Detection device

Abstract

This detection device comprises: an acquisition unit that acquires time-series data of a point cloud indicating, as a point cloud, one or more detection points representing the position of an object moving within a vehicle cabin of a vehicle on the basis of reflected waves due to transmission waves transmitted into the vehicle cabin and reflected by the object moving within the vehicle cabin; a computation unit that analyzes the behavior of the point cloud that moves with the passage of time on the basis of the time-series data of the point cloud; and a determination unit that, on the basis of the behavior of the point cloud, determines whether or not the object is getting in or getting out of the vehicle cabin.

Description

Detection device

[0001] FIELD OF THE INVENTION An embodiment of the present invention relates to a sensing device.

[0002] In order to monitor the inside and outside of a vehicle, for example, in Patent Document 1, a surveillance camera with a convex mirror is installed on the vehicle. However, when using a surveillance camera, it is difficult to recognize a detection target, for example, at night.

[0003] Japanese Patent Application Laid-Open No. 2004-026144

[0004] The present invention has been made in view of the above, and an object of the present invention is to provide a detection device that can monitor the state of a vehicle without being affected by the surrounding environment, such as at night.

[0005] The detection device of the embodiment includes an acquisition unit that acquires time series data of a point cloud that shows one or more detection points representing the position of an object moving within the vehicle cabin based on a transmission wave transmitted toward the interior of the vehicle cabin and reflected by the object moving within the cabin, a calculation unit that analyzes the behavior of the point cloud that moves over time based on the time series data of the point cloud, and a determination unit that determines whether the object is entering or exiting the cabin based on the behavior of the point cloud.

[0006] The detection device of the embodiment can monitor the vehicle status without being affected by the surrounding environment, such as at night.

[0007] FIG. 1 is a perspective side view showing an example of the configuration of the interior of a vehicle equipped with a detection system according to an embodiment. FIG. 2 is a perspective top view showing an example of the configuration of the interior of a vehicle equipped with a detection system according to an embodiment. FIG. 3 is a block diagram showing an example of the hardware configuration of the detection system according to an embodiment. FIG. 4 is a block diagram showing an example of the functional configuration of the detection system according to an embodiment. FIG. 5 is an explanatory diagram of a determination method used by the detection system according to an embodiment. FIG. 6 is an explanatory diagram of a determination method used by the detection system according to an embodiment. FIG. 7 is an explanatory diagram of a determination method used by the detection system according to an embodiment. FIG. 8 is a flow diagram showing an example of the procedure of detection processing performed by a detection device according to an embodiment.

[0008] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions, results, and advantages brought about by the configurations, are merely examples. The present invention can be realized using configurations other than those disclosed in the following embodiments, and it is possible to obtain at least one of the various advantages and derivative advantages based on the basic configurations.

[0009] (Configuration example of detection system) Fig. 1 is a perspective side view showing an example of the configuration inside a passenger compartment R of a vehicle C equipped with a detection system 1 according to an embodiment. Fig. 2 is a perspective top view showing an example of the configuration inside a rear part of the passenger compartment R of a vehicle C equipped with a detection system 1 according to an embodiment.

[0010] In the drawing, the +X direction is the direction from the center of the vehicle C in the left-right direction toward the right, and the -X direction is the direction from the center of the vehicle C in the left-right direction toward the left. The left-right direction of the vehicle C is the direction as seen from the driver's seat. The +Y direction is the direction from the center of the vehicle C in the front-rear direction toward the rear, and the -Y direction is the direction from the center of the vehicle C in the front-rear direction toward the front. The +Z direction is the direction downward from the ceiling 5 of the vehicle C.

[0011] The vehicle C may be, for example, an automobile powered by an internal combustion engine or a motor, or a hybrid vehicle powered by both of these.

[0012] 1 and 2 show, as an example, a vehicle C that is a so-called three-row seat vehicle. That is, the vehicle C of the embodiment includes, in order from the front of the vehicle C, seat rows SR1, SR2, and SR3. However, the vehicle C of the embodiment is not limited to a three-row seat vehicle, and may be a standard passenger car with front and rear seats, or may be any of various other types of vehicles.

[0013] Seat row SR1 includes a driver's seat and a passenger seat. Seat rows SR2 and SR3 include multiple seats adjacent to each other. In the example of FIG. 2 , seat row SR2 includes three seats adjacent to each other, with an occupant P seated in each of the seats on either side of the center seat. Seat row SR3 includes two seats adjacent to each other, with an occupant P seated in the seat on the right side of vehicle C.

[0014] The detection system 1 has a function of detecting an occupant P present in the vehicle compartment R and the position of the occupant P. The detection system 1 also has a function of detecting the presence and intrusion route of a person entering the vehicle C from outside. The detection result of the detection system 1 for the occupant P or the intruder is used for, for example, a seat belt reminder or monitoring for intrusion into the vehicle compartment R.

[0015] When functioning as a seat belt reminder, the detection system 1 operates exclusively while the vehicle C is moving, and detects occupants in the vehicle compartment R. On the other hand, when monitoring for intrusions into the vehicle compartment R, the detection system 1 operates exclusively while the vehicle C is stopped, and detects intrusions into the vehicle compartment R.

[0016] The detection system 1 includes a sensor device 2 and a detection device 3 .

[0017] The sensor device 2 is installed, for example, on the ceiling 5 near the center of the vehicle C in the ±X directions, transmits a transmission wave toward the interior of the vehicle compartment R, and receives a reflected wave generated when the transmission wave is reflected by an object present in the vehicle compartment R. The sensor device 2 in this embodiment is installed behind the seat backs of the seat row SR1 when viewed from the ceiling 5. The detection device 3 is installed, for example, in the dashboard, and is connected to the sensor device 2 via a network such as a CAN (Controller Area Network).

[0018] The installation positions of the sensor device 2 and the detection device 3 are not limited to those described above. However, it is desirable that the sensor device 2 is installed in a position where, for example, substantially the entire vehicle interior R is included in its detection range and where all windows and the like of the vehicle C that could be used as entry points into the vehicle C can be monitored. Furthermore, the number of sensor devices 2 installed in the vehicle interior R is not limited to the example in Fig. 1 , and for example, it is also possible to install a plurality of sensor devices 2 in the vehicle interior R so that substantially the entire vehicle interior R can be monitored.

[0019] FIG. 3 is a block diagram illustrating an example of a hardware configuration of the detection system 1 according to the embodiment.

[0020] As shown in FIG. 3 , the sensor device 2 included in the detection system 1 includes a transmitter 21 , a receiver 22 , a sensor ECU (Electronic Control Unit) 23 , and an input / output unit 24 .

[0021] The transmitter 21 transmits (irradiates) electromagnetic waves of a predetermined frequency, for example, 60 GHz to 65 GHz, as transmission waves into the vehicle interior R. The receiver 22 receives reflected waves generated when the transmission waves are reflected by objects present in the vehicle interior R, and generates an electrical signal indicating the intensity of the reflected waves. The transmitter 21 and the receiver 22 may be configured using, for example, an oscillator circuit, a piezoelectric element, an AD converter, an amplifier, a filter circuit, etc. The transmitter 21 and the receiver 22 may be configured separately from each other, or may be configured integrally.

[0022] The sensor ECU 23 is a microcontroller configured using a CPU (Central Processing Unit), memory, etc., and performs processes related to control of the transmitter 21 and the receiver 22, generation of data based on the reflected waves received by the receiver 22, etc.

[0023] The input / output unit 24 is an interface device that establishes communication between the detection device 3 and other devices in accordance with a predetermined standard such as CAN.

[0024] As described above, the sensor device 2 has a configuration in which a radio wave sensor including, for example, the transmitter 21 and the receiver 22 is integrated with the sensor ECU 23 that generates data based on transmitted and received waves obtained from the radio wave sensor.

[0025] The detection device 3 included in the detection system 1 is an ECU or the like including a CPU 31 , a memory 32 , and an input / output unit 33 .

[0026] The CPU 31 executes various arithmetic processes in accordance with programs stored in, for example, the memory 32. The memory 32 may be configured using a volatile memory and a non-volatile memory. The memory 32 stores programs that cause the CPU 31 to execute various processes for realizing the functions of the detection device 3, setting data, data acquired from the sensor device 2, data generated by the CPU 31, and the like.

[0027] The input / output unit 33 is an interface device that establishes communication between the sensor device 2 and other devices in accordance with a predetermined standard such as CAN.

[0028] Note that the hardware configuration shown in FIG. 3 is an example, and the hardware configuration of the detection system 1 is not limited to the above.

[0029] FIG. 4 is a block diagram illustrating an example of a functional configuration of the detection system 1 according to the embodiment.

[0030] As shown in FIG. 4, the sensor device 2 included in the detection system 1 includes a wave transmitting / receiving unit 201 and a generating unit 202 as functional units.

[0031] The wave transmitting / receiving unit 201 transmits a transmission wave such as an electromagnetic wave into the vehicle interior R, receives a reflected wave that is reflected by an object present in the vehicle interior R, and generates an electrical signal indicating the intensity of the reflected wave.

[0032] The generation unit 202 generates point cloud information based on the electrical signal generated by the wave transmission / reception unit 201. The point cloud information is a point cloud showing one or more detection points representing the position of an occupant P present in the vehicle cabin R or an intruder into the vehicle cabin R on a three-dimensional map corresponding to the space within the vehicle cabin R. The three-dimensional map corresponding to the space within the vehicle cabin R may be, for example, a voxel map. In this case, the detection points representing the occupant P or the intruder may be voxels within the voxel map.

[0033] Here, the electrical signal generated by the wave transmitting / receiving unit 201 includes not only the detection target such as the occupant P or an intruder in the vehicle compartment R, but also reflected waves reflected from the vehicle C components such as the vehicle body and seats, and luggage placed on the seats, etc. Of these, the vehicle C components and luggage, etc. maintain a substantially stationary state, or fluctuate in a manner highly correlated with the movement of the vehicle body as the vehicle body sways. Therefore, the vehicle C components and luggage, etc. also fluctuate in a manner highly correlated with the sensor device 2 installed, for example, on the ceiling 5 of the vehicle C. On the other hand, the occupant P or an intruder, etc. in the vehicle compartment R usually moves spontaneously in some way.

[0034] Therefore, the point cloud information can be obtained by extracting, from the electrical signals generated by the wave transmitting and receiving unit 201, reflecting objects whose movements are not synchronized with the movement of the vehicle body as detection points representing the occupant P, intruders, etc. As an example, the detection points representing the occupant P can be points where the amount of change in the intensity of the reflected waves per unit time caused by movements not synchronized with the movement of the vehicle body is greater than a predetermined threshold. However, the points to be set as detection points representing the occupant P, intruders, etc. can be determined appropriately depending on the functions of the sensor device 2 to be used, etc.

[0035] The detection device 3 included in the detection system 1 includes, as functional units, an acquisition unit 301, a calculation unit 302, a determination unit 303, an output unit 304, and a storage unit 305. These functional units may be configured, for example, by cooperation between hardware and a program as illustrated in Fig. 3. Furthermore, some or all of these functional units may be configured by dedicated hardware (circuits, etc.) such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

[0036] The acquisition unit 301 periodically acquires the point cloud information generated by the sensor device 2. This allows the detection device 3 to acquire time-series data of the point cloud that may move over time.

[0037] The calculation unit 302 counts the number of each point cloud included in the point cloud information for each appearance region for each predetermined time included in the time-series data. In a three-dimensional map in which the point clouds are arranged and correspond to the space within the vehicle compartment R, areas where the occupant P should be seated or areas that could be a route of entry into the vehicle compartment R are set as appearance regions for which the number of point clouds is to be counted. The calculation unit 302 counts the number of point clouds in these regions for each predetermined time and analyzes the behavior of the point clouds over time.

[0038] The determination unit 303 determines whether or not an occupant P or an intruder is present in the vehicle compartment R based on the behavior of the point cloud over time analyzed by the calculation unit 302, and also identifies the seating position of the occupant P or the intruder's entry route.

[0039] The determination unit 303 can make the above determination based on, for example, statistical data. More specifically, typical patterns such as a point cloud distribution when the occupant P is in the vehicle compartment R and a point cloud distribution when an intruder invades the vehicle compartment R from a specific intrusion route can be compiled into a database and stored in the storage unit 305. Alternatively, a determination model can be constructed by machine learning or the like and stored in the storage unit 305. The determination unit 303 can make the above determination by referring to the database stored in the storage unit 305 or by using the determination model.

[0040] When the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred, the output unit 304 outputs an alarm to, for example, the alarm device 4. The alarm device 4 is, for example, a buzzer or the like provided in the vehicle C, and issues the alarm when the alarm is output from the output unit 304. The alarm issued by the alarm device 4 may be, for example, an alarm sound or an announcement such as a warning.

[0041] The storage unit 305 stores, for example, programs and control parameters that realize various functions of the detection device 3. The storage unit 305 also stores time-series data of point clouds acquired by the detection device 3 from the sensor device 2, as well as the number of point clouds in each region and determination results such as the presence or absence of an occupant P or an intruder. The storage unit 305 also stores a three-dimensional map corresponding to the space within the vehicle interior R, the sizes and arrangements of various regions within the three-dimensional map, a database of point cloud distribution patterns, or a determination model, etc.

[0042] (Determination Method of Detection System) Next, a determination method by the detection system 1 of the embodiment will be described with reference to Figures 5 to 7. In the following example, a case where the detection system 1 monitors intrusions into the vehicle compartment R will be described.

[0043] 5 to 7 are explanatory diagrams of a determination method performed by the detection system 1 according to the embodiment. More specifically, the left diagrams of Fig. 5 to 7 show an overhead view of the actual situation in the vehicle compartment R. The right diagrams of Fig. 5 to 6 show examples of analysis results of the actual situation performed by the detection system 1.

[0044] The left diagram in Figure 5 shows an intruder B trying to insert his arm into the vehicle compartment R through one of the windows W provided in the vehicle C. In this way, the multiple windows W provided in the vehicle C can serve as an entry point (entrance / exit) into the vehicle compartment R.

[0045] Therefore, as shown in the right diagram of Fig. 5 , regions A of a predetermined range within the vehicle cabin R corresponding to each window W of the vehicle C are set in advance on a three-dimensional map Cm corresponding to the space within the vehicle cabin R. These regions A are also called regions of interest (ROI). In the example shown in the right diagram of Fig. 5 , as a result of the detection system 1 analyzing the situation shown in the left diagram of Fig. 5 , a plurality of point clouds PP appear within the region A corresponding to one window W that was the entry point for the intruder B.

[0046] The left diagram of Fig. 6 shows a state in which an intruder B extends his arm from the window W through which he is attempting to break in further into the vehicle compartment R. In the example of the right diagram of Fig. 6, as a result of the detection system 1 analyzing the situation in the left diagram of Fig. 6, on the three-dimensional map Cm corresponding to the space within the vehicle compartment R, the area in which the point cloud PP appears extends from within the area A corresponding to the window W that served as the entry point further into the interior of the vehicle compartment R.

[0047] The calculation unit 302 of the detection device 3 analyzes the behavior of the point cloud PP, which changes over time, from time-series data of the point cloud PP including the point cloud information shown in, for example, the right diagrams of Figures 5 and 6. More specifically, the behavior of the point cloud PP may include, for example, a behavior in which the point cloud PP starts from an area A corresponding to one of the windows W of the vehicle C and moves toward the interior of the vehicle compartment R, or a behavior in which the point cloud PP moves slightly but remains within a local range within the vehicle compartment R.

[0048] The judgment unit 303 refers to the database in the memory unit 305 or uses a judgment model to determine whether or not an intrusion has occurred into the vehicle compartment R based on the behavior of the point cloud PP analyzed by the calculation unit 302, and also identifies the intrusion route.

[0049] 5 and 6, the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred, for example, starting from one of the windows W provided in the vehicle C. In this case, the output unit 304 outputs an alarm to the alarm device 4, and the alarm device 4 issues an alarm sound or the like.

[0050] 5 and 6, a part of the body of the intruder B, such as an arm, enters the vehicle compartment R and is detected as the point cloud PP. However, it may be another part of the body of the intruder B that has entered the vehicle compartment R, or it may be a tool that the intruder B is carrying to break a window glass, etc. Any part of the body of the intruder B or an object controlled by the intruder B that enters the vehicle compartment R and moves spontaneously can be detected as the point cloud PP by the detection system 1.

[0051] On the other hand, even if no intrusion into the vehicle cabin R has occurred, such as when an occupant P in the vehicle cabin R is sitting in a seat by the window with their posture slumped, a point cloud PP may appear in the area A corresponding to the window W of the vehicle C.

[0052] The left diagram in Fig. 7 shows an occupant P seated at the left end of seat row SR2 in vehicle C leaning against the adjacent window W. In the example shown on the right diagram in Fig. 7, as a result of the detection system 1 analyzing the situation shown in the left diagram in Fig. 7, a point cloud PP appears on a three-dimensional map Cm corresponding to the space inside the vehicle compartment R within a predetermined range including an area A corresponding to the window W against which the occupant P is leaning.

[0053] The calculation unit 302 analyzes the behavior of the point cloud PP over time from the time series data of the point cloud PP, which includes point cloud information, for example, as shown in the right diagram of Figure 7, and the judgment unit 303 judges based on this whether or not an intrusion into the vehicle compartment R has occurred.

[0054] As shown in the example of Figure 7, for example, when an occupant P in the vehicle compartment R is leaning against a window W, it is unlikely that the point cloud PP will move a predetermined distance over time without remaining in a local area, or that the area in which the point cloud PP appears will expand toward the interior of the vehicle compartment R.

[0055] 7 does not indicate an intrusion into the vehicle compartment R, but rather is caused by the occupant P inside the vehicle compartment R. In this case, the output unit 304 does not output an alarm, and the alarm device 4 does not issue an alarm sound or the like.

[0056] (Example of Processing by Detection Device) Next, an example of an intruder detection process by the detection device 3 according to the embodiment will be described with reference to Fig. 8. Fig. 8 is a flow diagram showing an example of the procedure of the detection process by the detection device 3 according to the embodiment. Fig. 8 shows a determination process performed by the detection device 3 at one time.

[0057] As shown in Figure 8, the acquisition unit 301 acquires point cloud information at a predetermined interval, in which the point cloud PP is displayed on a three-dimensional map of the vehicle interior R, which is detected by the transmitter / receiver unit 201 of the sensor device 2 and generated by the generation unit 202, thereby acquiring time series data of the point cloud PP (step S101).

[0058] The calculation unit 302 analyzes the behavior of the point cloud PP, which changes over time, based on the time-series data of the point cloud PP (step S102). The determination unit 303 determines whether the point cloud PP indicates an intrusion into the vehicle interior R, based on the behavior of the point cloud PP analyzed by the calculation unit 302 (step S103).

[0059] As described above, when the behavior of the point cloud PP is observed to start from the area A corresponding to a window W or the like that may be a potential entry point and move toward the interior of the vehicle compartment R, the determination unit 303 determines that an intrusion into the vehicle compartment R has occurred (step S103: Yes). The output unit 304 outputs an alarm to the alarm device 4 (step S104).

[0060] On the other hand, if the point cloud PP does not appear in the vehicle interior R, or if the point cloud PP that has appeared in the vehicle interior R remains within a localized area, the determination unit 303 determines that no intrusion into the vehicle interior R has occurred (step S103: No). In this case, the process of step S104 is skipped.

[0061] This completes one detection process of the detection device 3 of this embodiment.

[0062] 8 at a predetermined timing, such as when the engine of the vehicle C is stopped, and is repeated until the predetermined timing arrives, such as when the engine of the vehicle C is started again. This allows the detection device 3 to monitor whether or not an intrusion into the vehicle compartment R has occurred while the vehicle C is stopped.

[0063] (Summary) As described above in Patent Document 1, there is known a technology for monitoring the inside and outside of a vehicle by installing a surveillance camera or the like in the vehicle. However, when a surveillance camera is used for vehicle monitoring, for example, it is difficult to recognize the monitored object in an environment such as at night, and the detection accuracy decreases.

[0064] According to the detection device 3 of the embodiment, the transmitted wave is transmitted toward the interior R of the vehicle C, and based on the reflected wave reflected by an object moving within the interior R, the behavior of the point cloud PP, which moves over time, is analyzed based on the time series data of the point cloud PP, which shows one or more detection points representing the position of an object moving within the interior R, and it is determined whether an object is entering or leaving the interior R.

[0065] In this way, the detection device 3 performs detection processing based on the point cloud information from the sensor device 2, which includes a radio wave sensor, etc. This makes it possible to monitor the situation of the vehicle C without being affected by the surrounding environment, such as at night. Furthermore, since the behavior of the point cloud PP, which changes over time, is analyzed based on the time-series data of the point cloud PP, it is possible to determine with high accuracy whether an object is entering or leaving the vehicle compartment R, for example, whether an object has entered the vehicle compartment R.

[0066] According to the detection device 3 of the embodiment, when the point cloud PP indicates a behavior of moving from a window W that communicates with the inside and outside of the vehicle compartment R as a starting point toward the depths of the vehicle compartment R, it is determined that an object has entered the vehicle compartment R. In this way, since the determination is made based on the behavior of the point cloud PP that starts from a window W or the like that could be an entry point (doorway) into the vehicle compartment R, it is possible to determine with high accuracy whether an object has entered the vehicle compartment R.

[0067] The detection device 3 of the embodiment further includes an output unit 304 that outputs an alarm when it is determined that an object has intruded into the vehicle compartment R. This can deter the intruder B from intruding into the vehicle compartment R, thereby reducing damage to the vehicle C caused by the intrusion.

[0068] In the above-described embodiment, the output unit 304 of the detection device 3 outputs an alarm to, for example, the alarm device 4. However, for example, the storage unit 305 of the detection device 3 may store an email address or the like of the user of the vehicle C, and the output unit 304 may output an alarm to the stored email address. This allows the user to receive a notification that an intrusion into the vehicle compartment R has been detected and to take prompt action.

[0069] In the above-described embodiment, the detection system 1 performs monitoring solely to detect intrusion into the vehicle compartment R. However, the detection target of the detection system 1 is not limited to this.

[0070] For example, the detection system 1 may be capable of detecting an occupant P entering or exiting the vehicle compartment R through a door provided in the vehicle C. The occupant P getting in can be determined, for example, by the point cloud PP indicating a behavior starting from the door of the vehicle C, which serves as an entrance and exit to the vehicle compartment R, and moving toward the interior of the vehicle compartment R. The occupant P getting out can be determined, for example, by the point cloud PP indicating a behavior starting from the interior of the vehicle compartment R, moving toward the door of the vehicle C, and ending at the door.

[0071] Such detection of the occupant P entering or exiting the vehicle compartment R can be used, for example, to detect the occupant P getting in or out of an autonomous vehicle without a driver, etc. This allows, for example, the autonomous vehicle to operate smoothly.

[0072] Although the embodiments of the present invention have been described above, the above embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as set forth in the claims.

[0073] [Summary of the Present Embodiment] The present embodiment has at least the following configuration.

[0074] The detection device includes an acquisition unit that acquires time series data of a point cloud that shows one or more detection points representing the position of an object moving within the vehicle cabin based on a transmission wave transmitted toward the interior of the vehicle cabin and reflected by the object moving within the cabin, a calculation unit that analyzes the behavior of the point cloud that moves over time based on the time series data of the point cloud, and a determination unit that determines whether the object is entering or leaving the cabin based on the behavior of the point cloud.

[0075] With this configuration, the presence or absence of an intrusion into the vehicle interior can be determined with high accuracy because the determination is made based on the behavior of a point cloud originating from a window or the like that could be an entry point (doorway) into the vehicle interior. Therefore, the vehicle status can be monitored without being affected by the surrounding environment, such as at night.

[0076] In addition, if the point cloud shows a behavior starting from an entrance / exit connecting the inside and outside of the vehicle compartment and moving toward the interior of the vehicle compartment, the determination unit determines that the object has entered the vehicle compartment.

[0077] With this configuration, it is possible to determine with high accuracy whether or not an intrusion has occurred in the vehicle interior.

[0078] The vehicle control device further includes an output unit that outputs an alarm when it is determined that the object has entered the vehicle interior.

[0079] With this configuration, by outputting an alarm, it is possible to discourage an intruder from entering the vehicle interior, thereby reducing damage to the vehicle caused by an intrusion.

[0080] The effects of the dependent claims and embodiments are additional effects that are different from the effects of the independent claims.

[0081] 1...detection system, 2...sensor device, 3...detection device, 4...alarm device, 5...ceiling, 21...transmitter, 22...receiver, 23...sensor ECU, 24...input / output unit, 31...CPU, 32...memory, 33...input / output unit, 201...transmitter / receiver unit, 202...generation unit, 301...acquisition unit, 302...calculation unit, 303...determination unit, 304...output unit, 305...memory unit, A...area, B...intruder, C...vehicle, P...occupant, PP...point cloud, R...vehicle compartment, SR1, SR2, SR3...seat rows.

Claims

1. A detection device comprising: an acquisition unit that acquires time series data of a point cloud that shows one or more detection points that represent the position of an object moving within the vehicle cabin, based on a transmission wave transmitted toward the interior of the vehicle cabin and reflected by the object moving within the cabin; a calculation unit that analyzes the behavior of the point cloud that moves over time based on the time series data of the point cloud; and a determination unit that determines whether the object is entering or leaving the vehicle cabin based on the behavior of the point cloud.

2. The detection device of claim 1, wherein the determination unit determines that the object has entered the vehicle compartment when the point cloud indicates a behavior starting from an entrance / exit connecting the inside and outside of the vehicle compartment and moving toward the interior of the vehicle compartment.

3. The detection device according to claim 2, further comprising an output unit that outputs an alarm when it is determined that the object has entered the vehicle interior.

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