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 exclusion unit 124 configured to exclude the moving object from an interpolation target on the basis of the position of the moving object acquired by the acquisition unit 122.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 coordinates by linear interpolation.

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 a moving object cannot be interpolated with high accuracy. For example, when interpolating the position of a moving object detected at a position away from a vehicle, it may continue to be interpolated in the wrong direction. Thus, as an example of the problem to be solved by the present invention, the above-mentioned problem can be cited.

Means for Solving the Problems

[0005] In order to solve the above-mentioned 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 an exclusion unit that excludes the moving object from the interpolation target based on the position of the moving object acquired by the acquisition unit.

[0006] The invention according to claim 9 is a method executed by a monitoring device, including: 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 exclusion step of excluding the moving object from an interpolation target based on the position of the moving object acquired in the acquisition step.

[0007] The invention according to claim 10 is characterized in that a computer is caused 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 exclusion step of excluding the moving object from an interpolation target based on the position of the moving object 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 to the embodiments described below. Further, 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 estimates the coordinates of a moving object that is a monitoring target. For the purpose of preventing parked vehicles from acts such as vehicle 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 that is the monitoring target, if the moving object that is the monitoring target enters the dead angle of the moving object sensor caused by a pillar or the like of the vehicle, it is considered 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.

[0011] However, when a moving object detected by a motion sensor enters the blind spot of the motion sensor, noise may occur in the information detected by the motion sensor, and the position of the moving object may vary 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 blind spot of the motion sensor, a greatly incorrect position of the moving object will be obtained. Thus, the monitoring device 100 estimates the position of the moving object specified as a null value using the position of the moving object in a period before the period when noise occurs.

[0012] For example, the monitoring device 100 sequentially acquires the position of a moving object specified based on the information detected by a motion sensor provided in a vehicle, and uses the position of the moving object a predetermined period before the time when the acquired position of the moving object becomes a null value to estimate the position of the moving object specified as a null value. The monitoring according to the following embodiment shows an example realized only by the monitoring device 100 provided in the vehicle.

[0013] [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 unit included in the monitoring device 100 will be described.

[0014] The communication unit 110 is realized, for example, by 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.

[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 amount of movement per unit time, various thresholds, a predetermined period, an interpolation flag, information on the vehicle type (vehicle type, vehicle size, etc.), the mounting position of the moving body 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 body and excluding the moving body from the processing target.

[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. 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.

[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 a LiDAR (light detection and ranging). Also, 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. Also, 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 and still image) around the vehicle by an imaging device.

[0018] The acquisition unit 122 sequentially acquires the position of the moving object specified 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 object specified 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 room mirror and acquires the coordinates of the moving object specified from the information on the distance and the angle at a predetermined interval (for example, at an interval of 50 milliseconds). Here, as an example of the installation location of the moving object sensor, the room mirror has been cited. However, for example, as shown in FIG. 3(1), it may be installed near the room mirror, or as shown in FIG. 3(2), it may be installed on the center pillar. 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, the center pillar, the rear pillar, the room mirror, the ceiling, the seat, the rear glass, and the side mirror. Note that the moving object sensor may be integrated as a device or may be arranged separately.

[0019] Further, the acquisition unit 122 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 an invalid value. For example, the acquisition unit 122 analyzes a signal whose intensity detected by the moving object sensor exceeds the threshold value, specifies the coordinates of the moving object from the information on the distance and the angle, and on the other hand, for a signal whose intensity detected by the moving object sensor is equal to or less than the threshold value, specifies the coordinates of the moving object as an invalid value.

[0020] The estimation unit 123 estimates the position of the moving object specified as an invalid value using the movement amount of the moving object in 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 specified as an invalid value using the movement 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 an invalid value. That is, the estimation unit 123 estimates the coordinates of the moving object specified as an invalid value 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 an arbitrary period according to the purpose can be used as the predetermined period. For example, the predetermined period is 300 ms.

[0021] Here, various reasons can be considered for the cause of the moving object's coordinates being invalid values, such as a decrease in the intensity of the signal received by the motion sensor, hardware malfunctions, environmental factors, etc. Therefore, the estimation unit 123 may estimate the coordinates of the moving object whose signal intensity is below the threshold after determining the signal intensity against the threshold value.

[0022] For example, the estimation unit 123 uses the amount of movement of the moving object a predetermined period before the time when the signal intensity becomes below the threshold among the coordinates of the moving object acquired by the acquisition unit 122 to estimate the coordinates of the moving object whose signal intensity was below the threshold. For example, the estimation unit 123 estimates the coordinates of the moving object whose signal intensity is below the threshold from the coordinates of the moving object a predetermined period before the time when the signal intensity becomes below the threshold 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 signal intensity becomes below the threshold.

[0023] More specifically, the estimation unit 123 calculates the coordinates obtained by adding the amount of movement per unit time of the moving object in the period a predetermined period before the time when the signal intensity becomes below the threshold to the direction of travel at the coordinates of the moving object a predetermined period before the time when the signal intensity becomes below the threshold, starting from the coordinates of the moving object a predetermined period before the time when the signal intensity becomes below the threshold, thereby estimating the coordinates of the moving object whose signal intensity is below the threshold. Note that the estimation unit 123 can specify the direction of travel at the coordinates of a certain moving object from the positional relationship between the coordinates of a certain moving object and the coordinates of the moving object immediately before the coordinates of the said moving object.

[0024] 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 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. For example, the estimation unit 123 estimates the coordinates of the moving object specified as an invalid value by applying 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 to the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object become invalid values.

[0025] More specifically, when the coordinates of the moving object become invalid values, the estimation unit 123 calculates the amount of movement per unit time of the moving object in the period before a predetermined period from that time point, starting from the coordinates of the moving object before a predetermined period from the time point 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 before a predetermined period from the time point when the coordinates of the moving object become invalid values, thereby estimating the coordinates of the moving object specified as invalid values.

[0026] Here, the amount of movement per unit time of the moving object is a value obtained by dividing the average value of the amount of movement of the moving object on the Y-axis in the period before a predetermined period from the time point when the coordinates of the moving object become invalid values by the average value of the amount of movement of the moving object on the X-axis in the period before a predetermined period from the time point when the coordinates of the moving object become invalid values.

[0027] For example, the amount of movement per unit time of the moving object is a value obtained by dividing the average value of the amount of movement of the moving object on the Y-axis (Equation 1) in the period from 300 ms before to 1000 ms before the time point when the coordinates of the moving object become invalid values by the average value of the amount of movement of the moving object on the X-axis (Equation 2) in the period from 300 ms before to 1000 ms before the time point when the coordinates of the moving object become invalid values. Note that, for the period before a predetermined period, the period from 300 ms before to 1000 ms before the time point when the coordinates of the moving object become invalid values is taken as an example, but for example, an arbitrary period according to the noise generation situation immediately before according to the sensor or the like, or according to the purpose can be used.

[0028]

Equation

[0029]

Equation

[0030] 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 per unit time of the moving object in a period a predetermined time before the time when the coordinates of the moving object became 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 per unit time of the moving object in a period a predetermined time before the time when the coordinates of the moving object became invalid values to the estimated coordinates of the moving object.

[0031] More specifically, the estimation unit 123 estimates the coordinates of the moving object specified as invalid values by calculating coordinates obtained by adding the amount of movement per unit time of the moving object in a period a predetermined time before the time when the coordinates of the moving object became 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.

[0032] The exclusion unit 124 excludes a moving object from the estimation (interpolation) 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. 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 the signal strength or the like and the coordinates of the moving object becoming invalid values, the exclusion unit 124 excludes the moving object from the estimation target.

[0033] As another example, when a 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, the exclusion unit 124 excludes the moving object from the estimation target. For example, when a 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 due to a decrease in the 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 moving object sensor are objects existing in the vehicle such as a front pillar, a center pillar, a rear pillar, a seat, and a side mirror, which narrow the detection range of the moving object sensor.

[0034] 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, the user terminal registered in advance is notified 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 mail, incoming call, and notification to an application. At this time, the notification unit 125 may transmit an image captured by the imaging device to the user terminal.

[0035] 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.

[0036] 〔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 (human) detected by a moving object sensor when the moving object crosses the dead angle 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 angle of the moving object sensor.

[0037] 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 angle 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 3(2) corresponding to the dead angle range of the moving object sensor. Further, immediately before the moving object enters the dead angle of the moving object sensor, as shown in the dotted-line portion of FIG. 4, noise may occur and the coordinates of the moving object may fluctuate finely.

[0038] Therefore, when the coordinates of the moving object acquired by the acquisition unit 122 become invalid values, 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 that time. That is, the estimation unit 123 estimates the coordinates of the moving object that became unavailable due to the moving object entering the blind spot of the moving object sensor from the coordinates of the moving object in the period before the period during which noise occurred immediately before the moving object entered the blind spot of the moving object sensor.

[0039] More specifically, the estimation unit 123 adds 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 became invalid values to the coordinates in the traveling direction at the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object became invalid values, starting from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object became invalid values, thereby estimating the coordinates of the moving object specified as invalid values.

[0040] Thereby, as shown by the interpolated trajectory in Fig. 5(1) of the trajectory of the moving object detected by the moving object sensor when the moving object passes through the side of the vehicle across the blind spot of the moving object sensor, and the dotted line part in 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 within the blind spot range 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 using the coordinates of the moving object in the period before the noise occurrence period.

[0041] 〔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 of excluding 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 will be described. Fig. 6 shows the case where the moving object moves from within the detection range of the moving object sensor to outside the detection range.

[0042] In the above-described estimation process, when there is movement of a moving object outside the detection range of the motion sensor as shown in FIG. 6, the moving object may become a target for estimation (interpolation) processing, and there is a risk that interpolation will continue to be performed. Therefore, when the coordinates of the 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.

[0043] The exclusion unit 124 uses the signal strength to determine whether the coordinates of the moving object have become invalid due to the moving object moving outside the detection range of the motion sensor. For example, when the signal strength gradually attenuates and the coordinates of the moving object become invalid, the exclusion unit 124 determines that the coordinates of the moving object have become invalid due to the moving object moving outside the detection range of the motion 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 outside the detection range of the moving object.

[0044] On the other hand, when the signal strength rapidly attenuates and the coordinates of the moving object become invalid, the exclusion unit 124 determines that the coordinates of the moving object have become invalid within the detection range of the motion sensor of the moving object. 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 a threshold value, the exclusion unit 124 determines that the coordinates of the moving object have become invalid within the detection range of the moving object.

[0045] In addition, the exclusion unit 124 uses the coordinates of the moving object to determine whether the coordinates of the moving object have become invalid due to the moving object moving outside the detection range of the motion sensor. For example, the exclusion 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 time when the coordinates of the moving object become invalid. When the moving direction of the moving object a predetermined period before the time when the coordinates of the moving object become invalid is a direction away from the motion sensor, the exclusion unit 124 determines that the coordinates of the moving object have become invalid due to the moving object moving outside the detection range of the motion sensor.

[0046] Next, an example will be described in which a moving object is excluded from the estimation target when the moving object exists outside the range of the dead angle of the motion sensor caused by an obstacle existing in a vehicle equipped with the motion sensor and the coordinates of the moving object become invalid values.

[0047] The dead angle of the motion sensor caused by an obstacle existing in a vehicle equipped with the motion sensor can be specified from information such as the type and kind of the vehicle and the position information of the motion sensor in the vehicle. For example, if information on the vehicle type and the mounting position of the motion sensor is known, the dead angle of the motion sensor caused by a pillar or the like can be specified.

[0048] On the other hand, the dead angle of the motion sensor caused by an obstacle existing outside the vehicle cannot be specified because information (position, size, etc.) of the obstacle is unknown. Therefore, if interpolation is performed when a moving object enters the dead angle of the motion sensor caused by an obstacle existing outside the vehicle, there is a risk of continuing the interpolation in the wrong direction.

[0049] Therefore, when a moving object exists outside the range of the dead angle of the motion sensor caused by an obstacle existing in a 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 dead angle of the motion sensor caused by the front pillar, the center pillar, and the rear pillar as shown by the triangular pyramid extending from the center of the vehicle in FIG. 7 from information such as the type and vehicle type of the vehicle and the position information of the motion sensor in the vehicle.

[0050] Then, when a moving object (human) passes by the side of the vehicle, the exclusion unit 124 excludes the moving object from the estimation target when the moving object exists outside the specified dead angle range of the motion sensor and the coordinate value of the moving object becomes an invalid value. That is, the exclusion unit 124 estimates only the coordinates of the moving object specified as an invalid value in the specified dead angle 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.

[0051] As a result, the monitoring device 100 can prevent incorrect interpolation by excluding moving objects that may be incorrectly interpolated from the interpolation target, and can accurately interpolate the coordinates of the moving objects.

[0052] [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 each of the following steps can also be executed in a different order, and there may be processing that is omitted.

[0053] 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 S101). 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 distance and angle information.

[0054] 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.

[0055] 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 with the setting OFF (step S104). Here, when it is determined by the estimation unit 123 that there is an interpolation flag with the setting OFF (step S104: Yes), the estimation unit 123 sets the interpolation flag to ON (step S105).

[0056] 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.

[0057] 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.

[0058] Also, 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 the 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.

[0059] On the other hand, when it is determined by the estimation unit 123 that there is no interpolation flag with the setting 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 coordinates of the moving object that are not invalid values are acquired.

[0060] [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 a predetermined period before the time when the position of the moving object becomes a null value to estimate the position of the moving object specified as the null value. It has an estimation unit 123 for estimating.

[0061] Thereby, the monitoring device 100 can estimate the position of the moving object specified as the null value from the coordinates of the moving object in the period a predetermined period before the time when the position of the moving object becomes the null value, and 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 the period before the noise generation period that occurs immediately before the moving object enters the blind spot, excludes the influence of the noise, and interpolates the coordinates of the moving object with high accuracy. False detection and false alarms can be prevented.

[0062] 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 uses the movement amount of the moving object a predetermined period before the time when the coordinates of the moving object acquired by the acquisition unit 122 become a null value. To estimate the coordinates of the moving object specified as the null value. Thereby, the monitoring device 100 can estimate the coordinates of the moving object specified as the null value from the coordinates of the moving object in the period a predetermined period before the time when the coordinates of the moving object become the null value, and interpolate the coordinates of the moving object with high accuracy.

[0063] 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, the coordinates of the moving object are set as the null value. Identify as.

[0064] As a result, when the intensity of the signal is equal to or lower than the threshold value, the monitoring device 100 identifies the coordinates of the moving object as invalid values, and estimates the coordinates of the moving object identified 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 became invalid values, so that the coordinates of the moving object can be interpolated with high accuracy.

[0065] The estimation unit 123 of the monitoring device 100 according to the embodiment estimates the coordinates of the moving object identified as invalid values from the coordinates of the moving object a predetermined period before the time when the coordinates of the moving object became 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 became invalid values.

[0066] As a result, the monitoring device 100 estimates the coordinates of the moving object identified as invalid values by applying 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 became invalid values, so that the coordinates of the moving object can be interpolated with high accuracy.

[0067] In the monitoring device 100 according to the embodiment, the amount of movement per unit time of the moving object is a 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.

[0068] As a result, the monitoring device 100 estimates the coordinates of the moving object identified as invalid values by applying 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, so that the coordinates of the moving object can be interpolated with high accuracy.

[0069] The estimation unit 123 of the monitoring device 100 according to the embodiment estimates the coordinates of the moving object identified as invalid values 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 became invalid values.

[0070] As a result, the monitoring device 100 recursively estimates the coordinates of the moving object identified 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, and can accurately interpolate the coordinates of the moving object.

[0071] In the monitoring device 100 according to the embodiment, the predetermined period is 300 ms. As a result, the monitoring device 100 estimates the coordinates of the moving object identified 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.

[0072] 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. As a result, the monitoring device 100 can accurately interpolate the coordinates of the moving object by excluding a moving object that may be subject to incorrect interpolation from the interpolation target.

[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 moving object exists outside the range of the blind spot 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. As a result, the monitoring device 100 can accurately interpolate the coordinates of the moving object by excluding a moving object that enters a blind spot not specified in advance and may be subject to incorrect interpolation from the interpolation target.

[0074] [Second Embodiment] In the first embodiment, mainly, an example of estimating the coordinates of a moving object identified as invalid values using the coordinates of the moving object in the period before noise generation has been 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 content common to the first embodiment will be omitted as appropriate.

[0075] 〔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 estimates the coordinates of a moving object to be monitored. For the purpose of preventing a parked vehicle from acts such as vehicle theft, vandalism in the vehicle, and vehicle damage, the parked vehicle is monitored. In a device or the like that monitors a parked vehicle in this way, when performing monitoring by specifying the position of the moving object to be monitored, if the moving object to be monitored 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.

[0076] However, when interpolation is performed on a moving object detected at a position away from the vehicle, the interpolation may continue in the wrong direction. For example, if a moving object detected at a position away from the vehicle is moving in the vehicle direction immediately before entering the dead zone, the interpolation in the vehicle direction continues within the dead zone range, and 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 position of the moving object specified based on the information detected by the moving object sensor provided in the vehicle, and excludes the moving object from the interpolation target based on the acquired position of the moving object.

[0077] 〔2. Configuration of the 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.

[0078] The acquisition unit 122 sequentially acquires the positions of moving objects specified 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 object specified 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 object specified from the information on the distance and angle at a predetermined interval (for example, at an interval of 50 milliseconds).

[0079] The estimation unit 123 estimates the positions of the moving objects specified 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 specified 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.

[0080] The exclusion 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 exclusion 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 exclusion unit 124 excludes the moving object from the interpolation target. Note that the above coordinate range is an example, and the exclusion unit 124 can use a coordinate range according to the purpose when determining whether to exclude the moving object from the interpolation target.

[0081] In addition, 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 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 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, the exclusion 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 exclusion unit 124 can use a distance according to the purpose when determining whether to exclude the moving object from the interpolation target.

[0082] In addition, when the position of a moving object becomes 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 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 interpolation target.

[0083] In addition, 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 invalid, the exclusion unit 124 excludes the moving object from the interpolation target. For example, when the moving object exists outside the dead zone range of the motion sensor caused by an obstacle such as a pillar or a seat 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 interpolation target.

[0084] [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 from a distance from the interpolation target will be described. FIG. 9(1) shows the trajectory of a moving object (human) 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 zone of the motion sensor. FIG. 9(2) shows the coordinates (X-axis and Y-axis) of the moving object in the case of FIG. 9(1).

[0085] 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 zone of the motion sensor is in the vehicle direction, as shown in the dotted line portion of FIGS. 9(1) and (2), interpolation continues in the vehicle direction within the dead zone range. 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.

[0086] Therefore, based on the coordinates of the moving object acquired by the acquisition unit 122, the estimation unit 123 excludes the moving object from the interpolation target. For example, 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, the estimation unit 123 excludes the moving object from the interpolation target.

[0087] 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 exclusion unit 124 excludes the moving object from the interpolation target. As another 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 exclusion unit 124 excludes the moving object from the interpolation target.

[0088] That is, when the moving object passes through 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 continuous incorrect interpolation and enables accurate interpolation of the coordinates of the moving object.

[0089] [4. Flowchart] Next, the processing by the monitoring device 100 having 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 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 omitted processing.

[0090] 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 interior (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 distance and angle information.

[0091] 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 ranges of the X-axis (-250 to 250) and the Y-axis (0 to 500).

[0092] Here, when it is determined by the exclusion unit 124 that the 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.

[0093] 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 a 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 that has a predetermined positional relationship with the vehicle from the interpolation target.

[0094] 〔5. Effects〕 The monitoring device 100 according to the embodiment includes an acquisition unit 122 that sequentially acquires the positions of moving objects specified based on information detected by a moving object sensor provided in a vehicle, and an exclusion unit 124 that excludes a moving object from an interpolation target based on the position of the moving object acquired by the acquisition unit 122.

[0095] As a result, 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. That is, the monitoring device 100 enables accurate interpolation of the position of the moving object by excluding the moving object, which may be subject to incorrect interpolation, from the interpolation target. In this way, the monitoring device 100 can accurately interpolate the position of the moving object, specify the accurate position, and prevent false detection and false alarms caused by the intrusion of the moving object into the blind spot.

[0096] 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. As a result, the monitoring device 100 can exclude the moving object from the interpolation target based on the coordinates of the moving object, and can accurately interpolate the coordinates of the moving object.

[0097] 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. As a result, when estimating (interpolating) the position of the moving object specified as an invalid value, the monitoring device 100 can accurately interpolate the position of the moving object by excluding the moving object from the interpolation target based on the position of the moving object.

[0098] The exclusion unit 124 of the monitoring device 100 according to the embodiment excludes the moving object from the interpolation target when the position of the moving object acquired by the acquisition unit 122 is outside a predetermined range. As a result, the monitoring device 100 can exclude the moving object whose coordinates are outside the predetermined range from the interpolation target, and can accurately interpolate the position of the moving object.

[0099] The exclusion unit 124 of the monitoring device 100 according to the embodiment excludes the moving object from the interpolation target 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. As a result, the monitoring device 100 can exclude the moving object located at a position equal to or greater than the predetermined distance from the vehicle from the interpolation target, and can accurately interpolate the position of the moving object.

[0100] 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 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.

[0101] Thereby, the monitoring device 100 excludes a 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 can accurately interpolate the position of the moving object.

[0102] 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 invalid due to the moving object moving outside the detection range of the moving object sensor. Thereby, the monitoring device 100 can accurately interpolate the position of the moving object by excluding a moving object that may be erroneously interpolated from the interpolation target.

[0103] 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 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 invalid. Thereby, the monitoring device 100 can accurately interpolate the position of the moving object by excluding a moving object that may enter an unforeseen dead zone and may be erroneously interpolated from the interpolation target.

[0104] [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 and the in-vehicle device 10 provided in the vehicle communicating with each other 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 contents common to the first embodiment and the second embodiment will be omitted as appropriate.

[0105] As shown in FIG. 12, the monitoring system 1 includes an in-vehicle device 10 and a monitoring device 100. 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.

[0106] 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.

[0107] Also, 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.

[0108] 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. 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 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.

[0109] 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 object sensor such as a microwave sensor or a 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.

[0110] 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 objects inside and outside the vehicle from the moving object 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.

[0111] [2. Configuration of Monitoring Device] Next, with reference to FIG. 13, the monitoring device 100 according to the embodiment will be described. 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.

[0112] The control unit 120 is realized by using a CPU, an NP, an 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.

[0113] [Others] [1. Hardware Configuration] In addition, the monitoring device 100 according to the above-described embodiments and modified examples 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.

[0114] 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.

[0115] 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.

[0116] 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. In addition, the CPU 1100 outputs the generated data to the output devices via the input / output interface 1600.

[0117] 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.

[0118] 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.

[0119] 〔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 embodiments. That is, those skilled in the art can implement various modifications without departing from the gist of the present invention according to the conventionally known knowledge. As long as the monitoring device of the present invention is still included even by such modifications, of course, it is included in the scope of the present invention.

Explanation of Reference Numerals

[0120] 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 exclusion unit that excludes the moving object from being an interpolation target based on the position of the moving object acquired by the acquisition unit 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 exclusion unit excludes the moving object from being an interpolation target based on the coordinates of the moving object acquired by the acquisition unit The monitoring device according to claim 1, characterized by the above.

3. An estimation unit that estimates the position of a moving object identified as an invalid value among the positions of the moving objects acquired by the acquisition unit The monitoring device according to claim 1, further characterized by comprising the above.

4. The exclusion unit, When the position of the moving object acquired by the acquisition unit is outside a predetermined range, the moving object is excluded from being an interpolation target The monitoring device according to claim 1, characterized by the above.

5. The exclusion unit, 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 moving object is excluded from being an interpolation target The monitoring device according to claim 1, characterized by the above.

6. The exclusion unit, 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 moving object is excluded from being an interpolation target The monitoring device according to claim 3, characterized by the above.

7. The exclusion unit, 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 moving object is excluded from being an interpolation target The monitoring device according to claim 1, characterized by the above.

8. The exclusion unit, When the moving object exists outside the dead angle 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 moving object is excluded from being an interpolation target The monitoring device according to claim 1, characterized by the above.

9. A method executed by a monitoring device, comprising: An acquisition step of sequentially acquiring the position of a moving object identified based on information detected by a moving object sensor provided in a vehicle; An exclusion step of excluding the moving object from being an interpolation target based on the position of the moving object acquired in the acquisition step A monitoring method, characterized by including the above.

10. An acquisition step of sequentially acquiring the position of a moving object identified based on information detected by a moving object sensor provided in a vehicle; An exclusion step of excluding the moving object from an interpolation target based on the position of the moving object acquired in the acquisition step; A monitoring program characterized by causing a computer to execute the steps.

Images