For example, the external elimination unit 124 specifies the moving direction of the moving object before the coordinates of the moving object become invalid from the coordinates of the moving object a predetermined period before the coordinates of the moving object become invalid, and when the moving direction of the moving object a predetermined period before the coordinates of the moving object become invalid is a direction away from the moving object sensor, it is determined that the coordinates of the moving object have become invalid because the moving object has moved outside the detection range of the moving object sensor.

[0047] Next, an example will be described in which the moving object is excluded from the estimation target when the moving object exists outside the range of the dead angle of the moving object sensor caused by an obstacle existing in the vehicle equipped with the moving object sensor and the coordinates of the moving object become invalid values.

[0048] The dead angle of the moving object sensor caused by an obstacle existing in the vehicle equipped with the moving object sensor can be specified from information such as the type and kind of the vehicle and the position information of the moving object sensor in the vehicle. For example, if the information on the vehicle type and the mounting position of the moving object sensor is known, the dead angle of the moving object sensor caused by a pillar or the like can be specified.

[0049] On the other hand, since the information (position, size, etc.) of the obstacle causing the dead angle of the moving object sensor existing outside the vehicle is unknown, the dead angle of the moving object sensor caused by the obstacle existing outside the vehicle cannot be specified. Therefore, if interpolation is performed when a moving object enters the dead angle of the moving object sensor caused by an obstacle existing outside the vehicle, there is a risk of continuing the interpolation in the wrong direction.

[0050] Therefore, when a moving object exists outside the range of the blind spot of the motion sensor caused by an obstacle existing in the vehicle equipped with the motion sensor and the coordinates of the moving object become invalid values, the exclusion unit 124 excludes the moving object from the estimation target. For example, the exclusion unit 124 specifies the blind spot of the motion sensor caused by the front pillar, center pillar, and rear pillar as shown by the triangular pyramid extending from the center of the vehicle in FIG. 7 based on information such as the type and model of the vehicle and the position information of the motion sensor in the vehicle.

[0051] Then, when a moving object (person) passes by the side of the vehicle and the moving object exists outside the specified blind spot range of the motion sensor and the coordinate value of the moving object becomes an invalid value, the exclusion unit 124 excludes the moving object from the estimation target. That is, the exclusion unit 124 estimates only the coordinates of the moving object specified as an invalid value in the specified blind spot range of the motion sensor, and excludes the coordinates of the moving object specified as an invalid value due to an obstacle existing outside the vehicle, shown by the dotted line portion in FIG. 7, from the estimation target.

[0052] Thereby, the monitoring device 100 can prevent incorrect interpolation by excluding a moving object that may be subject to incorrect interpolation from the interpolation target, and can accurately interpolate the coordinates of the moving object.

[0053] 〔5. Flowchart〕 Next, the processing by the monitoring device 100 having the above-described configuration will be described with reference to the flowchart of FIG. 8. The flowchart of FIG. 8 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 obtain a monitoring program. Note that the following steps can also be executed in a different order, and there may be processes that are omitted.

[0054] First, the acquisition unit 122 acquires the coordinates of a moving object specified based on the information detected by the motion sensor provided in the vehicle (step S101). For example, the acquisition unit 122 analyzes the signal received by the motion sensor provided in the rearview mirror and acquires the coordinates of the moving object specified from the information on the distance and angle.

[0055] Subsequently, the estimation unit 123 determines whether the coordinates of the moving object acquired by the acquisition unit 122 are invalid values (step S102). Here, when it is determined by the estimation unit 123 that the coordinates of the moving object are not invalid values (step S102: No), the monitoring device 100 sets the interpolation flag to OFF (step S103). Here, the interpolation flag is a flag indicating whether interpolation is being performed. When interpolation is being performed, it is set to ON, and when interpolation is not being performed, it is set to OFF. That is, in step S103, when the coordinates of the moving object that are not invalid values are obtained, the monitoring device 100 sets the interpolation flag to OFF because interpolation is not performed. Then, the process of step S101 is performed again.

[0056] On the other hand, when it is determined by the estimation unit 123 that the coordinates of the moving object are invalid values (step S102: Yes), the estimation unit 123 determines whether there is an interpolation flag set to OFF (step S104). Here, when it is determined by the estimation unit 123 that there is an interpolation flag set to OFF (step S104: Yes), the estimation unit 123 sets the interpolation flag to ON (step S105).

[0057] Subsequently, the estimation unit 123 calculates the amount of movement per unit time in the period before a predetermined period from the time when the coordinates of the moving object became invalid values (step S106). For example, the estimation unit 123 calculates, as the amount of movement per unit time, a value obtained by dividing the average value of the amount of movement in the Y-axis of the moving object in the period before a predetermined period from the time when the coordinates of the moving object became invalid values by the average value of the amount of movement in the X-axis of the moving object in the period before a predetermined period from the time when the coordinates of the moving object became invalid values.

[0058] Subsequently, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values from the coordinates of the moving object and the amount of movement per unit time (step S107). For example, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values by applying the amount of movement per unit time of the moving object in the period before a predetermined period from the time when the coordinates of the moving object became invalid values to the coordinates of the moving object before a predetermined period from the time when the coordinates of the moving object became invalid values.

[0059] Further, for example, the estimation unit 123 recursively estimates the coordinates of the moving object specified as invalid values by applying the amount of movement per unit time of the moving object in a period before a predetermined period from the time when the coordinates of the moving object became invalid values to the estimated coordinates of the moving object.

[0060] On the other hand, when it is determined by the estimation unit 123 that there is no interpolation flag set to OFF (step S104: No), the estimation unit 123 performs the process of step S107. Then, the process returns to step S101 again. That is, when the monitoring device 100 starts estimating the coordinates of the moving object, it continuously estimates the moving object until the coordinates of the moving object that are not invalid values are acquired.

[0061] 〔6. Effect〕 The monitoring device 100 according to the embodiment includes an acquisition unit 122 that sequentially acquires the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle, and among the coordinates of the moving object acquired by the acquisition unit 122, uses the position of the moving object in a period before a predetermined period from the time when the position of the moving object became an invalid value to estimate the position of the moving object specified as an invalid value, and an estimation unit 123.

[0062] Thereby, the monitoring device 100 can estimate the position of the moving object specified as an invalid value from the coordinates of the moving object in a period before a predetermined period from the time when the position of the moving object became an invalid value, and can interpolate the coordinates of the moving object with high accuracy. That is, the monitoring device 100 estimates the coordinates of the moving object by using the coordinates of the moving object in a period before the noise generation period that occurs immediately before the moving object enters the blind spot, thereby excluding the influence of noise, interpolating the coordinates of the moving object with high accuracy, and preventing false detection and false alarms.

[0063] The acquisition unit 122 of the monitoring device 100 according to the embodiment acquires the coordinates of the moving object as the position of the moving object, and the estimation unit 123 estimates the coordinates of the moving object specified as invalid values using the amount of movement of the moving object a predetermined period before the time when the coordinates of the moving object acquired by the acquisition unit 122 become invalid values. Thereby, the monitoring device 100 can estimate the coordinates of the moving object specified as invalid values from the coordinates of the moving object in the period a predetermined period before the time when the coordinates of the moving object become invalid values, and interpolate the coordinates of the moving object with high accuracy.

[0064] The acquisition unit 122 of the monitoring device 100 according to the embodiment specifies the coordinates of the moving object based on the intensity of the signal detected by the moving object sensor, and when the intensity of the signal detected by the moving object sensor is equal to or less than the threshold value, specifies the coordinates of the moving object as invalid values.

[0065] Thereby, when the intensity of the signal is equal to or less than the threshold value, the monitoring device 100 specifies the coordinates of the moving object as invalid values, and estimates the coordinates of the moving object specified as invalid values from the coordinates of the moving object in the period a predetermined period before the time when the coordinates of the moving object become invalid values, and can interpolate the coordinates of the moving object with high accuracy.

[0066] The estimation unit 123 of the monitoring device 100 according to the embodiment estimates the coordinates of the moving object specified as invalid values from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object become invalid values and the amount of movement per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object become invalid values.

[0067] Thereby, the monitoring device 100 applies the amount of movement per unit time in the period to the coordinates of the moving object in the period a predetermined period before the time when the coordinates of the moving object become invalid values, estimates the coordinates of the moving object specified as invalid values, and can interpolate the coordinates of the moving object with high accuracy.

[0068] In the monitoring device 100 according to the embodiment, the amount of movement of the moving object per unit time is the value obtained by dividing the average value of the amount of movement of the moving object on the Y-axis in the period a predetermined period before the time when the coordinates of the moving object became invalid values by the average value of the amount of movement of the moving object on the X-axis in the period a predetermined period before the time when the coordinates of the moving object became invalid values.

[0069] Thereby, the monitoring device 100 applies the amount of movement per unit time calculated by dividing the average value of the amount of movement on the Y-axis in the period by the average value of the amount of movement on the X-axis in the period to the coordinates of the moving object in the period a predetermined period before the time when the coordinates of the moving object became invalid values, estimates the coordinates of the moving object specified as invalid values, and can accurately interpolate the coordinates of the moving object.

[0070] The estimation unit 123 of the monitoring device 100 according to the embodiment estimates the coordinates of the moving object specified as invalid values from the estimated coordinates of the moving object and the amount of movement of the moving object per unit time in the period a predetermined period before the time when the coordinates of the moving object became invalid values.

[0071] Thereby, the monitoring device 100 recursively estimates the coordinates of the moving object specified as invalid values by applying the amount of movement of the moving object per unit time in the period a predetermined period before the time when the coordinates of the moving object became invalid values to the estimated coordinates of the moving object, and can accurately interpolate the coordinates of the moving object.

[0072] In the monitoring device 100 according to the embodiment, the predetermined period is 300 ms. Thereby, the monitoring device 100 estimates the coordinates of the moving object specified as invalid values from the coordinates of the moving object in the period 300 ms before the time when the coordinates of the moving object became invalid values, and can accurately interpolate the coordinates of the moving object while excluding the influence of noise generated when the moving object enters a blind spot.

[0073] The monitoring device 100 according to the embodiment further includes an excluding unit 124 that excludes a moving object from the estimation target when the coordinates of the moving object become invalid values due to the moving object moving outside the detection range of the moving object sensor. Thereby, the monitoring device 100 can accurately interpolate the coordinates of the moving object by excluding the moving object that may be subject to incorrect interpolation from the interpolation target.

[0074] The monitoring device 100 according to the embodiment further includes an excluding unit 124 that excludes a moving object from the estimation target when the moving object exists outside the dead zone range of the moving object sensor caused by an obstacle existing in the vehicle equipped with the moving object sensor and the coordinates of the moving object become invalid values. Thereby, the monitoring device 100 can accurately interpolate the coordinates of the moving object by excluding the moving object that may enter an unforeseen dead zone and may be subject to incorrect interpolation from the interpolation target.

[0075] [Second Embodiment] In the first embodiment, mainly, an example of estimating the coordinates of a moving object specified as an invalid value using the coordinates of the moving object during the period before the noise generation was described. In the following second embodiment, an example of excluding a moving object from the interpolation (estimation) target based on the coordinates of the moving object will be described. Note that descriptions of the content common to the first embodiment will be omitted as appropriate.

[0076] [1. Overview] First, an overview of the monitoring device 100 according to the second embodiment will be described. The monitoring device 100 is a device that estimates the coordinates of a moving object that is the monitoring target. For the purpose of preventing a parked vehicle from acts such as car theft, vandalism in the vehicle, and vehicle damage, the parked vehicle is monitored. In a device or the like that monitors such a parked vehicle, when performing monitoring by specifying the position of the moving object that is the monitoring target, if the moving object that is the monitoring target enters the dead zone of the moving object sensor caused by a pillar or the like of the vehicle, it is conceivable to estimate the position of the moving object that has entered the dead zone from the position of the moving object before entering the dead zone.

[0077] However, when interpolating a moving object detected at a position away from the vehicle, the interpolation may continue in the wrong direction. For example, when a moving object detected at a position away from the vehicle is moving in the direction of the vehicle immediately before entering a blind spot, the interpolation in the vehicle direction continues within the blind spot range. Although the moving object actually exists at a position away from the vehicle, an approach determination is made and a warning or the like is issued. Therefore, the monitoring device 100 sequentially acquires the positions of the moving objects identified based on the information detected by the moving object sensor provided in the vehicle, and excludes the moving objects from the interpolation target based on the acquired positions of the moving objects.

[0078] 〔2. Configuration of Monitoring Device〕 Next, the monitoring device 100 according to the embodiment will be described with reference to FIG. 1. FIG. 1 is a diagram showing a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 1, the control unit 120 of the monitoring device 100 includes a sensor unit 121, an acquisition unit 122, an estimation unit 123, an exclusion unit 124, and a notification unit 125. Hereinafter, each unit included in the control unit 120 will be described.

[0079] The acquisition unit 122 sequentially acquires the positions of the moving objects identified based on the information detected by the moving object sensor provided in the vehicle. For example, the acquisition unit 122 sequentially acquires the coordinates of the moving objects identified based on the information detected by the 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 objects identified from the distance and angle information at a predetermined interval (for example, at an interval of 50 milliseconds).

[0080] The estimation unit 123 estimates the positions of the moving objects identified as invalid values among the positions of the moving objects acquired by the acquisition unit 122. For example, the estimation unit 123 estimates the positions of the moving objects identified as invalid values among the positions of the moving objects acquired by the acquisition unit 122 by performing the same processing as the estimation unit 123 according to the first embodiment.

[0081] The excluding unit 124 excludes the moving object from the interpolation target based on the position of the moving object acquired by the acquisition unit 122. For example, when the position of the moving object acquired by the acquisition unit 122 is outside a predetermined range, the excluding unit 124 excludes the moving object from the interpolation target. More specifically, when the coordinates of the moving object acquired by the acquisition unit 122 are outside the range of the X-axis (-250 to 250) and the Y-axis (0 to 500), the excluding unit 124 excludes the moving object from the interpolation target. Note that the above coordinate range is an example, and the excluding unit 124 can use a coordinate range according to the purpose when determining whether to exclude the moving object from the interpolation target.

[0082] Also, when the distance between the vehicle equipped with the moving object sensor and the moving object is equal to or greater than a predetermined distance, the excluding unit 124 excludes the moving object from the interpolation target. For example, when the moving object is at a distance of 1 m or more from the side of the vehicle, 1.5 m or more from the front of the vehicle, or 1.5 m or more from the rear of the vehicle, the excluding unit 124 excludes the moving object from the interpolation target. Note that the distances from each surface of the vehicle described above are examples, and the excluding unit 124 can use a distance according to the purpose when determining whether to exclude the moving object from the interpolation target.

[0083] Also, when the position of the moving object becomes an invalid value due to the moving object moving outside the detection range of the moving object sensor, the excluding unit 124 excludes the moving object from the interpolation target. For example, when the moving object moves from within the detection range of the moving object sensor to outside the detection range of the moving object sensor, resulting in a decrease in signal strength or the like and the coordinates of the moving object becoming an invalid value, the excluding unit 124 excludes the moving object from the interpolation target.

[0084] Also, when the moving object exists outside the dead zone range of the moving object sensor caused by an obstacle existing in the vehicle equipped with the moving object sensor and the position of the moving object becomes an invalid value, the excluding unit 124 excludes the moving object from the interpolation target. For example, when the moving object exists outside the dead zone range of the moving object sensor caused by an obstacle such as a pillar or a seat existing in the vehicle equipped with the moving object sensor and the coordinates of the moving object become an invalid value due to a decrease in signal strength or the like, the excluding unit 124 excludes the moving object from the interpolation target.

[0085] [3. Exclusion Processing] Next, with reference to FIGS. 9 and 10, the exclusion processing by the monitoring device 100 will be described. FIGS. 9 and 10 are diagrams for explaining an example of the exclusion processing by the monitoring device 100. First, an example of excluding a moving object detected remotely from the interpolation target will be described. FIG. 9(1) shows the trajectory of a moving object (human) when the moving object is detected at a distance from the vehicle (for example, a distance of 1 m or more from the side of the vehicle). Here, the triangular pyramid extending from the center of the vehicle in FIG. 9(1) indicates the dead angle of the moving object sensor. FIG. 9(2) shows the coordinates (X-axis and Y-axis) of the moving object in the case of FIG. 9(1).

[0086] As shown in FIG. 9(1), when the moving object moves on the dotted line 1.5 m from the side of the vehicle and the movement of the moving object immediately before entering the dead angle of the moving object sensor is in the vehicle direction, as shown in the dotted line portions of FIGS. 9(1) and (2), interpolation in the vehicle direction continues within the range of the dead angle. As a result, although the moving object is actually moving away from the vehicle, it may be determined that the moving object is approaching the vehicle, and a warning may be issued.

[0087] Therefore, the estimation unit 123 excludes the moving object from the interpolation target based on the coordinates of the moving object acquired by the acquisition unit 122. For example, the estimation unit 123 excludes the moving object from the interpolation target when the coordinates of the moving object are outside a predetermined range or when the distance between the moving object and the vehicle is equal to or greater than a predetermined distance.

[0088] More specifically, the exclusion unit 124 excludes the moving object from the interpolation target when the coordinates of the moving object acquired by the acquisition unit 122 are outside the range of the X-axis (−250 to 250) and the Y-axis (0 to 500). As another example, the exclusion unit 124 excludes the moving object from the interpolation target when the moving object is at a distance of 1 m or more from the side of the vehicle, 1.5 m or more from the front of the vehicle, or 1.5 m or more from the rear of the vehicle.

[0089] That is, when a moving object passes by the side of the vehicle across the blind spot of the moving object sensor at a position away from the vehicle, as shown in FIG. 10(1) which is the trajectory of the moving object and FIG. 10(2) which are the coordinates of the moving object in FIG. 10(1), interpolation of the coordinates of the moving object specified as invalid values is not performed. This prevents incorrect interpolation from continuing and enables accurate interpolation of the coordinates of the moving object.

[0090] 〔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. 11. The flowchart of FIG. 11 is mainly executed by the control unit 120. Further, 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.

[0091] First, the acquisition unit 122 acquires the coordinates of a moving object specified based on the information detected by the moving object sensor provided inside the vehicle (step S201). 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 specified from the information on the distance and the angle.

[0092] Subsequently, the exclusion unit 124 determines whether the coordinates of the moving object acquired by the acquisition unit 122 are outside a predetermined range (step S202). For example, the exclusion unit 124 determines whether the coordinates of the moving object acquired by the acquisition unit 122 are outside the range of the X-axis (-250 to 250) and the Y-axis (0 to 500).

[0093] Here, when it is determined by the exclusion unit 124 that the moving object is not outside the predetermined range (step S202: No), subsequently, the exclusion unit 124 determines whether the moving object and the vehicle are in a predetermined positional relationship (step S203). For example, the exclusion unit 124 determines whether the moving object is at a distance of 1 m or more from the side surface of the vehicle, 1.5 m or more from the front surface of the vehicle, or 1.5 m or more from the rear surface of the vehicle. Here, when it is determined by the exclusion unit 124 that they are not in the predetermined positional relationship (step S203: No), the monitoring device 100 ends the process.

[0094] On the other hand, when it is determined by the exclusion unit 124 that the coordinates of the moving object are outside the predetermined range (step S202: Yes), or when it is determined by the exclusion unit 124 that the moving object and the vehicle are in the predetermined positional relationship (step S203: Yes), the exclusion unit 124 excludes the moving object from the interpolation target (step S204). For example, the exclusion unit 124 excludes a moving object whose coordinates are outside the predetermined range or a moving object in which the moving object and the vehicle are in the predetermined positional relationship from the interpolation target.

[0095] [5. Effects] The monitoring device 100 according to the embodiment includes an acquisition unit 122 that sequentially acquires the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle, and an exclusion unit 124 that excludes the moving object from the interpolation target based on the position of the moving object acquired by the acquisition unit 122.

[0096] Thereby, the monitoring device 100 can exclude the moving object from the interpolation target based on the position of the moving object and interpolate the position of the moving object with high accuracy. That is, the monitoring device 100 enables high-precision interpolation of the position of the moving object by excluding a moving object that may be incorrectly interpolated from the interpolation target. In this way, the monitoring device 100 can interpolate the position of the moving object with high accuracy, specify the correct position, and prevent false detection and false alarms caused by intrusion into the blind spot of the moving object.

[0097] The acquisition unit 122 of the monitoring device 100 according to the embodiment acquires the coordinates of the moving object as the position of the moving object, and the exclusion unit 124 excludes the moving object from the interpolation target based on the coordinates of the moving object acquired by the acquisition unit 122. Thereby, the monitoring device 100 can exclude the moving object from the interpolation target based on the coordinates of the moving object and accurately interpolate the coordinates of the moving object.

[0098] The monitoring device 100 according to the embodiment estimates the position of the moving object specified as an invalid value among the coordinates of the moving object acquired by the acquisition unit 122. Thereby, when estimating (interpolating) the position of the moving object specified as an invalid value, the monitoring device 100 can exclude the moving object from the interpolation target based on the position of the moving object, and can accurately interpolate the position of the moving object.

[0099] When the position of the moving object acquired by the acquisition unit 122 is outside a predetermined range, the exclusion unit 124 of the monitoring device 100 according to the embodiment excludes the moving object from the interpolation target. Thereby, the monitoring device 100 can exclude the moving object whose coordinates are outside the predetermined range from the interpolation target and accurately interpolate the position of the moving object.

[0100] When the distance between the vehicle equipped with the moving object sensor and the moving object is equal to or greater than a predetermined distance, the exclusion unit 124 of the monitoring device 100 according to the embodiment excludes the moving object from the interpolation target. Thereby, the monitoring device 100 can exclude the moving object at a position equal to or greater than the predetermined distance from the vehicle from the interpolation target and accurately interpolate the position of the moving object.

[0101] When the moving object is at a distance of 1 m or more from the side of the vehicle, 1.5 m or more from the front of the vehicle, or 1.5 m or more from the rear of the vehicle, the exclusion unit 124 of the monitoring device 100 according to the embodiment excludes the moving object from the interpolation target.

[0102] Thereby, the monitoring device 100 can exclude the moving object at a distance of 1 m or more from the side of the vehicle or 1.5 m or more from the front and rear of the vehicle from the interpolation target and accurately interpolate the position of the moving object.

[0103] The exclusion unit 124 of the monitoring device 100 according to the embodiment excludes a moving object from the interpolation target when the position of the moving object becomes an invalid value due to the moving object moving outside the detection range of the motion sensor. Thereby, the monitoring device 100 can accurately interpolate the position of the moving object by excluding the moving object that may be incorrectly interpolated from the interpolation target.

[0104] The exclusion unit 124 of the monitoring device 100 according to the embodiment excludes a moving object from the interpolation target when the moving object exists outside the dead zone range of the motion sensor caused by an obstacle existing in the vehicle equipped with the motion sensor and the position of the moving object becomes an invalid value. Thereby, the monitoring device 100 can accurately interpolate the position of the moving object by excluding the moving object that may enter an unforeseen dead zone and may be incorrectly interpolated from the interpolation target.

[0105] [Modification Example] [1. System Configuration] So far, an example in which the monitoring according to the first embodiment and the second embodiment is realized only by the monitoring device 100 provided in the vehicle has been described. Hereinafter, a modification example of the above embodiment 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 the monitoring device 100 existing on the cloud communicating with the in-vehicle device 10 provided in the vehicle will be described. FIG. 12 is a diagram showing the configuration of the monitoring system according to the embodiment. In FIG. 12, a monitoring system 1 is shown as an example of the monitoring system according to the embodiment. Note that descriptions of the content common to the first embodiment and the second embodiment will be omitted as appropriate.

[0106] As shown in FIG. 12, 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. 12 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. As shown in FIG. 12, in the present invention, the monitoring according to the embodiment is realized in the monitoring system 1 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.

[0107] 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.

[0108] 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 sensor devices and notification devices 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.

[0109] Further, the user can also substitute this by connecting a predetermined sensor to a portable terminal device (for example, a smartphone, a tablet-type terminal, a notebook PC, a desktop PC, a PDA, etc.) that is used daily and introducing a predetermined application. For example, a portable terminal device provided 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, it is installed, for example, on the dashboard of the vehicle VEx during driving.

[0110] 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.

[0111] 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 by not only the sensors provided in the in-vehicle device 10 but also the sensors provided in the vehicle VEx itself.

[0112] [2. Configuration of Monitoring Device] Next, the monitoring device 100 according to the embodiment will be described with reference to FIG. 13. FIG. 13 is a diagram showing a configuration example of the monitoring device 100 according to the embodiment. As shown in FIG. 13, the monitoring device 100 includes a communication unit 110, a storage unit 130, and a control unit 120.

[0113] The control unit 120 is realized using a CPU, NP, FPGA, etc., and executes a processing program stored in a memory. As shown in FIG. 13, the control unit 120 includes an acquisition unit 122, an estimation unit 123, and an exclusion unit 124.

[0114] [Others] [1. Hardware Configuration] Also, 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. 14. FIG. 14 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.

[0115] 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 is started up, a program dependent on the hardware of the computer 1000, and the like.

[0116] The HDD 1400 stores programs executed by the CPU 1100 and data used by such programs. 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.

[0117] 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. Also, the CPU 1100 outputs the generated data to the output devices via the input / output interface 1600.

[0118] 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.

[0119] 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.

[0120] 〔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 in accordance with the conventionally known knowledge without departing from the gist of the present invention. 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

[0121] 1 Monitoring system 10 Vehicle-mounted device 100 Monitoring device 110 Communication unit 120 Control unit 121 Sensor unit 122 Acquisition unit 123 Estimation unit 124 Removal unit 125 Notification Unit 130 Memory Unit

Claims

1. An acquisition unit that sequentially acquires the position of a moving object identified based on information detected by a moving object sensor provided in a vehicle; An estimation unit that estimates the position of the moving object identified as an invalid value by using the amount of movement of the moving object a predetermined period before the time when the position of the moving object acquired by the acquisition unit becomes an invalid value A monitoring device, characterized by comprising the above.

2. The acquisition unit acquires the coordinates of the moving object as the position of the moving object, The estimation unit, Estimates the coordinates of the moving object identified as an invalid value by using the amount of movement of the moving object a predetermined period before the time when the coordinates of the moving object acquired by the acquisition unit become an invalid value The monitoring device according to claim 1, characterized by the above.

3. The acquisition unit, Identifies the coordinates of the moving object based on the intensity of the signal detected by the moving object sensor, and when the intensity of the signal detected by the moving object sensor is equal to or less than a threshold value, identifies the coordinates of the moving object as an invalid value The monitoring device according to claim 2, characterized by the above.

4. The estimation unit, Estimates the coordinates of the moving object identified as an invalid value from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object become an invalid value and the amount of movement per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object become an invalid value The monitoring device according to claim 2, characterized by the above.

5. The amount of movement per unit time of the moving object is, The average value of the amount of movement of the moving object on the Y-axis in the period a predetermined period before the time when the coordinates of the moving object become an invalid value, divided by the average value of the amount of movement of the moving object on the X-axis in the period a predetermined period before the time when the coordinates of the moving object become an invalid value The monitoring device according to claim 4, characterized by the above.

6. The estimation unit, Estimates the coordinates of the moving object identified as an invalid value from the estimated coordinates of the moving object and the amount of movement per unit time of the moving object in the period a predetermined period before the time when the coordinates of the moving object become an invalid value The monitoring device according to claim 4, characterized by the above.

7. The monitoring device according to claim 1, characterized in that the predetermined period is 300 ms.

8. An exclusion unit that excludes the moving object from the estimation target when the coordinates of the moving object become an invalid value due to the moving object moving outside the detection range of the moving object sensor The monitoring device according to claim 1, further characterized by comprising the above.

9. When the moving object exists outside the range of the dead angle of the moving object sensor caused by an obstacle existing in the vehicle equipped with the moving object sensor and the coordinates of the moving object become invalid values, an exclusion unit that excludes the moving object from the estimation target The monitoring device according to claim 1, further comprising the above.

10. An acquisition unit that sequentially acquires the coordinates of a moving object specified based on the intensity of a signal detected by a moving object sensor provided in a vehicle; An estimation unit that estimates the coordinates of the moving object whose signal intensity was below the threshold using the coordinates of the moving object a predetermined period before the time when the signal intensity of the coordinates of the moving object acquired by the acquisition unit became below the threshold A monitoring device characterized by comprising:

11. A method executed by a monitoring device, comprising: An acquisition step of sequentially acquiring the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle; An estimation step of estimating the position of the moving object specified as an invalid value using the amount of movement of the moving object a predetermined period before the time when the position of the moving object acquired in the acquisition step became an invalid value A monitoring method characterized by including:

12. An acquisition step of sequentially acquiring the position of a moving object specified based on information detected by a moving object sensor provided in a vehicle; An estimation step of estimating the position of the moving object specified as an invalid value using the amount of movement of the moving object a predetermined period before the time when the position of the moving object acquired in the acquisition step became an invalid value A monitoring program characterized by causing a computer to execute:

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