Determination device, determination method, and determination program

Abstract

To perform highly accurate motion detection.SOLUTION: A determination device 100A comprises an acquisition unit 132 that acquires sensor data generated by a motion sensor provided in the vehicle, and a generation unit 137 that generates information about the vehicle position based on the sensor data acquired by the acquisition unit 132 when a user is walking around the vehicle.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Conventionally, there is a technique that uses sensors in a vehicle to detect blind spots in the vehicle, moves the blind spots in the vehicle to positions that do not interfere with the detection of moving objects, and detects moving objects around the vehicle. (For example, Patent Technical Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the prior art, there are cases where moving object detection cannot be performed with high accuracy. For example, although it is considered that the size of a vehicle equipped with a moving object sensor or the installation position of the moving object sensor on the vehicle affects the accuracy of detecting moving objects around the vehicle, the sizes or installation positions of the vehicles actually equipped with the moving object sensors are not uniform. Therefore, when detecting moving objects around the vehicle, it is desired to change the settings of the moving object sensor according to the size of the vehicle. Thus, as an example of the problem to be solved by the present invention, the above-described problem can be cited.

Means for Solving the Problems

[0005] In order to solve the above-described problems and achieve the object, the invention according to claim 1 includes an acquisition unit that acquires sensor data generated by a moving object sensor provided in a vehicle, and a generation unit that generates information regarding the vehicle position based on the sensor data acquired by the acquisition unit when a user is walking around the vehicle.

[0006] The invention according to claim 11 is a determination method executed by a determination device, including: an acquisition step of acquiring sensor data generated by a moving body sensor provided in a vehicle; and a generation step of generating information regarding the vehicle position based on the sensor data acquired in the acquisition step when a user is walking around the vehicle.

[0007] The invention according to claim 12 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 generation step of generating information regarding the vehicle position based on the sensor data acquired in the acquisition step when a user is walking around the vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Mode for Carrying Out the Invention

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

[0010] [First Embodiment] [1. Configuration of Determination Device] First, the determination 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 determination device 100 according to the embodiment. As shown in FIG. 1, the determination device 100 includes a communication unit 110, a storage unit 120, and a control unit 130. Hereinafter, each unit included in the determination device 100 will be described.

[0011] The communication unit 110 is realized by, for example, a NIC (Network Interface Card) or the like. The communication unit 110 is connected to the network N by wire or wirelessly, and transmits and receives information to and from, for example, the in-vehicle device 10.

[0012] The memory unit 120 is realized 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 120 stores the position where the moving body sensor is installed, the intensity of the signal to be transmitted, the sensitivity to receive the signal, the intensity of the received signal, the angle calculated from the received signal, the distance, the coordinates of the moving body, the traveling direction, the risk related to the traveling direction of the moving body, the risk related to the position of the moving body, the threshold value, the interval, the period, the information related to the blind spot of the moving body sensor, the information related to the size of the vehicle (body type, vehicle model, etc.), the mounting position of the moving body sensor, the information related to notification (notification setting, user terminal information, address information, etc.), images (including moving images and still images), and other information necessary for the determination to detect the position of the blind spot of the moving body sensor and the determination of the information related to the vehicle position.

[0013] The control unit 130 is realized by using a CPU (Central Processing Unit), an NP (Network Processor), an FPGA (Field Programmable Gate Array), etc., and executes the processing program stored in the memory. As shown in FIG. 1, the control unit 130 includes a sensor unit 131, an acquisition unit 132, a notification unit 133, a display control unit 134, a detection unit 135, and an adjustment unit 136. Hereinafter, each unit included in the control unit 130 will be described.

[0014] The sensor unit 131 detects (acquires) information by various sensors. For example, the sensor unit 131 detects a moving body by a moving body sensor such as a distance sensor, a microwave sensor, or a LiDAR (light detection and ranging). Further, the sensor unit 131 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. Further, the sensor unit 131 detects the acceleration of the vehicle by an acceleration sensor. Further, for example, the sensor unit 131 detects the angular velocity of the vehicle by a gyro sensor. Further, for example, the sensor unit 131 acquires an image (moving image and still image) around the vehicle by an imaging device.

[0015] The acquisition unit 132 acquires sensor data generated by a moving body sensor provided inside the vehicle. For example, the acquisition unit 132 analyzes a signal received by a moving body sensor provided in the rearview mirror and acquires the coordinates of a moving body specified from information on distance and angle. Here, as an example of the installation location of the moving body sensor, the rearview mirror has been cited. However, for example, the moving body sensor may be installed near the rearview mirror or on the side mirror. That is, the moving body sensor is installed at a part inside the vehicle according to the purpose, such as the front pillar, center pillar, rear pillar, rearview mirror, side mirror, ceiling, seat, rear glass, etc.

[0016] Also, the acquisition unit 132 detects a walking user as a moving body by a moving body sensor based on information prompting the walking of, for example, the notification unit 133 or the display control unit 134, analyzes the signal received by the moving body sensor, and acquires the coordinates of the moving body specified from information on distance and angle. Here, the sensor data includes data such as the intensity of the signal received from the moving body sensor and the current time.

[0017] Also, the acquisition unit 132 acquires information regarding the size of the vehicle in addition to the sensor data. For example, the acquisition unit 132 acquires the model number "*****" as information regarding the size of the vehicle. In the above, the model number has been exemplified as information regarding the size of the vehicle. However, it is not limited to this as long as it is information that can specify the size of the vehicle, and it may be information regarding the vehicle position generated by the moving body sensor.

[0018] The notification unit 133 notifies the user of information prompting walking around the vehicle. For example, the notification unit 133 can prompt the user to walk around the vehicle by voice or the like. For example, the notification unit 133 gives an instruction to the user, such as "Please walk along the vehicle within a range of 80 cm from the vehicle" using the vehicle speaker or the like. 80 cm can be arbitrarily determined within a range calculated from the average physical build (shoulder width, etc.) of a person when standing sideways to the vehicle.

[0019] Further, when the user has not walked to the position where the user should walk, the notification unit 133 notifies the user again of information prompting the user to walk around the vehicle. For example, the notification unit 133 gives an instruction to the user in voice from a speaker of the vehicle or the like, saying "Please walk along the vehicle again within a range of 80 cm from the vehicle." Here, a tolerance of a predetermined value may be recognized for the position where the user should walk. For example, by setting a tolerance of within 10 cm for the position where the user should walk (within a range of 80 cm from the vehicle), it is possible to cope with the case where the user walks to a position slightly different from the position where the user should walk or an error due to sensor accuracy.

[0020] Also, for example, in a situation where the position of the moving object indicated by the sensor data acquired by the acquisition unit 132 stays outside the range of the position where the user should walk for a time equal to or longer than a threshold value, the notification unit 133 notifies the user again of information prompting the user to walk around the vehicle. In addition, for example, when the position of the moving object indicated by the sensor data acquired by the acquisition unit 132 is in a direction perpendicular to the traveling direction of the user notified by the notification unit 133 and the moving object moves away from the motion sensor, the notification unit 133 can be controlled to notify the user to walk around the vehicle again.

[0021] When the sensor data acquired by the acquisition unit 132 is clearly incorrect, the notification unit 133 can notify the user to walk around the vehicle again. For example, the notification unit 133 gives an instruction to the user in voice from a speaker of the vehicle or the like, saying "Please walk along the vehicle again within a range of 80 cm from the vehicle." Note that the notification unit 133 can instruct the user in voice or the like to walk only in a portion where the sensor data could not be acquired for the position where the user should walk again.

[0022] Further, after the detection unit 135 (to be described later) identifies the position of the blind spot of the moving body sensor, in a situation where it is detected that the position is not a blind spot of the moving body sensor, the notification unit 133 can notify the user by voice or the like of the possibility that the position is not a blind spot of the moving body sensor. For example, the notification unit 133 can notify the user by voice from a vehicle speaker or the like that "the blind spot of the moving body sensor has been changed". In addition, the notification unit 133 can give an instruction to re-detect the blind spot of the moving body sensor.

[0023] The display control unit 134 controls to display, on the user's terminal with a line, the position where the user around the vehicle should walk. For example, the display control unit 134 controls to display, on an application of the user's terminal (for example, a smartphone, a tablet terminal, a notebook PC, a desktop PC, a PDA, etc.), the position where the user around the vehicle should walk with a guide line or the like.

[0024] More specifically, the display control unit 134 receives an input of the type of the vehicle from the user, displays an overhead view of the vehicle on the user's terminal, and controls to display, on the user's terminal, the place where the user walks along the vehicle within a range of 80 cm or less from the vehicle with a guide line or the like. In addition, the display control unit 134 controls to display, on the user's terminal, the character "Please walk along the vehicle within a range of 80 cm or less from the vehicle".

[0025] In addition, the display control unit 134 controls to display, on the terminal, the position where the moving body is detected as the position where the user has walked based on the sensor data acquired by the acquisition unit 132. For example, the display control unit 134 controls to display the position where the moving body is detected as the position where the user has walked. More specifically, the display control unit 134 controls to change the display mode of the guide line of the position where the user around the vehicle has walked on the user's terminal, for example, from a red line to a black line.

[0026] In addition, the display control unit 134 controls to change the display mode of the lines around the vehicle according to whether a blind spot is detected and display it on the terminal. For example, the display control unit 134 controls to change the display mode of the guide line at the position where the user has walked around the vehicle according to whether a blind spot is detected. More specifically, the display control unit 134 controls to display the color of the guide line at the position where the user has walked at the position that is the blind spot of the motion sensor in black on the user's terminal, and display the color of the guide line at the position where the user has walked at the position that is not the blind spot in red.

[0027] When the user has not walked at the position where the user should walk, the display control unit 134 controls to display information to prompt the user to walk around the vehicle again. For example, the display control unit 134 controls to display the characters "Please walk along the vehicle within a range of 80 cm from the vehicle again" on the user's terminal. Here, a tolerance with a predetermined value may be set for the position where the user should walk. For example, by setting a tolerance within 10 cm for the position where the user should walk (within a range of 80 cm from the vehicle), it is possible to handle the case where the user walks at a position slightly different from the position where the user should walk or the error due to the sensor accuracy.

[0028] Also, for example, in a situation where the position of the moving object indicated by the sensor data acquired by the acquisition unit 132 stays outside the range of the position where the user should walk for a time equal to or longer than the threshold, the display control unit 134 can control to display a message prompting the user to walk around the vehicle again. In addition, for example, when the position of the moving object indicated by the sensor data acquired by the acquisition unit 132 is in the direction perpendicular to the traveling direction of the user displayed by the display control unit 134 and moves away from the motion sensor, the display control unit 134 can control to display a message prompting the user to walk around the vehicle again.

[0029] When the sensor data acquired by the acquisition unit 132 is clearly incorrect, the display control unit 134 can control to display to the user to walk around the vehicle again. For example, the display control unit 134 displays the characters "Please walk along the vehicle again within a range of 80 cm from the vehicle" on the user's terminal. In addition, the display control unit 134 can control to display on the user's terminal that the user should walk only in the part where the sensor data of the position to walk again could not be acquired. For example, the display control unit 134 controls to display the color of the guide line at the position where the user should walk again in blue. Then, by acquiring the sensor data at the position where the user should walk again, the sensor data at the position where the user should walk again can be combined with the sensor data at the position where the sensor data could be correctly acquired, and the dead angle can be accurately detected.

[0030] In addition, after the detection unit 135 described later specifies the position of the dead angle of the moving body sensor, in the situation where it is detected that it is not the dead angle of the moving body sensor, the display control unit 134 can control to display to the user on the user's terminal the possibility that it is not the dead angle. For example, the display control unit 134 can control to display "The dead angle of the moving body sensor has been changed" on the user's terminal for the user. In addition, the display control unit 134 can control to display to re-detect the dead angle of the moving body sensor.

[0031] The display control unit 134 controls to display on the terminal information for presenting the walking speed to the user according to the frequency output by the moving body sensor. For example, depending on the user's walking speed, when the acquisition interval of the data from the moving body sensor is long, the display control unit 134 may not be able to display on the user's terminal the position where the user walked without acquiring the data from the moving body sensor. Therefore, for example, the display control unit 134 controls to display an instruction to slow down the user's walking speed on the user's terminal. For example, the display control unit 134 controls to display the characters "Please slow down your walking speed" on the user's terminal.

[0032] When the user is walking around the vehicle, the detection unit 135 detects the position of the blind spot of the moving object sensor based on the sensor data acquired by the acquisition unit 132. For example, when the intensity of the signal included in the sensor data is less than the threshold value, the detection unit 135 detects the position where the intensity of the signal is less than the threshold value as the position of the blind spot of the moving object sensor.

[0033] For example, when the user is walking around the vehicle, the detection unit 135 detects the position where the intensity of the signal included in the sensor data acquired by the acquisition unit 132 is less than the threshold value as the position of the blind spot of the moving object sensor. Note that the detection unit 135 determines that the position where the intensity of the signal is not less than the threshold value is not the blind spot of the moving object sensor. Here, the user walking around the vehicle is not limited to the case where the user makes a full circle around the vehicle, and may be the case where the user walks only a part around the vehicle, such as only the side surface of the vehicle.

[0034] In addition, the detection unit 135 can perform the above-mentioned blind spot detection using the trajectory of the user walking around the vehicle multiple times. Then, the detection unit 135 can more accurately detect the position of the blind spot of the moving object sensor by calculating the average value of the coordinates of the detected blind spot positions. Note that the detection unit 135 can more accurately detect the position of the blind spot of the moving object sensor by combining the sensor data for each part of a plurality of vehicles in the situation where the sensor data for each part of the vehicle is acquired.

[0035] In addition, as an example of the detection by the detection unit 135 of the blind spot of the moving body sensor, an example was given in which a position where the signal intensity is less than the threshold is detected as the position of the blind spot of the moving body sensor. However, for example, when the moving body sensor receives noise, or when the coordinates become the origin when an intensity filter is applied to the sensor data of the moving body sensor, the detection unit 135 can also detect it as the position of the blind spot of the moving body sensor. Here, the intensity filter is a filter applied for determining the signal intensity. For example, when applied to a signal in the case where noise is generated, the coordinates become the origin. It is conceivable that the blind spot of the moving body sensor is caused by a front pillar, a center pillar, a rear pillar, a seat in the vehicle, or the like. In addition, a headrest monitor that can be retrofitted, a tall load, a key holder attached to a rearview mirror, etc. also become blind spots of the moving body sensor.

[0036] Furthermore, after the detection unit 135 specifies the position of the blind spot of the moving body sensor, when the signal intensity of the sensor data at the position of the blind spot of the moving body sensor becomes equal to or greater than the threshold a plurality of times, the detection unit 135 detects that the position where the signal intensity of the sensor data becomes equal to or greater than the threshold a plurality of times is not the position of the blind spot of the moving body sensor. For example, after the detection unit 135 specifies the position of the blind spot of the moving body sensor, when the headrest monitor that was the blind spot of the moving body sensor is moved and is no longer the blind spot of the moving body sensor, the detection unit 135 detects that it is not the blind spot of the moving body sensor.

[0037] In addition, the detection unit 135 detects a blind spot area from the position of the blind spot of the moving body sensor and information regarding the size of the vehicle. For example, with the attachment position of the moving body sensor as the origin of coordinates, the detection unit 135 detects the angular range at which the position of the blind spot of the moving body sensor is detected as the blind spot area of the moving body sensor (a radial area starting from the moving body sensor). Then, the detection unit 135 excludes the in-vehicle area specified from the vehicle size obtained by the acquisition unit 132 from the blind spot area of the moving body sensor. Then, by excluding the area outside the detection range of the moving body sensor from the blind spot area of the moving body sensor, the detection unit 135 detects the remaining radial area except for the excluded part as the blind spot area.

[0038] When the detection unit 135 detects a dead angle of the motion sensor, the adjustment unit 136 adjusts at least one of the detection range and sensitivity of the motion sensor. For example, the adjustment unit 136 adjusts the settings of the motion sensor provided in the vehicle according to the dead angle of the motion sensor determined by the detection unit 135. For example, the adjustment unit 136 makes an adjustment to exclude the signal of the motion sensor from the reception detection range for the position determined by the detection unit 135 to be a dead angle of the motion sensor. Also, for example, when the adjustment unit 136 estimates a dead angle of the motion sensor, it adjusts the sensitivity to receive signals from a predetermined angle (〇〇〇° to 〇〇〇°), or the detection range.

[0039] Also, when the adjustment unit 136 detects a moving object at a position where the user is not walking, it adjusts at least one of the detection range and sensitivity of the motion sensor. For example, when noise is generated at a position where the user is not walking, the adjustment unit 136 lowers the sensitivity to receive the signal of the motion sensor. That is, when false detections frequently occur at a position where the user is not walking, the adjustment unit 136 lowers the sensitivity of the signal.

[0040] [2. Display control process] Next, with reference to FIGS. 2 to 4, the display control process performed by the determination device 100 will be described. FIGS. 2 to 4 are diagrams showing an example of the display control process by the determination device 100 according to the embodiment. The display control unit 134 displays on the user's terminal. At this time, as shown in FIG. 2, the display control unit 134 can display the vehicle type selected by the user and display a line around the vehicle where the user should walk on the user's terminal. For example, as shown in FIG. 2, when the user selects a sedan as the vehicle type, the display control unit 134 controls to display an overhead view of the vehicle with the vehicle type of sedan on the user terminal. Subsequently, the display control unit 134 controls to display an arrow on the user terminal as information prompting the user to walk around the vehicle at a distance within 80 cm from the vehicle, for example, as shown in FIG. 2.

[0041] For example, as shown in FIG. 2, the display control unit 134 changes the display mode of a line with the position where the moving object is detected as the position where the user has walked based on the sensor data acquired by the acquisition unit 132, and controls to display it on the user's terminal. For example, as shown in FIG. 2, when the user walks from the front right side to the rear right side of the vehicle, the display control unit 134 uses the sensor data of the user during walking to control to display it on the user's terminal as the position where the user has walked. Here, the display control unit 134 changes the display mode of the line with the position where the moving object is detected as the position where the user has walked, for example, from a black line to a red line, and controls to display it on the user's terminal.

[0042] Also, for example, as shown in FIG. 3, the display control unit 134 can change the display mode for the position of the dead angle of the moving object sensor detected by the detection unit 135. For example, as shown in FIG. 3, when the user walks from the front right side to the rear right side of the vehicle, the acquisition unit 132 acquires the sensor data of the user during walking. Here, when the intensity of the signal included in the acquired sensor data is less than the threshold value, the detection unit 135 detects the position of the moving object when the intensity of the signal less than the threshold value is received as the position of the dead angle of the moving object sensor. Then, the display control unit 134 changes the display mode for the detected position of the dead angle of the moving object sensor, for example, from a black line to a red line, and controls to display it on the user's terminal.

[0043] 〔3. Detection Process〕 Next, the blind spot detection performed by the determination device 100 will be described with reference to FIG. 4. FIG. 4 is a diagram showing an example of the detection process by the determination device 100 according to the embodiment. The detection unit 135 detects the position where the moving object is detected as the position where the user has walked based on the sensor data acquired by the acquisition unit 132. For example, when the user is walking and the intensity of the signal included in the sensor data is less than the threshold value, the position of the moving object when the intensity of the signal less than the threshold value is received is detected as the position of the blind spot of the motion sensor. Further, the detection unit 135 detects the angular range in which the position of the blind spot of the motion sensor is detected with respect to the position where the motion sensor is installed as the blind spot area of the motion sensor. As shown in FIG. 4, the display control unit 134 can display the blind spot area of the motion sensor detected by the detection unit 135 on the user's terminal in a shape such as a triangle.

[0044] 〔4. Flowchart〕 Next, the processing by the determination device 100 having the above-described configuration will be described with reference to the flowchart of FIG. 5. The flowchart of FIG. 5 is mainly executed by the control unit 130. Further, this flowchart can be configured as a program executed by the CPU included in the control unit 130 to be a determination program. Note that the following steps can also be executed in a different order, and there may be processes that are omitted.

[0045] First, the display control unit 134 receives a selection of a vehicle type from the user on the user's terminal (step S101). Here, when the display control unit 134 receives the vehicle type from the user (step S101: Yes), subsequently, the display control unit 134 displays an overhead view of the vehicle selected by the user on the user's terminal (step S102).

[0046] On the other hand, when the display control unit 134 does not receive a selection of a vehicle type from the user (step S101: No), the process of step S101 is performed again.

[0047] Here, when the display control unit 134 displays an overhead view of the vehicle selected by the user on the user's terminal, subsequently, the display control unit 134 displays information prompting the user to walk around the vehicle (step S103). The method of prompting the user to walk around the vehicle is not limited to the display control unit 134 displaying information prompting the user to walk around the vehicle on the user's terminal or the like. The notification unit 133 can also prompt the user to walk around the vehicle by voice or the like.

[0048] Subsequently, the acquisition unit 132 acquires sensor data generated by a motion sensor provided in the vehicle (step S104). For example, when the user walks around the vehicle according to the information prompting the user to walk displayed by the display control unit 134, the acquisition unit 132 acquires the sensor data generated by the motion sensor provided in the vehicle.

[0049] Subsequently, the detection unit 135 determines whether the value of the sensor data is less than a threshold (step S105). Here, when the detection unit 135 determines that the signal strength of the sensor data is less than the threshold (step S105: Yes), the detection unit 135 detects the position where the signal strength becomes less than the threshold as the dead zone position of the motion sensor (step S106). On the other hand, when the signal strength of the sensor data is not less than the threshold (step S105: No), the process of step S104 is performed again.

[0050] The adjustment unit 136 adjusts the sensitivity and detection range of the motion sensor based on the position detected as the dead zone (step S107).

[0051] 〔5. Effect〕 The determination device 100 according to the embodiment includes an acquisition unit 132 that acquires sensor data generated by a motion sensor provided in the vehicle, and a detection unit 135 that detects the dead zone position of the motion sensor based on the sensor data acquired by the acquisition unit 132 when the user is walking around the vehicle.

[0052] As a result, during the period when the user is walking around the vehicle, the determination device 100 can detect a dead angle caused by an object existing inside the vehicle by detecting the dead angle of the moving body sensor from the sensor data acquired by the moving body sensor. Further, by holding the position of the dead angle of the moving body sensor as data, when a moving body enters the dead angle, it supports the determination process as a moving body detection function. That is, the determination device 100 improves the accuracy of moving body detection when used as a moving body detection function by detecting the dead angle of the moving body sensor.

[0053] In addition, the determination device 100 according to the embodiment further includes a notification unit 133 that notifies the user of information prompting the user to walk around the vehicle. As a result, the determination device 100 can detect a dead angle caused by an object existing inside the vehicle by notifying the user of information for making the user walk around the vehicle and detecting the dead angle of the moving body sensor.

[0054] In addition, the determination device 100 according to the embodiment further includes a display control unit 134 that controls to display a line indicating the position where the user around the vehicle should walk on the user's terminal. As a result, the determination device 100 can prompt the user to walk at the position where the user should walk around the vehicle by displaying a line indicating the position where the user should walk on the user's terminal, and can detect a dead angle caused by an object existing inside the vehicle by detecting the dead angle of the moving body sensor. Further, the determination device 100 can enable the user to grasp the position where the user himself / herself should walk.

[0055] In addition, in the determination device 100 according to the embodiment, the display control unit 134 controls to display, on the terminal, the position where a moving body is detected as the position where the user has walked based on the sensor data acquired by the acquisition unit 132.

[0056] As a result, the determination device 100 can enable the user to grasp that the moving body sensor has detected the user and that the detection of the dead angle is appropriately performed by displaying the position where the user has walked on the terminal. Further, the determination device 100 can enable the user to grasp the position where the user himself / herself should walk.

[0057] Also, in the determination device 100 according to the embodiment, the display control unit 134 controls to change the display mode of the lines around the vehicle according to whether a blind spot is detected and display it on the terminal. Thereby, the determination device 100 can display the position of the blind spot of the moving body sensor to the user by appropriately displaying the blind spot of the moving body sensor to the user.

[0058] Also, in the determination device 100 according to the embodiment, the display control unit 134 controls to display, on the terminal, information for presenting the walking speed to the user according to the frequency output by the moving body sensor. Thereby, the determination device 100 presents the walking speed to the user according to the frequency output by the moving body sensor, and the user walks according to it, so that even when the acquisition interval of the data from the moving body sensor is long, the position of the blind spot can be appropriately acquired.

[0059] Also, in the determination device 100 according to the embodiment, when the intensity of the signal included in the sensor data is less than the threshold value, the detection unit 135 detects the position where the intensity of the signal is less than the threshold value as the position of the blind spot of the moving body sensor.

[0060] Thereby, the determination device 100 can detect the blind spot caused by the object existing in the vehicle by detecting the position where the intensity of the signal is less than the threshold value as the blind spot of the moving body sensor.

[0061] Also, the determination device 100 according to the embodiment further includes an adjustment unit 136 that adjusts at least one of the detection range and sensitivity of the moving body sensor when the detection unit 135 detects a blind spot of the moving body sensor.

[0062] As a result, the determination device 100 can adjust the detection range and sensitivity of the moving body sensor at the position where the blind spot is detected, etc., and can prevent false detection and the like when the determination device 100 is used as a moving body detection function. That is, the determination device 100 adjusts the detection range and sensitivity of the moving body sensor according to the position of the blind spot of the moving body sensor, thereby improving the accuracy of moving body detection when used as a moving body detection function.

[0063] Further, in the determination device 100 according to the embodiment, when the adjustment unit 136 detects a moving body at a position where the user is not walking, the adjustment unit 136 adjusts at least one of the detection range and sensitivity of the moving body sensor. As a result, when the determination device 100 detects noise at a position where the user is not walking, the determination device 100 can prevent false detection and the like by adjusting the detection range and sensitivity of the moving body sensor.

[0064] Further, in the determination device 100 according to the embodiment, the detection unit 135 detects a blind spot area from the position of the blind spot of the moving body sensor and information regarding the size of the vehicle. As a result, the determination device 100 improves the accuracy of determining the risk value when used as a moving body detection function by detecting the blind spot area of the moving body sensor.

[0065] [Second Embodiment] In the first embodiment, mainly, an example of detecting the position of the blind spot of the moving body sensor has been described. In the following second embodiment, an example of generating information regarding the vehicle position will be described. Note that descriptions of the content common to the first embodiment will be omitted as appropriate.

[0066] [1. Configuration of Determination Device] Next, the determination device 100A according to the embodiment will be described with reference to FIG. 6. FIG. 6 is a diagram showing a configuration example of the determination device 100A according to the embodiment. As shown in FIG. 6, the control unit 130 of the determination device 100A includes a sensor unit 131, an acquisition unit 132, a notification unit 133, a display control unit 134, an adjustment unit 136, a generation unit 137, an output unit 138, an outside vehicle detection unit 139, and an inside vehicle detection unit 140. Hereinafter, each unit included in the control unit 130 will be described.

[0067] The acquisition unit 132 acquires sensor data generated by a moving body sensor provided in the vehicle. For example, the acquisition unit 132 analyzes a signal received by a moving body sensor provided in the rearview mirror and acquires the coordinates of a moving body specified from information on distance and angle. Here, as an example of the installation position of the moving body sensor, a rearview mirror has been cited. However, for example, the moving body sensor may be installed near the rearview mirror or on the side mirror. That is, the moving body sensor is installed at a part inside the vehicle according to the purpose, such as a front pillar, a center pillar, a rear pillar, a rearview mirror, a side mirror, a ceiling, a seat, and a rear glass. Further, the above moving body sensor is installed not only at a part inside the vehicle but also at a part outside the vehicle.

[0068] The generation unit 137 generates information regarding the vehicle position based on the sensor data acquired by the acquisition unit 132 when the user is walking around the vehicle. As information regarding the vehicle position, the generation unit 137 generates information on either or both of the overall length and the overall width of the vehicle based on the sensor data acquired by the acquisition unit 132 while the user is walking.

[0069] First, generation of either or both of the overall length and the overall width of the vehicle will be described. For example, in a situation where the user walks from the driver's side door to the passenger's side door within a range of 80 cm or less from the vehicle according to the instruction of the display control unit 134, the generation unit 137 uses, as the two ends of the overall width of the vehicle, the positions of two points where a straight line is orthogonal in the locus of the coordinates specified from the sensor data. Thus, the overall width is generated from the distance between the two points. As in this example, the situation where the user is walking around the vehicle is not limited to the case where the user walks around the vehicle once, and may be a case where the user walks only a part around the vehicle, such as only the side surface of the vehicle. Here, the "orthogonal" is not limited to the case where the angle formed by two lines is a right angle, and may be an angle within a predetermined range (for example, "80° to 100°").

[0070] As another example, the generation unit 137 may generate information on the overall length and the overall width of the vehicle from the shape of the trajectory of the coordinates of the moving object. Specifically, when the shape of the trajectory of the coordinates of the moving object when the user makes one round around the vehicle is a rectangle, the generation unit 137 generates, as the overall width of the vehicle, a value obtained by subtracting a predetermined value from the shorter side, and as the overall length of the vehicle, a value obtained by subtracting a predetermined value from the other orthogonal longer side. Here, the predetermined value is, for example, 80 cm. Further, the generation unit 137 may generate either or both of the overall length and the overall width of the vehicle using the trajectory of the coordinates when the user makes one round around the vehicle and the experimental data obtained by making one round around the surroundings for each one or more of the vehicle size, body type, and vehicle model. Thereby, an accurate vehicle size can be set.

[0071] Further, as information on the vehicle position, the generation unit 137 generates information on the attachment position of the motion sensor based on the sensor data acquired by the acquisition unit 132 while the user is walking. For example, when the user is walking within 80 cm around the vehicle in accordance with the instruction of the display control unit 134, the generation unit 137 generates information on the attachment position of the motion sensor using the trajectory of the coordinates of the moving object specified from the sensor data. For example, when the motion sensor is installed with a bias to the left side, if the generation unit 137 sets the attachment position of the motion sensor as the origin of the coordinates, since the center of the vehicle represented by the trajectory of the coordinates is located on the right side of the origin of the coordinates, the generation unit 137 generates information that the attachment position of the motion sensor is biased to the left side.

[0072] The adjustment unit 136 adjusts at least one of the detection range and the sensitivity of the motion sensor based on the information on the vehicle position generated by the generation unit 137. First, the adjustment of the motion sensor according to either or both of the overall length and the overall width of the vehicle will be described. For example, when the overall width of the vehicle generated by the generation unit 137 is greater than a predetermined threshold value, the adjustment unit 136 either expands the detection range of the motion sensor and / or increases the sensitivity.

[0073] Next, the adjustment of the motion sensor according to the installation position of the motion sensor will be described. For example, in a situation where the attachment position of the motion sensor generated by the generation unit 137 is installed with an offset to the left from the center of the vehicle, the adjustment unit 136 performs either one or both of the offset between the in-vehicle area and the out-of-vehicle area, the offset of the distance risk area, the expansion of the detection range of the motion sensor on the right side of the vehicle, and the adjustment of the sensitivity. On the other hand, it performs either one or both of the reduction of the detection range of the motion sensor on the left side of the vehicle and the adjustment of the reduction of the sensitivity.

[0074] The output unit 138 outputs a predetermined notification according to the attachment position of the motion sensor generated by the generation unit 137. For example, when the motion sensor is installed with an offset of more than a threshold value to either the left or the right from the center of the vehicle, the output unit 138 notifies the user to attach the motion sensor near the center of the vehicle. The notification to the user can be, for example, a voice notification by a speaker or the like, or a user terminal. Also, when the user input value of the installation position is acquired by an input from the user or the like, it is determined whether the user input value is close to the attachment position of the motion sensor generated by the generation unit 137, and if it is far beyond the threshold value, a notification for the user to confirm the installation position may be given. Thereby, input mistakes with respect to the user input value of the user can be prevented.

[0075] The out-of-vehicle detection unit 139 detects a moving object outside the vehicle based on the sensor data and the information regarding the vehicle position. For example, in order to detect a moving object outside the vehicle, the moving object is detected from the intensity of the signal included in the sensor data outside the vehicle specified from the vehicle size obtained by the generation unit 137.

[0076] As another example, the outside-vehicle detection unit 139 detects a moving object that makes a predetermined movement outside the vehicle from the change in the intensity of a signal included in the sensor data outside the vehicle. For example, when the intensity of the signal included in the sensor data acquired by the acquisition unit 132 is increasing, the outside-vehicle detection unit 139 detects that there is a moving object approaching the vehicle. Also, for example, when the intensity of the signal included in the sensor data acquired by the acquisition unit 132 is decreasing, the outside-vehicle detection unit 139 detects that there is a moving object moving away from the vehicle.

[0077] Further, the outside-vehicle detection unit 139 detects a moving object outside the vehicle with the detection range and sensitivity of the moving object sensor after the above adjustment in a situation where at least one of the detection range and sensitivity of the moving object sensor is adjusted by the adjustment unit 136.

[0078] The outside-vehicle detection unit 139 calculates a risk value outside the vehicle according to the vehicle from information on the vehicle position such as the overall length and overall width of the vehicle generated by the generation unit 137. Then, the outside-vehicle detection unit 139 estimates the movement of the moving object outside the vehicle and calculates the risk value. The specific method of the risk value outside the vehicle will be described later.

[0079] The inside-vehicle detection unit 140 detects a moving object inside the vehicle based on the sensor data and the information on the vehicle position. For example, in order to detect a moving object inside the vehicle, the moving object is detected from the intensity of the signal included in the sensor data inside the vehicle specified from the vehicle size obtained by the generation unit 137. Also, for example, the inside-vehicle detection unit 140 detects a moving object that makes a predetermined movement inside the vehicle from the change in the intensity of the signal included in the sensor data at a position other than outside the vehicle.

[0080] [2. Generation process] Next, the generation process performed by the determination device 100A will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of the generation process by the determination device 100A according to the embodiment. The generation unit 137 generates information on the vehicle position based on the sensor data when the user is walking around the vehicle.

[0081] First, an explanation will be given about the generation of either or both of the overall length and the overall width of the vehicle. As shown in FIG. 7, for example, in a situation where the user walks within a range of 80 cm from the vehicle from the right front end of the vehicle to the left front end of the vehicle via the rear part of the vehicle in accordance with the instruction of the display control unit 134, the generation unit 137 generates the overall width from the distance between two points that are the positions where a straight line is orthogonal to the locus of the coordinates specified from the sensor data, with the two points being the both ends of the overall width of the vehicle. As in this example, the situation where the user walks around the vehicle is not limited to the case where the user makes a full circle around the vehicle, and may be a case where the user walks a part around the vehicle such as only the side surface of the vehicle.

[0082] Another example of the generation unit 137 generating either or both of the overall length and the overall width of the vehicle will be described. For example, in a situation where the user walks within 80 cm from the vehicle in accordance with the instruction of the display control unit 134 to make a full circle around the vehicle, the generation unit 137 generates information on the overall length and the overall width of the vehicle based on the acquired sensor data. Specifically, based on the locus of the coordinates of the moving object when the user makes a full circle around the vehicle, for example, if the shape of the locus is a rectangle, the generation unit 137 generates the short side as the overall width of the vehicle and the other orthogonal long side as the overall length of the vehicle.

[0083] In addition, the generation unit 137 generates information on the mounting position of the motion sensor. As shown in FIG. 7, in a situation where the user walks within 80 cm around the vehicle in accordance with the instruction of the display control unit 134, the generation unit 137 uses the locus of the coordinates of the moving object specified from the sensor data to generate information on the mounting position of the motion sensor. For example, as shown in FIG. 7, when the motion sensor is installed biased to the left side, if the generation unit 137 sets the mounting position of the motion sensor represented by a triangle in FIG. 7 as the origin of the coordinates, since the center of the vehicle represented by the locus of the coordinates is located on the right side of the origin of the coordinates, the generation unit 137 generates information that the mounting position of the motion sensor is biased to the left side.

[0084] 〔3. Detection Process Outside the Vehicle〕 Next, with reference to FIGS. 8 and 9, the vehicle exterior detection process performed by the determination device 100A will be described. FIGS. 8 and 9 are diagrams showing an example of the vehicle exterior detection process by the determination device 100A according to the embodiment. The vehicle exterior detection unit 139 detects a moving object outside the vehicle using a moving body sensor.

[0085] For example, in order to detect a moving object outside the vehicle, the vehicle exterior detection unit 139 detects the moving object from the intensity of a signal included in sensor data outside the vehicle specified from the vehicle size obtained by the generation unit 137. Further, for example, the vehicle exterior detection unit 139 detects a moving object that makes a predetermined movement outside the vehicle from the change in the intensity of a signal included in sensor data at a position other than inside the vehicle.

[0086] Also, the vehicle exterior detection unit 139 detects a moving object outside the vehicle with the detection range and sensitivity of the moving body sensor after the above adjustment in a situation where at least one of the detection range and sensitivity of the moving body sensor is adjusted by the adjustment unit 136.

[0087] Also, the vehicle exterior detection unit 139 estimates information regarding the position (distance risk) of the moving object and information regarding the direction (direction risk) of the moving object from the movement of the moving object outside the vehicle outside the vehicle and calculates a risk value.

[0088] The direction risk refers to specifying the traveling direction of the moving object from the coordinates of two or more consecutive moving objects acquired by the acquisition unit 132 and the risk regarding the traveling direction of the moving object. For example, as shown in FIG. 9, the risk value with respect to the traveling direction of the moving object is indicated by 1 to 4 points (points). Also, as shown in FIG. 9, when it is the direction toward the central portion of the traveling direction of the moving object, the risk value is high, and when the traveling direction of the moving object is the direction away from the vehicle, the risk value becomes low.

[0089] The external detection unit 139 can detect a moving object outside the vehicle using information on distance risk and direction risk. For example, the external detection unit 139 performs risk analysis based on either one or both of the distance risk and the direction risk, and detects a moving object outside the vehicle when the risk point becomes equal to or greater than a threshold value. Also, the external detection unit 139 can perform risk analysis of the approach of a moving object using information on distance risk and direction risk. For example, the external detection unit 139 performs risk analysis based on either one or both of the distance risk and the direction risk, and detects the approach of a moving object to the vehicle when the risk point becomes equal to or greater than a threshold value.

[0090] Here, the distance risk refers to the risk regarding the position of a moving object according to the distance between the vehicle and the moving object acquired by the acquisition unit 132. For example, as shown in FIG. 8, the risk value corresponding to the distance between the moving object and the center of the vehicle is indicated by 0 to 1 point. Also, as shown in FIG. 8, the closer the distance to the center of the vehicle, the higher the risk value, and the farther the distance, the lower the risk value. Note that an offset may be taken into account in the determination of the distance risk. That is, even if the distance between the moving object sensor and the moving object is constant, if the relationship with respect to the positions of the moving object sensor and the vehicle is different, the determination result of the distance risk changes, so the distance risk may be adjusted according to the installation position of the moving object sensor.

[0091] 〔4. Flowchart〕 Next, the processing by the determination device 100A having the above-described configuration will be described with reference to the flowchart of FIG. 10. The flowchart of FIG. 10 is mainly executed by the control unit 130. Also, this flowchart can be configured as a program executed by the CPU of the control unit 130 to obtain a determination program. Note that each of the following steps can be executed in a different order, and there may be processing that is omitted.

[0092] First, the display control unit 134 receives a selection of a vehicle type from the user on the user's terminal (step S201). Here, when the display control unit 134 receives the vehicle type from the user (step S201: Yes), subsequently, it displays an overhead view of the selected vehicle on the user's terminal (step S202).

[0093] On the other hand, when the display control unit 134 does not receive a selection of a vehicle type from the user (step S201: No), it performs the process of step S201 again.

[0094] Here, when the overhead view of the selected vehicle is displayed on the user's terminal, the display control unit 134 subsequently displays a prompt for the user to walk around the vehicle (step S203). The method of prompting the user to walk around the vehicle is not limited to the display control unit 134 displaying information prompting the user to walk around the vehicle on the user's terminal or the like. The notification unit 133 can also prompt the user to walk around the vehicle by voice or the like.

[0095] Subsequently, the acquisition unit 132 acquires sensor data generated by the motion sensor (step S204). For example, when the user walks around the vehicle according to the information prompting the user to walk displayed by the display control unit 134, the acquisition unit 132 acquires the sensor data generated by the motion sensor provided inside the vehicle.

[0096] Subsequently, the generation unit 137 generates either or both of the overall length and the overall width of the vehicle based on the sensor data acquired by the acquisition unit 132 (step S205). Note that the generation unit 137 can also generate information regarding the mounting position of the motion sensor, for example.

[0097] The adjustment unit 136 performs a process of adjusting the sensitivity and detection range of the motion sensor based on the information regarding the vehicle position (step S206).

[0098] 〔5. Effect〕 The determination device 100A according to the embodiment includes an acquisition unit 132 that acquires sensor data generated by a moving body sensor provided in a vehicle, and a generation unit 137 that generates information related to the vehicle position based on the sensor data acquired by the acquisition unit 132 when the user is walking around the vehicle.

[0099] Thereby, the determination device 100A can appropriately grasp the situation of the vehicle and perform accurate moving body detection by generating information related to the vehicle position, such as the overall length of the vehicle, the overall width of the vehicle, and the attachment position of the moving body sensor.

[0100] Further, the determination device 100A according to the embodiment further includes a notification unit 133 that notifies the user of information prompting the user to walk around the vehicle. Thereby, the determination device 100A can notify the user of information prompting the user to walk around the vehicle, cause the user to walk around the vehicle, and appropriately generate information related to the vehicle position, thereby performing accurate moving body detection.

[0101] Further, the determination device 100A according to the embodiment further includes a display control unit 134 that controls to display, on the user's terminal, a line indicating the position where the user around the vehicle should walk.

[0102] Thereby, the determination device 100A can prompt the user to walk at the position where the user should walk around the vehicle by displaying a line indicating the position where the user should walk on the user's terminal, and can appropriately generate information related to the vehicle position. Further, the determination device 100A can cause the user to grasp the position where the user should walk, accurately generate information related to the vehicle position, and perform accurate moving body detection.

[0103] Further, in the determination device 100A according to the embodiment, the display control unit 134 controls to display, on the terminal, the position where the moving body is detected as the position where the user has walked based on the sensor data acquired by the acquisition unit 132.

[0104] As a result, the determination device 100A can accurately generate information regarding the vehicle position and perform highly accurate moving object detection by causing the terminal to display the position where the user has walked, thereby enabling the user to recognize that the moving object sensor has detected the user.

[0105] Further, in the determination device 100A according to the embodiment, the generation unit 137 generates information regarding either one or both of the overall length and the overall width of the vehicle based on the sensor data acquired by the acquisition unit 132 during the user's walking as information regarding the vehicle position.

[0106] As a result, the determination device 100A can confirm the situation of the vehicle and perform highly accurate moving object detection by generating information regarding either one or both of the overall length and the overall width of the vehicle.

[0107] Further, in the determination device 100A according to the embodiment, the generation unit 137 generates information regarding the attachment position of the moving object sensor based on the sensor data acquired by the acquisition unit 132 during the user's walking as information regarding the vehicle position.

[0108] As a result, the determination device 100A can confirm the situation of the vehicle and perform highly accurate moving object detection by generating information regarding the attachment position of the moving object sensor.

[0109] Further, the determination device 100A according to the embodiment further includes an output unit 138 that outputs a predetermined notification according to the attachment position of the moving object sensor generated by the generation unit 137. As a result, the determination device 100A can perform highly accurate moving object detection by causing the output unit 138 to issue a notification when the attachment position of the moving object sensor is an inappropriate position.

[0110] Further, the determination device 100A according to the embodiment further includes an adjustment unit 136 that adjusts at least one of the detection range and the sensitivity of the moving object sensor based on the information regarding the vehicle position generated by the generation unit 137.

[0111] Accordingly, the determination device 100A can perform highly accurate moving object detection by adjusting at least one of the detection range and the sensitivity of the moving object sensor according to the information regarding the vehicle position.

[0112] Further, the determination device 100A according to the embodiment further includes an out-of-vehicle detection unit 139 that detects moving objects outside the vehicle based on the sensor data and the information regarding the vehicle position. Accordingly, the determination device 100A can perform highly accurate moving object detection by appropriately detecting moving objects outside the vehicle according to the sensor data and the information regarding the vehicle position.

[0113] Further, the determination device 100A according to the embodiment further includes an in-vehicle detection unit 140 that detects moving objects inside the vehicle based on the sensor data and the information regarding the vehicle position. Accordingly, the determination device 100A can perform highly accurate moving object detection by appropriately detecting moving objects inside the vehicle according to the sensor data and the information regarding the vehicle position.

[0114] [Modification Example] [1. Configuration of the System] So far, the examples in which the determinations according to the first embodiment and the second embodiment are realized by the determination devices 100 and 100A provided in the vehicle have been described. Hereinafter, modification examples of the above embodiments will be described. As a modification example, an example in which the determinations according to the first embodiment and the second embodiment are realized by the determination device 100B existing on the cloud and the in-vehicle device 10 provided in the vehicle communicating with each other will be described. FIG. 11 is a diagram showing the configuration of the determination system according to the embodiment. In FIG. 11, a determination system 1 is shown as an example of the determination 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.

[0115] As shown in FIG. 11, the determination system 1 includes an in-vehicle device 10 and a determination device 100B. The in-vehicle device 10 and the determination device 100B are communicably connected by wire or wirelessly via a network N. Further, the determination system 1 shown in FIG. 14 may include any number of in-vehicle devices 10 and any number of determination devices 100B. Here, if the in-vehicle device 10 is an edge computer that performs edge processing near the user, the determination device 100B may be, for example, a cloud computer that performs processing on the cloud side. That is, the determination device 100B may be a server device. In the present invention, as shown in FIG. 11, information is transmitted and received between the determination device 100B, which is a server device existing on the cloud, and the in-vehicle device 10 provided in the vehicle, whereby the determination according to the embodiment is realized in the determination system 1.

[0116] 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 aggressive driving.

[0117] Further, the in-vehicle device 10 may be composed of a sensor device and a notification device. As an example of this, the in-vehicle device 10 may be a composite device in which a sensor device and a notification device independent of each other are communicably connected. As another example, the in-vehicle device 10 may be a single device having a sensor function and a notification function.

[0118] Further, the user can also substitute this by connecting a predetermined sensor to a portable terminal device (for example, a smartphone, a tablet-type terminal, a notebook PC, a desktop PC, a PDA, etc.) that is used daily and introducing a predetermined application. For example, a portable terminal device provided with a predetermined sensor or to which a predetermined sensor is connected can be regarded as the in-vehicle device 10 here. When the portable terminal device is utilized as the in-vehicle device 10, for example, it is installed on the dashboard of the vehicle VEx during driving.

[0119] 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.

[0120] The determination device 100B may acquire various types of data based on the sensor information detected by these sensors (for example, by analyzing the sensor information). For example, the determination device 100B acquires information on moving objects inside and outside the vehicle from the moving object sensor. Also, for example, the determination device 100B acquires the temperature of the vehicle from the temperature sensor. Also, for example, the determination device 100B acquires sound from the microphone. Also, for example, the determination device 100B acquires the angular velocity from the gyro sensor. Also, for example, the determination device 100B acquires data of a moving image obtained by photographing the outside from inside the vehicle VEx by the camera. Note that the determination device 100B may acquire 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.

[0121] [2. Configuration of the determination device] Next, with reference to FIG. 12, the determination device 100B according to the embodiment will be described. FIG. 12 is a diagram showing a configuration example of the determination device 100B according to the embodiment. As shown in FIG. 12, the determination device 100B includes a communication unit 110, a storage unit 120, and a control unit 130.

[0122] The control unit 130 is realized by using a CPU, an NP, an FPGA, etc., and executes a processing program stored in a memory. As shown in FIG. 12, the control unit 130 includes a sensor unit 131, an acquisition unit 132, a notification unit 133, a display control unit 134, a detection unit 135, an adjustment unit 136, a generation unit 137, an output unit 138, an outside vehicle detection unit 139, and an inside vehicle detection unit 140.

[0123] [Others] [1. Hardware configuration] Also, the determination device 100B according to the above-described embodiments and modifications is realized by, for example, a computer 1000 having a configuration as shown in FIG. 13. FIG. 13 is a hardware configuration diagram showing an example of a computer that realizes the functions of the determination device 100B. 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.

[0124] 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.

[0125] 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.

[0126] 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 device via the input / output interface 1600. Also, the CPU 1100 outputs the generated data to the output device via the input / output interface 1600.

[0127] The media interface 1700 reads the programs or data stored in the recording medium 1800 and provides them to the CPU 1100 via the RAM 1200. The CPU 1100 loads such programs from the recording medium 1800 onto the RAM 1200 via the media interface 1700 and executes the loaded programs. 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.

[0128] For example, when the computer 1000 functions as the determination device 100B according to the embodiment, the CPU 1100 of the computer 1000 realizes the functions of the control unit 130 by executing the programs 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.

[0129] [Others] So far, an example of the embodiment according to the present invention has been described, but the present invention is not limited to the above examples. That is, those skilled in the art can implement various modifications without departing from the gist of the present invention in accordance with the conventionally known knowledge. As long as the determination 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

[0130] 1 Determination system 10 In-vehicle device 100(100A, 100B) Determination device 110 Communication unit 120 Storage unit 130 Control unit 131 Sensor unit 132 Acquisition unit 133 Notification unit 134 represents the control unit 135 is the detection unit 136 is the adjustment unit 137 is the generation unit 138 is the output unit 139 is the outside vehicle detection unit 140 is the inside vehicle detection unit

Claims

1. An acquisition unit that acquires sensor data generated by a moving body sensor provided in a vehicle; A generation unit that generates information regarding the vehicle position based on the sensor data acquired by the acquisition unit when the user is walking around the vehicle A determination device characterized by comprising:

2. The determination device according to claim 1, further comprising a notification unit that notifies the user of information prompting the user to walk around the vehicle.

3. The determination device according to claim 1, further comprising a display control unit that controls to display, on the user's terminal, a line indicating a position where the user should walk around the vehicle.

4. The determination device according to claim 3, wherein the display control unit controls to display, on the terminal, the position where the moving body is detected as the position where the user has walked, based on the sensor data acquired by the acquisition unit.

5. The determination device according to claim 1, wherein the generation unit generates information regarding at least one of the overall length and the overall width of the vehicle based on the sensor data acquired by the acquisition unit during the user's walking as information regarding the vehicle position.

6. The determination device according to claim 1, wherein the generation unit generates information on the attachment position of the moving body sensor based on the sensor data acquired by the acquisition unit during the user's walking as information regarding the vehicle position.

7. The determination device according to claim 6, further comprising an output unit that outputs a predetermined notification according to the attachment position of the moving body sensor generated by the generation unit.

8. The determination device according to claim 1, further comprising an adjustment unit that adjusts at least one of the detection range and the sensitivity of the moving body sensor based on the information regarding the vehicle position generated by the generation unit.

9. The determination device according to claim 1, further comprising an external vehicle detection unit that detects a moving body outside the vehicle based on the sensor data and the information regarding the vehicle position.

10. The determination device according to claim 1, further comprising an in-vehicle detection unit that detects a moving body inside the vehicle based on the sensor data and the information regarding the vehicle position.

11. A determination method executed by a determination device, An acquisition step of acquiring sensor data generated by a moving body sensor provided in a vehicle; A generation step of generating information regarding the vehicle position based on the sensor data acquired in the acquisition step when the user is walking around the vehicle; A determination method characterized by including the above.

12. An acquisition step of acquiring sensor data generated by a moving body sensor provided in a vehicle; A generation step of generating information regarding the vehicle position based on the sensor data acquired in the acquisition step when the user is walking around the vehicle; A determination program characterized by causing a computer to execute the above.

Images