Mobile object detection device and mobile object detection method

Abstract

To prevent erroneous detection of a mobile object.SOLUTION: A mobile object detection device according to an embodiment of the present disclosure comprises: an object determination circuit that determines whether there is a mobile object or not on the basis of a reception wave received by a wave receiver; a noise determination circuit that determines whether there is a noise or not while stopping wave transmission processing or wave reception processing; and a notification circuit that notifies that there is the mobile object when it is determined by the object determination circuit that there is the mobile object and it is determined by the noise determination circuit that there is not the noise.SELECTED DRAWING: Figure 10

Description

Technical Field

[0001] The present disclosure relates to a moving object detection device and a moving object detection method.

Background Art

[0002] Sensors (intrusion sensors) for detecting, for example, the intrusion of a person into a detection area inside a vehicle are installed inside the vehicle. When the intrusion sensor detects an intrusion, it notifies the intrusion by sounding a siren, sounding the vehicle's horn, or flashing the hazard lights (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the above-described existing technology, when electromagnetic noise equivalent to the signal detected by the sensor as a human intrusion is applied, it is difficult to distinguish between the detection signal and the electromagnetic noise, and there is a possibility of false detection that a person has intruded.

[0005] The present disclosure contributes to providing a moving object detection device and a moving object detection method capable of preventing false detection of a moving object.

Means for Solving the Problems

[0006] In one embodiment of the present disclosure, a moving object detection device includes an object determination circuit that determines the presence or absence of a moving object based on a received wave received by a receiver, a noise determination circuit that determines the presence or absence of noise while the transmission process or the reception process is stopped, and a notification circuit that notifies that the moving object is present when the object determination circuit determines that there is a moving object and the noise determination circuit determines that there is no noise.

[0007] In addition, a vehicle in one embodiment of the present disclosure includes a moving object detection device including an object determination circuit that determines the presence or absence of a moving object based on a received wave received by a receiver, a noise determination circuit that determines the presence or absence of noise while the transmission process or the reception process is stopped, and a notification circuit that notifies that the moving object is present when the object determination circuit determines that there is a moving object and the noise determination circuit determines that there is no noise.

[0008] A moving object detection method in one embodiment of the present disclosure determines the presence or absence of a moving object based on a received wave received by a receiver, determines the presence or absence of noise while the transmission process or the reception process is stopped, and notifies that the moving object is present when it is determined that there is a moving object and it is determined that there is no noise.

Advantages of the Invention

[0009] According to the present disclosure, false detection of a moving object can be prevented.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Figure 4C

Figure 5A

Figure 5B

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the embodiments described below are examples, and the present disclosure is not limited to the following embodiments.

[0012] However, detailed descriptions that are more than necessary may be omitted. For example, detailed descriptions of well-known matters and duplicate descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art.

[0013] <Embodiment 1> Hereinafter, Embodiment 1 of the present disclosure will be described with reference to FIGS. 1 and 2.

[0014] FIG. 1 is a diagram showing a system including an intrusion sensor 110.

[0015] The intrusion sensor 110 is installed inside the vehicle to detect the intrusion of an object such as a person into the vehicle interior. When the intrusion sensor 110 detects an intrusion, it notifies (transmits) intrusion information (information indicating that an intrusion has occurred) to the vehicle's BCM (Body Control Module) 120.

[0016] Based on the reception of the intrusion information from the intrusion sensor 110, the BCM 120 notifies the outside of the intrusion by causing the hazard 131 to blink, outputting an alarm sound from the siren 132, sounding the vehicle's siren 133, or causing the indicator light 134 to be displayed.

[0017] Based on the signal from an inclination sensor (not shown) together with the intrusion information, the BCM 120 may also cause the hazard 131 to blink, output an alarm sound from the siren 132, sound the vehicle's siren 133, or cause the indicator light 134 to be displayed. The indicator light 134 may be lit or its color may be changed. The BCM 120 may also give an alarm by other means. For example, the BCM 120 may alarm the communication terminal (e.g., smartphone) of the vehicle owner or user by means of a communication means (not shown). The BCM 120 only needs to give at least one alarm.

[0018] Figures 2A - C are diagrams showing examples of the intrusion sensor 110. Figure 2A is a diagram showing an example of the intrusion sensor 110 using quadrature detection, which is one of synchronous detections.

[0019] The intrusion sensor 110 includes an oscillator 210, detection circuits (mixers) 220, 221, a phase shifter 222, BPFs (Band Pass Filters) 230, 231, amplifiers 223, 240, 241, analog - to - digital converters (A / D) 250, 251, a microcomputer 260, switches 271, 272, 273, a transmitting sensor (transmitter) 281, and a receiving sensor (receiver) 282.

[0020] The oscillator 210 outputs a signal of a predetermined frequency to the carrier wave sensor 281, the detection circuit 220, and the phase shifter 222. The oscillation frequency of the oscillator 210 is, for example, 40,000 Hz. The oscillation of the oscillator 210 is controlled (oscillation or stop) under the control of the microcomputer 260.

[0021] The carrier wave sensor 281 transmits the transmission wave output from the oscillator 210 as ultrasonic waves. The carrier wave sensor 281 is, for example, a speaker.

[0022] The receiving wave sensor 282 receives the ultrasonic waves reflected by an object from the ultrasonic waves transmitted by the carrier wave sensor 281, and outputs them as reflected waves (received waves) to the amplifier 223. The receiving wave sensor 282 is, for example, a microphone. The carrier wave sensor 281 and the receiving wave sensor 282 may be an integrated transmitting and receiving wave sensor.

[0023] The amplifier 223 amplifies the received waves received by the receiving wave sensor 282 and outputs them to the detection circuits 220 and 221.

[0024] The detection circuit 220 inputs (mixes) the signal input from the amplifier 223 and the signal output from the oscillator 210, and outputs a signal having the frequencies of the sum and the difference of those signal frequencies.

[0025] The detection circuit 221 inputs the signal input from the amplifier 223 and the signal obtained by shifting the signal output from the oscillator 210 by π / 2 (90 degrees) by the phase shifter 222, and outputs a signal having the frequencies of the sum and the difference of those signal frequencies.

[0026] The phase shifter 222 shifts the signal input from the oscillator 210 by π / 2 and outputs it to the detection circuit 221.

[0027] The BPF 230 and 231 respectively remove the signal component having the sum frequency from the signals output from the detection circuits 220 and 221, extract the signal having the difference frequency, and output it to the amplifier 240.

[0028] Amplifiers 240 and 241 amplify the input signal and output it.

[0029] Analog-to-digital converters 250 and 251 convert the input analog signals (Q-component signal, I-component signal) into digital signals and output them.

[0030] The microcomputer 260 controls the entire intrusion sensor and also processes the detected signal. The microcomputer 260 controls the oscillator 210, switches 271, 272, and 273. The microcomputer 260 communicates with the BCM 120. The details of the control and processing performed by the microcomputer 260 will be described later.

[0031] Switch 271 is connected between the oscillator 210, the transmission wave sensor 281, the detection circuit 220, and the phase shifter 222.

[0032] Switch 272 is connected between the oscillator 210 and the transmission wave sensor 281.

[0033] Switch 273 is connected between the reception wave sensor 282 and the amplifier 223.

[0034] Switches 271, 272, and 273 are opened and closed under the control of the microcomputer 260.

[0035] The microcomputer 260 can stop both transmission and reception by opening switch 271. Instead of opening switch 271, the microcomputer 260 may stop the operation of the oscillator 210.

[0036] Also, when the microcomputer 260 opens switch 272, it can stop the transmission wave. Instead of opening switch 272, the microcomputer 260 may stop the transmission wave sensor 281.

[0037] Furthermore, when the microcomputer 260 opens the switch 273, it can stop receiving waves. Instead of opening the switch 273, the microcomputer 260 may stop the receiving wave sensor 282 or may stop the amplifier 223.

[0038] Instead of stopping the transmission wave sensor 281, the receiving wave sensor 282, and the oscillator 210, when the switches 271, 272, and 273 are opened and closed, the time for waiting for the stabilization of the circuit can be omitted, so the time until recovery is short.

[0039] FIG. 2B is a diagram showing an example of the intrusion sensor 110 using synchronous detection. FIG. 2B corresponds to detecting the I - component signal by omitting the Q - component signal in FIG. 2A.

[0040] The intrusion sensor 110 includes an oscillator 210, a detection circuit 220, a BPF 230, amplifiers 223 and 240, an analog - to - digital converter (A / D) 250, a microcomputer 260, switches 271, 272, 273, a transmission wave sensor 281, and a receiving wave sensor 282.

[0041] Since the operations of each circuit are the same as those in FIG. 2A, the description is omitted.

[0042] FIG. 2C is a diagram showing an example of the intrusion sensor 110 using asynchronous detection. FIG. 2C uses a detection circuit 224 that performs asynchronous detection instead of the detection circuit 220 and the BPF 230 that perform synchronous detection.

[0043] The intrusion sensor 110 includes an oscillator 210, a detection circuit 224, amplifiers 223 and 240, an analog - to - digital converter (A / D) 250, a microcomputer 260, switches 272 and 273, a transmission wave sensor 281, and a receiving wave sensor 282.

[0044] The detection circuit 224 may be an envelope detection circuit. The envelope detection circuit may use a rectification circuit and a smoothing circuit, or may use an LPF (Low Pass Filter). When a frequency-voltage conversion circuit is used in the detection circuit 224, a voltage corresponding to the Doppler frequency can be obtained. By connecting the envelope detection circuit and the frequency conversion circuit in parallel, the amplitude of the received wave and the Doppler frequency can be obtained. The operations of the other circuits are the same as those in FIG. 2A, so the description thereof is omitted.

[0045] FIGS. 3A and 3B are diagrams illustrating the basic principle of the sensor, and illustrate the change in the frequency of the reflected wave due to the Doppler effect. The sensor is, for example, an intrusion sensor that detects the intrusion of a person (a suspicious person).

[0046] The intrusion sensor transmits ultrasonic waves. When the transmitted ultrasonic waves (transmission waves) are reflected by an object, they are received as reflected waves (received waves). When the reflecting object is moving, the Doppler effect occurs.

[0047] Specifically, when an object is approaching the intrusion sensor, the frequency of the reflected wave becomes higher than the frequency of the transmission wave. FIG. 3A is a diagram showing the state in which the frequency of the reflected wave from an object approaching the intrusion sensor is received Δf higher than the frequency of the transmission wave.

[0048] On the other hand, when an object is moving away from the intrusion sensor, the frequency of the reflected wave becomes lower than the frequency of the transmission wave. FIG. 3B is a diagram showing the state in which the frequency of the reflected wave from an object moving away from the intrusion sensor is received Δf lower than the frequency of the transmission wave.

[0049] The difference between the frequency of the transmission wave and the frequency of the reflected wave is approximately proportional to the moving speed. For example, the frequency of the transmission wave is 40,000 Hz.

[0050] For example, the intrusion sensor can obtain Δf by demodulating the received reflected wave using the frequency of the transmission wave. Since Δf is a frequency corresponding to the moving speed of the object, the moving speed of the object can be detected by detecting Δf.

[0051] Figures 4A-C are diagrams showing signals detected by a detection circuit using synchronous detection.

[0052] Figure 4A shows the case where there is no movement of the object, Figure 4B shows the case where the movement of the object is slow, and Figure 4C shows the case where the movement of the object is fast.

[0053] When there is no movement of the object, the Doppler effect does not occur, so the frequency of the received wave is equal to the frequency of the transmitted wave. Therefore, no AC signal is generated by the detection circuit.

[0054] When there is movement of the object, the Doppler effect occurs, so the frequency of the received wave changes, and the changed frequency component is extracted by the detection circuit. Figures 4B and 4C show the case where the Doppler frequency is detected as a frequency. When the movement of the object is slow, the change in frequency due to the Doppler effect is small, so a low frequency is extracted. When the movement of the object is fast, the change in frequency due to the Doppler effect is large, so a high frequency is extracted. The microcomputer 260 can determine the presence or absence of a moving object by detecting the frequency component.

[0055] In asynchronous detection, when a frequency-voltage conversion circuit is used, the change in frequency due to the Doppler effect is detected as a change in voltage. Therefore, the microcomputer 260 can determine the presence or absence of a moving object based on the voltage. Alternatively, since the change in the amplitude of the received wave indicates the change in the situation of the target, the microcomputer 260 can determine the presence or absence of a moving object based on the amplitude of the received wave.

[0056] For example, when outputting a signal of 40,000 Hz, when the object moves at 0.1 m / s, the change in frequency (Δf) due to the Doppler effect is 23 Hz, and when the object moves at 1 m / s, Δf is 232 Hz. In Figures 3(b) and (c), one cycle of the wave corresponds to a movement of 4.3 mm of the object.

[0057] Figures 5A and 5B are diagrams showing the concepts of synchronous detection and sampling. The dotted line indicates the sampling time.

[0058] Figure 5A shows synchronous detection and sampling when the Doppler effect does not occur. Since the frequency of the received wave (reflected wave) is the same as that of the transmitted wave, the sampled detection output becomes a constant value.

[0059] Figure 5B shows synchronous detection and sampling when the angular velocity φ frequency changes highly due to the Doppler effect (if the angular velocity φ frequency changes lowly, φ may be set to negative). The transmitted wave f s is f s =A s sinωt. When expressed as the received wave f r is f r =A r sin(ω + φ)t. The received wave is mixed with a signal having the same frequency as the transmitted wave.

[0060] When the signal to be mixed is f m =A sinωt, as a result of mixing, for example, the detected signal f B is f B =AA r / 2×{cosφt - cos(2ωt + φt)}. The high-frequency component AA r / 2×cos(2ωt + φt) is blocked by a filter. Since the sampled output is AA r / 2×cosφt, the frequency (Doppler waveform) changed by the Doppler effect can be extracted.

[0061] <Processing of the microcomputer> The microcomputer 260 receives the outputs of A / Ds 250 and 251.

[0062] Figure 6 is a diagram showing waveforms when there is electromagnetic noise that requires countermeasures in EMC (Electromagnetic Compatibility) and when an object is moving.

[0063] The intrusion sensor may be able to determine whether the detected signal is from a moving object or electromagnetic noise based on the amplitude of the detected signal, but there are also cases where it is difficult to make such a determination.

[0064] Therefore, in the present disclosure, by stopping the transmission processing and / or the reception processing and checking for the presence or absence of a signal on the reception circuit connected to the reception sensor 282, false detection due to electromagnetic noise is prevented.

[0065] FIG. 7 is a diagram showing an example of a flowchart of the processing of the microcomputer 260.

[0066] When the intrusion sensor 110 is turned on, the intrusion sensor 110 performs a detection determination of an object (step S701). The microcomputer 260 can perform the detection determination by making at least one determination from (1) to (3).

[0067] (1) The microcomputer 260 determines that an object has been detected when the amplitude of the signals output from the A / Ds 250 and 251 shown in FIG. 2 is greater than a predetermined threshold value. In the case of synchronous detection, the amplitude of the changed frequency due to the Doppler effect is output from the A / Ds 250 and 251. In the case of asynchronous detection, the amplitude of the received wave received by the reception sensor 282 is output from the A / D 250. It may also be determined whether the frequency is changed due to the Doppler effect by the voltage output from the frequency-voltage conversion circuit. (2) When using the quadrature detection of FIG. 2A, the microcomputer 260 determines that an object has been detected when the magnitude of the vector D starting from the origin and ending at the sampling outputs (X n_I , Y n_Q ) of the A / Ds 250 and 251 is greater than a predetermined threshold value. (3) When using the quadrature detection of FIG. 2A, the microcomputer 260 determines that an object has been detected when the moving distance of the vector D starting from the origin and ending at the sampling outputs (X n_I , Y n_Q ) of the A / Ds 250 and 251 is greater than a predetermined threshold value. The moving distance of the vector D is the cumulative amount of the angular change of the vector D. For example, the microcomputer 260 may determine that an object has been detected when the rotation of the vector D (the number of waves within a certain period of time) above the threshold occurs for an amplitude above the threshold.

[0068] When the microcomputer 260 determines that no object has been detected based on the detection determination (step S701, non-detection), it returns to step S701 and continues with the detection determination.

[0069] When the microcomputer 260 determines that an object has been detected based on the detection determination (step S701, detection), it shuts off the ultrasonic circuit (step S702). When shutting off the ultrasonic circuit, the microcomputer 260 may open any one of the switches 271, 272, and 273, may stop the oscillator 210, or may stop the operation of the amplifier 223.

[0070] After shutting off the ultrasonic circuit, the microcomputer 260 determines the presence or absence of a noise waveform (noise) (step S703). The determination of the presence or absence of the noise waveform in step S703 is performed after a predetermined time from shutting off the ultrasonic circuit in step S702.

[0071] If the ultrasonic circuit is shut off, no Doppler waveform or received wave due to the movement of the object will be generated. Therefore, if a waveform is detected in step S703 after shutting off the ultrasonic circuit, since the detected waveform is a noise waveform, it can be determined that the detection of the object in step S701 is also a false detection of detecting a noise waveform. If no waveform is detected in step S703 after shutting off the ultrasonic circuit, it can be determined that the detection of the object in step S701 is a correct detection.

[0072] The microcomputer 260 can determine the presence or absence of a waveform (noise waveform) based on at least one of the determinations from (4) to (6). The determination of the noise waveform may be the same determination as the movement detection determination of the Doppler frequency, or since no Doppler effect occurs, it may be determined by a method simpler than the movement detection determination of the Doppler frequency. For example, it may be determined by the presence or absence of a waveform, or the determination threshold may be lowered.

[0073] (4) When the amplitudes of the signals output by the analog-to-digital converters 250 and 251 shown in FIG. 2 are greater than a predetermined threshold value, the microcomputer 260 determines that there is a noise waveform. The threshold value in (4) may be different from the threshold value in (1). (5) When the magnitude of the aforementioned vector D is greater than a predetermined threshold value, the microcomputer 260 determines that there is a noise waveform. The threshold value in (5) may be different from the threshold value in (2). (6) When the moving distance of the aforementioned vector D is greater than a predetermined threshold value, the microcomputer 260 determines that there is a noise waveform. For example, the moving distance of the vector D is the cumulative amount of the angular change of the vector D. The threshold value in (6) may be different from the threshold value in (3).

[0074] In addition, when the threshold value in (6) is smaller than the threshold value in (3), the determination process can be performed quickly, and the noise waveform can be easily detected, so false detection can be determined more strictly.

[0075] Determining that there is no noise waveform in step S703 (step S703, no) means that it is determined that the detection of the object in step S701 was a correct detection. Therefore, it is notified to the vehicle's BCM that there has been an intrusion of a person or the like inside the vehicle (step S704).

[0076] Determining that there is a noise waveform in step S703 (step S703, yes) means that it is determined that the detection of the object in step S701 was a false detection of the noise waveform. Therefore, the microcomputer 260 executes the connection of the ultrasonic circuit without notifying the BCM (step S705). After notifying the BCM, the microcomputer 260 may return to step S701 to perform the object detection determination.

[0077] When the connection of the ultrasonic circuit is executed, it returns to step S701, and the microcomputer 260 performs the object detection determination.

[0078] The microcomputer 260 may perform the detection in step S701 and the determination in step S703 using the same parameters, such as (1) and (4), (2) and (5), (3) and (6), or using different parameters.

[0079] Also, when the microcomputer 260 determines that there is a noise waveform, since there is no reflected wave from the object, it is possible to perform the determination of "there is a noise waveform" in step S703.

[0080] FIG. 8 is a diagram showing another example of the flowchart of the processing of the microcomputer 260. FIG. 8 shows an example in which after determining the presence or absence of a noise waveform in FIG. 7 and confirming that the noise waveform has disappeared, the ultrasonic circuit is connected.

[0081] Steps S801, S802, S803, and S804 are the same as steps S701, S702, S703, and S704, so the description is omitted.

[0082] In step S803, when it is determined that there is a noise waveform, the microcomputer 260 continues to determine the presence or absence of the noise waveform (step S805).

[0083] When it is determined in step S805 that there is a noise waveform (step S805, yes), it returns to step S805, and the microcomputer 260 continues to determine the presence or absence of the noise waveform. The predetermined threshold value used for the determination of the noise waveform in step S805 and the predetermined threshold value used for the determination of the noise waveform in step S803 may be different.

[0084] When it is determined in step S805 that there is no noise waveform (step S805, no), the microcomputer 260 executes the connection of the ultrasonic circuit (step S806).

[0085] When the connection of the ultrasonic circuit is executed, it returns to step S801, and the microcomputer 260 performs the detection determination.

[0086] According to the process of FIG. 8, intrusion detection is performed after detecting the absence of a noise waveform. Therefore, when detected, the possibility of detecting a noise waveform is low, and ultrasonic waves are not transmitted unnecessarily.

[0087] FIG. 9 is a diagram showing still another example of the flowchart of the processing of the microcomputer 260. FIG. 9 shows an example in which after confirming that there is no noise waveform, the ultrasonic circuit is connected to detect an object.

[0088] When the intrusion sensor 110 is turned on, the intrusion sensor 110 shuts off the ultrasonic circuit (step S901). Step S901 is the same as step S702.

[0089] When the ultrasonic circuit is shut off, the microcomputer 260 determines the presence or absence of a noise waveform (step S902). Step S902 is the same as step S703.

[0090] In step S902, if it is determined that there is a noise waveform (step S902, yes), the process returns to step S902, and the microcomputer 260 continues to determine the presence or absence of a noise waveform.

[0091] In step S902, if it is determined that there is no noise waveform (step S902, no), the microcomputer 260 executes the connection of the ultrasonic circuit (step S903). Step S903 is the same as step S705.

[0092] When the connection of the ultrasonic circuit is executed, the microcomputer 260 performs an object detection determination (step S904). Step S904 is the same as step S701.

[0093] In step S904, when an object is detected (step S904, detected), the microcomputer 260 notifies the BCM120 (step S905). After the microcomputer 260 notifies the BCM, it may return to step S901 to shut off the ultrasonic circuit.

[0094] In step S904, if no object is detected (step S904, non-detection), the process returns to step S901, and the microcomputer 260 shuts off the ultrasonic circuit.

[0095] According to the process of FIG. 9, when there is no noise waveform, intrusion is detected, so it is possible to avoid transmitting ultrasonic waves unnecessarily.

[0096] FIG. 10 shows a functional block diagram of the microcomputer 260.

[0097] The microcomputer 260 includes an object determination unit 261, a noise determination unit 262, and a notification unit 263.

[0098] The object determination unit 261 determines the presence or absence of a moving object based on the received wave received by the receiver. The determinations in step S701 of FIG. 7, step S801 of FIG. 8, and step S904 of FIG. 9 are performed by the object determination unit 261.

[0099] The noise determination unit 262 determines the presence or absence of a noise waveform (noise). The determinations in step S703 of FIG. 7, steps S803 and S805 of FIG. 8, and step S902 of FIG. 9 are performed by the noise determination unit 262.

[0100] The notification unit 263 notifies that there is a moving object. For example, it notifies the BCM120 that an object has intruded. The processes in step S704 of FIG. 7, step S804 of FIG. 8, and step S905 of FIG. 9 are performed by the notification unit 263.

[0101] As described above, the embodiments have been described with reference to the drawings, but the present disclosure is not limited to such examples. It is obvious that those skilled in the art can conceive of various modification examples or correction examples within the scope described in the claims. Such modification examples or correction examples are also understood to belong to the technical scope of the present disclosure. Also, within the scope not departing from the gist of the present disclosure, the components in the embodiments may be arbitrarily combined.

[0102] (1) The moving object detection device in one embodiment of the present disclosure includes an object determination circuit that determines the presence or absence of a moving object based on a received wave received by a receiver, a noise determination circuit that determines the presence or absence of noise while the transmission process or the reception process is stopped, and a notification circuit that notifies that there is a moving object when the object determination circuit determines that there is a moving object and the noise determination circuit determines that there is no noise.

[0103] (2) The moving object detection device in one embodiment of the present disclosure is the moving object detection device in (1), wherein when the moving object is determined to be present by the noise determination circuit, the transmission process or the reception process is stopped, and the presence or absence of noise is determined.

[0104] (3) The moving object detection device in one embodiment of the present disclosure is the moving object detection device in (1), wherein the noise determination circuit determines the presence or absence of the noise based on the amplitude of the signal after mixing the signal on the reception circuit connected to the receiver and the signal output by the oscillator that generates the transmission wave.

[0105] (4) The moving object detection device in one embodiment of the present disclosure is the moving object detection device in (1), wherein the noise determination circuit determines the presence or absence of the noise based on the amplitude of the signal obtained by envelope-detecting the signal on the reception circuit connected to the receiver.

[0106] (5) The moving object detection device in one embodiment of the present disclosure is the moving object detection device in (1), wherein when the signal after mixing the signal on the reception circuit connected to the receiver and the signal output by the oscillator that generates the transmission wave is used as the I-component signal, and the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase with respect to the signal output by the oscillator is shifted by π / 2 is used as the Q-component signal, the noise determination circuit determines the presence or absence of the noise based on the magnitude of the vector composed of the I-component signal and the Q-component signal.

[0107] (6) In one embodiment of the present disclosure, the moving object detection device, in the moving object detection device of (1), the noise determination circuit uses, as an I - component signal, the signal after mixing the signal on the reception circuit connected to the receiver and the signal output from the oscillator that generates the transmission wave, and uses, as a Q - component signal, the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase with respect to the signal output from the oscillator is shifted by π / 2. Based on the moving distance of the vector composed of the I - component signal and the Q - component signal, the presence or absence of the noise is determined.

[0108] (7) In one embodiment of the present disclosure, the moving object detection device, in the moving object detection device of (1), when the noise determination circuit determines that there is noise, resumes the stopped transmission processing or reception processing.

[0109] (8) In one embodiment of the present disclosure, the moving object detection device, in the moving object detection device of (1), after the noise determination circuit determines that there is noise, determines whether the noise has disappeared. When it is determined that the noise has disappeared, the stopped transmission processing or reception processing is resumed.

[0110] (9) In one embodiment of the present disclosure, the moving object detection device, in the moving object detection device of (1), when it is determined that there is no noise, the object determination circuit determines the presence or absence of the moving object.

[0111] (10) A vehicle in one embodiment of the present disclosure includes the moving object detection device of (1).

[0112] (11) In one embodiment of the present disclosure, a moving object detection method determines the presence or absence of a moving object based on the received wave received by a receiver, determines the presence or absence of noise while the transmission processing or reception processing is stopped, and when it is determined that there is a moving object and there is no noise, notifies that there is a moving object.

[0113] (12) In one embodiment of the present disclosure, in the moving object detection method, when it is determined that there is a moving object in the intrusion detection method of (11), the presence or absence of the noise is determined by stopping the transmission processing or the reception processing.

[0114] (13) In one embodiment of the present disclosure, in the moving object detection method, in the intrusion detection method of (11), the presence or absence of the noise is determined based on the amplitude of the signal after mixing the signal on the reception circuit connected to the receiver and the signal output from the oscillator that generates the transmission wave.

[0115] (14) In one embodiment of the present disclosure, in the moving object detection method, in the intrusion detection method of (11), the presence or absence of the noise is determined based on the amplitude of the signal obtained by envelope detecting the signal on the reception circuit connected to the receiver.

[0116] (15) In one embodiment of the present disclosure, in the moving object detection method, in the intrusion detection method of (11), when the signal after mixing the signal on the reception circuit connected to the receiver and the signal output from the oscillator that generates the transmission wave is used as the I - component signal, and the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase is shifted by π / 2 of the signal output from the oscillator is used as the Q - component signal, the determination is made based on the magnitude of the vector composed of the I - component signal and the Q - component signal.

[0117] (16) In one embodiment of the present disclosure, in the moving object detection method, in the intrusion detection method of (11), in the noise determination step, when the signal after mixing the signal on the reception circuit connected to the receiver and the signal output from the oscillator that generates the transmission wave is used as the I - component signal, and the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase is shifted by π / 2 of the signal output from the oscillator is used as the Q - component signal, the determination is made based on the moving distance of the vector composed of the I - component signal and the Q - component signal.

[0118] (17) In an embodiment of the present disclosure, in the moving object detection method, when it is determined that there is noise in the intrusion detection method of (11), the stopped transmission processing or reception processing is restarted.

[0119] (18) In an embodiment of the present disclosure, in the moving object detection method, after it is determined that there is noise in the intrusion detection method of (11), it is determined whether the noise has disappeared. When it is determined that the noise has disappeared, the stopped transmission processing or reception processing is restarted.

[0120] (19) In an embodiment of the present disclosure, in the moving object detection method, when it is determined that there is no noise in the intrusion detection method of (11), the presence or absence of the moving object is determined.

[0121] In the above description, the notation "··· part" used for each component may be replaced with other notations such as "··· assembly", "··· circuitry", "··· device", "··· unit", or "··· module".

Industrial Applicability

[0122] The present disclosure can be used in a moving object detection device and a moving object detection method.

Explanation of Reference Numerals

[0123] 110 Intrusion sensor 120 BCM 131 Hazard 132 Siren 133 Alarm siren 134 Indicator lamp 210 Oscillator 220, 221 Detection circuit 222 Phase shifter 223, 240, 241 Amplifier 230, 231 BPF 250, 251 A / D 260 Microcomputer 271, 272, 273 Switch 281 Transmission wave sensor 282 Reception wave sensor

Claims

1. An object determination circuit that determines the presence or absence of a moving object based on a received wave received by a receiver; A noise determination circuit that determines the presence or absence of noise while the transmission process or the reception process is stopped; A notification circuit that notifies that there is a moving object when the object determination circuit determines that there is a moving object and the noise determination circuit determines that there is no noise; A moving object detection device comprising the above.

2. When the noise determination circuit determines that there is a moving object, the noise determination circuit stops the transmission process or the reception process and determines the presence or absence of noise, The moving object detection device according to claim 1.

3. The noise determination circuit determines the presence or absence of the noise based on the amplitude of a signal after mixing a signal on a reception circuit connected to the receiver and a signal output from an oscillator that generates a transmission wave. The moving object detection device according to claim 1.

4. The noise determination circuit determines the presence or absence of the noise based on the amplitude of a signal obtained by envelope-detecting a signal on a reception circuit connected to the receiver. The moving object detection device according to claim 1.

5. When the noise determination circuit uses a signal after mixing a signal on a reception circuit connected to the receiver and a signal output from an oscillator that generates a transmission wave as an I component signal, and uses a signal after mixing a signal on a reception circuit connected to the receiver and a signal whose phase has been shifted by π / 2 of the signal output from the oscillator as a Q component signal, the noise determination circuit determines the presence or absence of the noise based on the magnitude of a vector composed of the I component signal and the Q component signal. The moving object detection device according to claim 1.

6. When the noise determination circuit uses a signal after mixing a signal on a reception circuit connected to the receiver and a signal output from an oscillator that generates a transmission wave as an I component signal, and uses a signal after mixing a signal on a reception circuit connected to the receiver and a signal whose phase has been shifted by π / 2 of the signal output from the oscillator as a Q component signal, the noise determination circuit determines the presence or absence of the noise based on the moving distance of a vector composed of the I component signal and the Q component signal. The moving object detection device according to claim 1.

7. When the noise determination circuit determines that there is noise, the noise determination circuit resumes the stopped transmission process or reception process. The moving object detection device according to claim 1.

8. After determining that there is noise, the noise determination circuit determines whether the noise has disappeared. When it is determined that the noise has disappeared, the stopped transmission processing or reception processing is restarted. The moving object detection device according to claim 1.

9. When it is determined that there is no noise, the object determination circuit determines the presence or absence of the moving object. The moving object detection device according to claim 1.

10. A vehicle provided with the moving object detection device according to claim 1.

11. Determine the presence or absence of a moving object based on the received wave received by the receiver. During the stop of the transmission processing or reception processing, determine the presence or absence of noise. When it is determined that there is a moving object and there is no noise, notify that there is a moving object. Moving object detection method.

12. When it is determined that there is a moving object, the presence or absence of the noise is determined by stopping the transmission processing or the reception processing. The moving object detection method according to claim 11.

13. The presence or absence of the noise is determined based on the amplitude of the signal after mixing the signal on the reception circuit connected to the receiver and the signal output by the oscillator that generates the transmission wave. The moving object detection method according to claim 11.

14. The presence or absence of the noise is determined based on the amplitude of the signal obtained by envelope detecting the signal on the reception circuit connected to the receiver. The moving object detection method according to claim 11.

15. When the signal after mixing the signal on the reception circuit connected to the receiver and the signal output by the oscillator that generates the transmission wave is used as the I component signal, and the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase is shifted by π / 2 of the signal output by the oscillator is used as the Q component signal. The presence or absence of the noise is determined based on the magnitude of the vector composed of the I component signal and the Q component signal. The moving object detection method according to claim 11.

16. When the signal after mixing the signal on the reception circuit connected to the receiver and the signal output by the oscillator that generates the transmission wave is used as the I component signal, and the signal after mixing the signal on the reception circuit connected to the receiver and the signal whose phase is shifted by π / 2 of the signal output by the oscillator is used as the Q component signal. The presence or absence of the noise is determined based on the moving distance of a vector having the I component signal and the Q component signal as components. The moving object detection method according to claim 11.

17. When it is determined that there is noise, the stopped wave transmission process or the wave reception process is restarted. The moving object detection method according to claim 11.

18. After it is determined that there is noise, it is determined whether or not the noise has disappeared. When it is determined that the noise has disappeared, the stopped wave transmission process or the wave reception process is restarted. The moving object detection method according to claim 11.

19. When it is determined that there is no noise, the presence or absence of the moving object is determined. The moving object detection method according to claim 11.

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