Monitoring device, method for monitoring, and monitoring program

Abstract

To improve the accuracy of determining an intrusion.SOLUTION: A monitoring device according to an embodiment includes: an acquisition unit for acquiring sensor data generated by a mobile body sensor equipped in a vehicle; and a determination unit for determining that there is an intrusion in the vehicle in a case where a signal level of sensor data is at least a first preset threshold value and a standard deviation of the mobile amount of the position of a mobile body determined from the sensor data is at least a second preset threshold value in a predetermined period of time.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 has been a technique for determining the presence or absence of an object entering a vehicle using sensor data of a moving body sensor installed in the vehicle (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the interior of the vehicle uses materials such as leather or there are few metal parts in the vehicle, the radio wave intensity due to multipath or the like becomes weak, so that the signal level in the sensor data of the moving body sensor may become low. When the signal level becomes low in this way, there is a problem that the accuracy of intrusion determination into the vehicle deteriorates in the above-described conventional technology. Thus, as an example of the problem to be solved by the present invention, the above-described problem can be cited.

Means for Solving the Problems

[0005] In order to solve the above-described problems and achieve the object, the invention according to claim 1 includes an acquisition unit that acquires sensor data generated by a moving body sensor provided in a vehicle, and within a predetermined period, when the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the movement amount of the moving body position obtained from the sensor data is equal to or higher than a preset second threshold value, it is characterized by having a determination unit that determines that there is an intrusion into the vehicle.

[0006] The invention according to claim 7 is a monitoring method executed by a monitoring device, comprising: an acquisition step of acquiring sensor data generated by a moving body sensor provided in a vehicle; and a determination step of determining that there is an intrusion into the vehicle when, within a predetermined period, the signal level of the sensor data is equal to or higher than a first threshold value set in advance and the standard deviation of the amount of movement of the moving body position obtained from the sensor data is equal to or higher than a second threshold value set in advance.

[0007] The invention according to claim 8 is characterized in that a computer is caused to execute: an acquisition step of acquiring sensor data generated by a moving body sensor provided in a vehicle; and a determination step of determining that there is an intrusion into the vehicle when, within a predetermined period, the signal level of the sensor data is equal to or higher than a first threshold value set in advance and the standard deviation of the amount of movement of the moving body position obtained from the sensor data is equal to or higher than a second threshold value set in advance.

Brief Description of the Drawings

[0008]

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

[0010] [Embodiment] FIG. 1 is a block diagram showing an example of the configuration of the monitoring device according to the embodiment. The monitoring device 100 shown in FIG. 1 is a device that monitors a parked vehicle for the purpose of preventing acts such as automobile theft and vandalism in the vehicle.

[0011] Specifically, the monitoring device 100 determines (detects) the presence or absence of an intrusion of a moving object (such as a thief) into the vehicle based on the sensor data generated by the motion sensors 1a and 1b provided in the vehicle. As an example, the monitoring device 100 determines that there is an intrusion when the signal level (signal strength) of the sensor data is equal to or higher than a predetermined threshold value. When the monitoring device 100 determines that there is an intrusion, it issues a notification such as a warning sound from the notification device 3.

[0012] As shown in FIG. 1, the monitoring device 100 includes a communication unit 110, a storage unit 130, and a control unit 120.

[0013] The communication unit 110 is realized by, for example, a NIC (Network Interface Card) or the like. The communication unit 110 is connected to an external network or a CAN (Control Area Network) bus in the vehicle, and transmits and receives information to and from, for example, the motion sensors 1a and 1b, the input / output device 2, and the notification device 3.

[0014] The moving object sensors 1a and 1b are sensors for detecting moving objects such as distance sensors, microwave sensors, and LiDAR (light detection and ranging). Specifically, the moving object sensors 1a and 1b include a transmitter that transmits radio waves, laser light, ultrasonic waves, etc. in a predetermined direction, and an array of a plurality of receivers that receive reflections from moving objects for this transmission. The moving object sensors 1a and 1b output the data received by the plurality of receivers as sensor data to the monitoring device 100. From this sensor data, the direction and distance of the moving object can be obtained based on the data of the plurality of receivers. That is, the sensor data includes the position information of the moving object.

[0015] FIG. 2 is an explanatory diagram showing an example of the installation locations of the moving object sensors 1a and 1b according to the embodiment. Note that the installation location of the moving object sensor is not limited as long as it is inside the vehicle.

[0016] For example, as shown in FIG. 2(1), near the rearview mirror, a moving object sensor 1a (also called the right sensor) directed toward the driver's seat side and a moving object sensor 1b (also called the left sensor) directed toward the passenger seat side may be installed. By installing the moving object sensors 1a and 1b in this way, intrusion from the driver's seat side and the passenger seat side can be detected. Also, as shown in FIG. 2(2), on the center pillar, the moving object sensors 1a and 1b may be installed facing both the left and right sides. That is, the moving object sensors are installed at parts inside the vehicle according to the purpose, such as the front pillar, center pillar, rear pillar, rearview mirror, ceiling, seat, and rear glass.

[0017] The input / output device 2 is a device that accepts operation inputs by the user and displays information to the user, and for example, a touch panel or the like can be applied.

[0018] The notification device 3 is a device that performs notifications by voice output, light emission, etc. For example, the notification device 3 performs notifications by warning sounds and light emission for intrusion based on control from the monitoring device 100.

[0019] The memory 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 memory unit 130 stores various information such as the positions where the moving sensors 1a and 1b are installed, the intensity of the transmitted signal, the sensitivity to receive the signal, the intensity of the received signal, the angle, distance, and coordinates of the moving object calculated from the received signal. Further, the memory unit 130 stores setting information 131 such as a threshold value related to the detection of vehicle intrusion.

[0020] 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 an acquisition unit 121, a determination unit 122, and a setting unit 123.

[0021] The acquisition unit 121 acquires the above-described sensor data generated by the moving sensors 1a and 1b.

[0022] The determination unit 122 determines whether or not a moving object has intruded into the vehicle based on the sensor data acquired by the acquisition unit 121. For example, when the determination unit 122 determines that an intrusion has occurred, it records the intrusion time in the memory unit 130 and issues a notification by warning sound or light emission from the notification device 3. Further, when the determination unit 122 determines based on the sensor data that the moving object has exited the vehicle from inside the vehicle and the intrusion is released, it records the release time in the memory unit 130 (the notification by the notification device 3 may continue or may be switched only to light emission).

[0023] Figures 3 and 4 are explanatory diagrams showing examples of detecting the moving object position by the moving object sensors 1a and 1b according to the embodiment. In case C1 of FIG. 3, the moving object position based on the sensor data when the moving object peeks in from the passenger seat side of the vehicle VEx is shown, and in case C2, the moving object position based on the sensor data when peeking in from the driver's seat side (both are non-intrusive). In case C3 of FIG. 4, the moving object position based on the sensor data of the moving object sensor 1b when the moving object intrudes from the driver's seat side of the vehicle VEx is shown, and in case C4, the moving object position based on the sensor data of the moving object sensor 1a when the moving object intrudes from the driver's seat side of the vehicle VEx is shown.

[0024] As shown in FIG. 3, in the case of just peeking in where the moving object approaches the vehicle VEx, since the distance to the moving object becomes closer, the signal strength becomes stronger, but the moving object position based on the sensor data does not change significantly.

[0025] On the other hand, as shown in FIG. 4, when the moving object intrudes into the vehicle VEx, the moving object position based on the sensor data changes significantly due to multipath. Specifically, the moving object position based on the sensor data of the moving object sensor on the side opposite to the intrusion side (the moving object sensor 1b in the case of intrusion from the driver's seat side and the moving object sensor 1a in the case of intrusion from the passenger seat side) changes significantly.

[0026] FIG. 5 is an explanatory diagram for explaining the standard deviation of the movement amount of the moving object position detected by the moving object sensor. Graph G1 in FIG. 5 is a histogram (frequency distribution) of the standard deviation of the moving object movement amount detected from the sensor data for a predetermined period (for example, from 1 second to 0.5 seconds) in the case of peeking into the vehicle VEx (non-intrusive). Graph G2 is a histogram of the standard deviation of the moving object movement amount detected from the sensor data for the same period in the case of passing by the side of the vehicle VEx. Graph G3 is a histogram of the standard deviation of the moving object movement amount detected from the sensor data for the same period when intruding into the vehicle VEx.

[0027] As is clear from comparing graphs G1 and G2 in the non-intrusive case with graph G3 when intruding into the vehicle, the standard deviation of the moving object movement amount detected from the sensor data becomes larger when intruding into the vehicle.

[0028] The acquisition unit 121 determines whether a moving object has entered the vehicle by utilizing the fact that the standard deviation of the amount of movement of the moving object detected from the sensor data increases when an intrusion into the vehicle occurs.

[0029] Specifically, the acquisition unit 121 determines that there is an intrusion into the vehicle VEx when, within a predetermined period, the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the amount of movement of the moving object position obtained from the sensor data is equal to or higher than a preset second threshold value.

[0030] Thereby, the acquisition unit 121 can determine whether a moving object has entered the vehicle even in a situation where the radio wave intensity is weakened due to multipath or the like.

[0031] The determination unit 122 sets a threshold value and the like related to the detection of vehicle intrusion, and stores the setting content as setting information 131 in the storage unit 130. The threshold value may be configured to be changed for each interior of the vehicle VEx. Specifically, the determination unit 122 reads out a setting table in which threshold values for each interior of the vehicle VEx are set from the setting information 131. Next, the determination unit 122 presents the interior of the read setting table as an option on the setting screen of the input / output device 2 and accepts the user's selection. The determination unit 122 sets the threshold value corresponding to the interior selected by the user as the threshold value related to the detection of vehicle intrusion.

[0032] The setting table is classified, for example, into a normal interior (without options) that has not been changed since the shipment of the vehicle VEx and a special interior (with options) that has been changed since the shipment of the vehicle VEx, and threshold values are set for each. Also, the special interior (with options) is classified, for example, by each interior product (Company A, Company B,...), and threshold values are set for each. Further, the vehicle type may be selected as a setting value, and the threshold value may be set according to the tendency of the vehicle type.

[0033] As an example, in the case of normal interior (without options), due to the characteristics of the adopted interior, the radio wave intensity does not weaken, so a relatively large threshold value is set. Also, in the case of special interior (with options), multi-path is less likely to occur and the radio wave intensity may weaken, such as when the interior in the vehicle uses materials like leather (e.g., Company A) or a large amount of metal materials is used inside the vehicle (e.g., Company B). In such cases, a threshold value smaller than that of the normal interior (without options) is set.

[0034] FIG. 6 is an explanatory diagram for explaining an example of the setting screen. As shown in FIG. 6, the determination unit 122 displays a setting screen 200 having a selection button 201 for normal interior (without options) and a selection button 202 for special interior (with options) on the input / output device 2. Thereby, the user selects a normal interior or a special interior. Here, when the normal interior is selected, the threshold value corresponding to the normal interior is set as the threshold value for detecting vehicle intrusion.

[0035] When the special interior (with options) is selected, next, the determination unit 122 displays a setting screen 210 having a selection button 211 for the interior made by Company A and a selection button 212 for the interior made by Company B on the input / output device 2. Thereby, the user selects the interior made by Company A or the interior made by Company B. Here, when the interior made by Company A is selected, the threshold value corresponding to the interior made by Company A, and when the interior made by Company B is selected, the threshold value corresponding to the interior made by Company B are set as the threshold values for detecting vehicle intrusion.

[0036] FIGS. 7 and 8 are flowcharts showing an example of the processing flow by the monitoring device 100 according to the embodiment. Specifically, FIG. 7 shows an example of the processing related to vehicle intrusion determination, and FIG. 8 shows an example of the processing related to determination of leaving the vehicle exterior. It should be noted that the threshold values A, B, C, and D in the figures are the values set in the setting information 131 by the setting unit 123 and are read out and applied.

[0037] After the monitoring device 100 is activated following the driver or others exiting the vehicle, the process related to vehicle intrusion determination is started. For example, the monitoring device 100 is activated when the key of the vehicle VEx is removed by the driver, after the door is locked, etc.

[0038] As shown in FIG. 7, when the process related to vehicle intrusion determination is started, the acquisition unit 121 acquires sensor data from the moving body sensors 1a and 1b (S1).

[0039] Next, the determination unit 122 determines whether there is a vehicle intrusion based on whether it has already been determined that there is a vehicle intrusion (S2). If it has already been determined that there is a vehicle intrusion and there is a vehicle intrusion (S2: No), the determination unit 122 proceeds to the vehicle exterior departure determination (S3).

[0040] If there is no vehicle intrusion (S2: Yes), the determination unit 122 determines whether 50% or more of the signal levels within a predetermined period (for example, 0.5 seconds) of the moving body sensor 1b [left sensor] are equal to or higher than the threshold value A (S4). If the signal level of the [left sensor] is not equal to or higher than the threshold value A (S4: No), the determination unit 122 returns the process, assuming that there is no vehicle intrusion by the moving body and the moving body continues to be outside the vehicle (S8).

[0041] If the signal level of the [left sensor] is equal to or higher than the threshold value A (S4: Yes), the determination unit 122 determines whether 50% or more of the signal levels within a predetermined period (for example, 0.5 seconds) of the moving body sensor 1a [right sensor] are equal to or higher than the threshold value A (S5). If the signal level of the [right sensor] is not equal to or higher than the threshold value A (S5: No), the determination unit 122 returns the process, assuming that there is no vehicle intrusion by the moving body and the moving body continues to be outside the vehicle (S8).

[0042] If the signal level of the [right sensor] is equal to or higher than the threshold value A (S5: Yes), the determination unit 122 determines whether 50% or more of the total signal level within a predetermined period (for example, 0.5 seconds) is equal to or higher than the threshold value B and whether the standard deviation of the moving body movement amount by one of the moving body sensors is equal to or higher than the threshold value C (S6).

[0043] When the determination in S6 is affirmative (Yes), the determination unit 122 determines that the moving object has invaded the vehicle interior within the vehicle VEx (S7), and returns the process. When the determination in S6 is negative (No), the determination unit 122 assumes that there is no vehicle invasion by the moving object and the moving object continues to be outside the vehicle (S8), and returns the process.

[0044] Here, when the set threshold value B is greater than a predetermined value (for example, the threshold value corresponding to the normal interior (without option)), the determination unit 122 may determine the presence or absence of vehicle invasion by the moving object based on the fact that 50% or more of the total signal level for a predetermined period (for example, 0.5 seconds) is equal to or greater than the threshold value B. For example, when the threshold value B is greater than the predetermined value, the determination unit 122 determines vehicle invasion (S7) when 50% or more of the total signal level for a predetermined period (for example, 0.5 seconds) is equal to or greater than the threshold value B, and determines continuation outside the vehicle when 50% or more is not equal to or greater than the threshold value B (S8).

[0045] As shown in FIG. 8, when the process related to the determination of departure from the vehicle starts, the acquisition unit 121 acquires sensor data from the moving object sensors 1a and 1b (S11).

[0046] Next, the determination unit 122 determines the presence or absence of vehicle invasion based on whether it has already been determined that the vehicle is being invaded. When the vehicle is not being invaded (S12: No), the determination unit 122 proceeds to the vehicle interior invasion determination (S13).

[0047] When the vehicle is being invaded (S12: Yes), the determination unit 122 determines whether 100% of the signal level of the moving object sensor 1b [left sensor] for a predetermined period (for example, 0.5 seconds) is equal to or less than the threshold value D (S14). When the signal level of the [left sensor] is not equal to or less than the threshold value D (S14: No), the determination unit 122 assumes that the vehicle interior invasion by the moving object continues (S17), and returns the process.

[0048] When the signal level of the [left sensor] is equal to or lower than the threshold value D (S14: Yes), the determination unit 122 determines whether 100% of the signal levels within a predetermined period (e.g., 0.5 seconds) of the moving object sensor 1a [right sensor] are equal to or lower than the threshold value D (S15). When the signal level of the [right sensor] is not equal to or lower than the threshold value D (S15: No), the determination unit 122 assumes that the intrusion of the moving object into the vehicle continues (S17) and returns the process.

[0049] When the signal level of the [right sensor] is equal to or lower than the threshold value D (S15: Yes), the determination unit 122 determines that the moving object has exited the vehicle, releases the vehicle interior intrusion (S16), and returns the process.

[0050] Here, the threshold value D for the moving object to exit the vehicle may be set to a value smaller than the threshold value A for the intrusion into the vehicle. In this case, for the vehicle to leave, the intrusion can be released when the signal level has decreased more reliably (the moving object has sufficiently left the vehicle VEx).

[0051] [Effect] As described above, the monitoring device 100 according to the embodiment includes an acquisition unit 121 and a determination unit 122. The acquisition unit 121 acquires sensor data generated by the moving object sensors 1a and 1b provided in the vehicle VEx. The determination unit 122 determines that there is an intrusion into the vehicle VEx when, within a predetermined period, the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the movement amount of the moving object position obtained from the sensor data is equal to or higher than a preset second threshold value.

[0052] Thereby, even when the signal levels of the sensor data of the moving object sensors 1a and 1b are low due to few multipaths, the monitoring device 100 can accurately determine the intrusion into the vehicle VEx. Also, even when the interior information of the vehicle cannot be obtained, the intrusion into the vehicle can be determined.

[0053] The monitoring device 100 according to the embodiment further includes a setting unit 123 that sets a first threshold value based on the set value of the option selected by the user from among a plurality of options in which set values for each interior of the vehicle are set.

[0054] Thereby, the monitoring device 100 can set a threshold value corresponding to the interior of the vehicle, and can perform an in-vehicle intrusion determination with high accuracy according to the interior of the vehicle.

[0055] When the determination unit 122 of the monitoring device 100 according to the embodiment determines that there is an intrusion into the vehicle VEx within a predetermined period, if the set first threshold value is equal to or greater than a predetermined value, it determines that there is an intrusion into the vehicle VEx when the signal level is equal to or greater than the first threshold value. Further, when the set first threshold value is less than the predetermined value, the determination unit 122 determines that there is an intrusion into the vehicle VEx when the signal level is equal to or greater than the first threshold value and the standard deviation of the movement amount of the moving object position is equal to or greater than the second threshold value.

[0056] Thereby, when the set first threshold value is equal to or greater than a predetermined value, the monitoring device 100 performs an in-vehicle intrusion determination based on the signal level, and when the set first threshold value is less than the predetermined value, it performs an in-vehicle intrusion determination based on the standard deviation of the movement amount of the moving object position together with the signal level. That is, when a first threshold value equal to or greater than a predetermined value is set in a situation where the signal level can be obtained sufficiently strongly, the monitoring device 100 can perform an in-vehicle intrusion determination based on the signal level. Further, when a first threshold value less than a predetermined value is set in a situation where there are few multipaths due to the interior and the signal level becomes weak, the monitoring device 100 can perform an in-vehicle intrusion determination based on the standard deviation of the movement amount of the moving object position together with the signal level.

[0057] After determining that there is an intrusion into the vehicle VEx, the determination unit 122 of the monitoring device 100 according to the embodiment releases the intrusion into the vehicle VEx when the signal level of the sensor data is equal to or less than a preset third threshold value within a predetermined period.

[0058] As a result, after determining that a moving object has intruded into the vehicle VEx, the monitoring device 100 can determine whether or not to cancel the intrusion of the moving object (whether the moving object has left the vehicle) based on the signal level of the sensor data.

[0059] The third threshold in the monitoring device 100 according to the embodiment is a value smaller than the first threshold.

[0060] This allows the monitoring device 100 to more reliably determine whether an object has left the vehicle after determining that an object has entered the vehicle VEx when the signal level becomes low (the moving object has sufficiently moved away from the vehicle VEx).

[0061] The moving object sensors 1a and 1b in the monitoring device 100 according to the embodiment are at least two moving object sensors each facing in a different direction from within the vehicle VEx.

[0062] This enables the monitoring device 100 to detect the intrusion of a moving object into the vehicle VEx from the direction in which each of the moving object sensors 1a and 1b is pointed.

[0063] [others] [1. Hardware configuration] Moreover, the monitoring device 100 according to the above-described embodiment is realized, for example, by a computer 1000 having a configuration as shown in Fig. 9. Fig. 9 is a hardware configuration diagram showing an example of the computer 1000 that realizes the functions of the monitoring device 100. The computer 1000 has a CPU 1100, a RAM 1200, a ROM 1300, a HDD 1400, a communication interface (I / F) 1500, an input / output interface (I / F) 1600, and a media interface (I / F) 1700.

[0064] The CPU 1100 operates and controls each unit based on a program stored in the ROM 1300 or the HDD 1400. The ROM 1300 stores a boot program executed by the CPU 1100 when the computer 1000 is started up, programs that depend on the hardware of the computer 1000, and the like.

[0065] The HDD 1400 stores programs executed by the CPU 1100 and data used by such programs. The communication I / F 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. The CPU 1100 receives sensor data generated by the motion sensor via the communication I / F 1500.

[0066] The CPU 1100 controls input / output devices such as a display, a printer, a keyboard, and a mouse via the input / output I / F 1600. The CPU 1100 acquires data from a keyboard, a mouse, etc. via the input / output I / F 1600. Also, the CPU 1100 outputs generated data to a display, a printer, etc. via the input / output I / F 1600.

[0067] The media I / F 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 I / F 1700 and executes the loaded program. The recording medium 1800 is, for example, an optical recording medium such as a DVD (Digital Versatile Disc) or a PD (Phase change rewritable 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.

[0068] 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, but as another example, these programs may be acquired from other devices via a predetermined communication network.

[0069] [2. Others] So far, an example of an embodiment according to the present invention has been described. However, the present invention is not limited to the above examples. That is, those skilled in the art can implement various modifications in accordance with conventionally known knowledge without departing from the gist of the present invention. As long as the monitoring device of the present invention is still included by such modifications, of course, it is included in the scope of the present invention.

Explanation of Reference Numerals

[0070] 1a, 1b... moving body sensors 2... input / output device 3... notification device 100... monitoring device 110... communication unit 120... control unit 121... acquisition unit 122... determination unit 123... setting unit 130... storage unit 131... setting information 200... setting screen 201, 202, 211, 212... selection buttons 210... setting screen 1000... computer 1100... CPU 1200... RAM 1300... ROM 1400... HDD 1500... communication I / F 1600... input / output I / F 1700... media I / F 1800... recording medium A~C, D... threshold values C1~C4... cases G1~G3... graphs VEx... vehicle

Claims

1. An acquisition unit that acquires sensor data generated by a moving body sensor provided inside a vehicle; A determination unit that determines that there is an intrusion into the vehicle when, within a predetermined period, the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the amount of movement of the moving body position obtained from the sensor data is equal to or higher than a preset second threshold value; A monitoring device, characterized by comprising the above.

2. The monitoring device according to claim 1, further comprising a setting unit that sets the first threshold value based on a set value of an option selected by a user from a plurality of options in which set values for each interior of the vehicle are set. The monitoring device according to claim 1, characterized by the above.

3. When determining that there is an intrusion into the vehicle within the predetermined period, the determination unit determines that there is an intrusion into the vehicle when the signal level is equal to or higher than the first threshold value if the set first threshold value is equal to or higher than a predetermined value, and determines that there is an intrusion into the vehicle when the signal level is equal to or higher than the first threshold value and the standard deviation of the amount of movement of the moving body position is equal to or higher than the second threshold value if the set first threshold value is less than the predetermined value. The monitoring device according to claim 1, characterized by the above.

4. After determining that there is an intrusion into the vehicle, the determination unit cancels the intrusion into the vehicle when the signal level of the sensor data is equal to or lower than a preset third threshold value within a predetermined period. The monitoring device according to claim 1, characterized by the above.

5. The third threshold value is a value smaller than the first threshold value. The monitoring device according to claim 4, characterized by the above.

6. The moving body sensor is at least two moving body sensors respectively directed in different directions from inside the vehicle. The monitoring device according to claim 1, characterized by the above.

7. A monitoring method executed by a monitoring device, comprising: An acquisition step of acquiring sensor data generated by a moving body sensor provided inside a vehicle; A determination step of determining that there is an intrusion into the vehicle when, within a predetermined period, the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the amount of movement of the moving body position obtained from the sensor data is equal to or higher than a preset second threshold value. A monitoring method, characterized by including the above.

8. An acquisition step of acquiring sensor data generated by a moving body sensor provided inside a vehicle; A determination step of determining that there is an intrusion into the vehicle when, within a predetermined period, the signal level of the sensor data is equal to or higher than a preset first threshold value and the standard deviation of the amount of movement of the moving body position obtained from the sensor data is equal to or higher than a preset second threshold value; A monitoring program characterized by causing a computer to execute the above steps.

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