WO2023136112A1 - Computation device and computation program - Google Patents

Computation device and computation program Download PDF

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Publication number
WO2023136112A1
WO2023136112A1 PCT/JP2022/047897 JP2022047897W WO2023136112A1 WO 2023136112 A1 WO2023136112 A1 WO 2023136112A1 JP 2022047897 W JP2022047897 W JP 2022047897W WO 2023136112 A1 WO2023136112 A1 WO 2023136112A1
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WO
WIPO (PCT)
Prior art keywords
person
computing device
antennas
antenna
mode
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PCT/JP2022/047897
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French (fr)
Japanese (ja)
Inventor
雄彦 飯塚
敬 芳賀
伸幸 能澤
純 牧野
和也 木村
亮太 藤原
将人 門田
望 木次谷
祐馬 田邊
健太 鈴木
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株式会社村田製作所
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Publication of WO2023136112A1 publication Critical patent/WO2023136112A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/12—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with electromagnetic waves

Definitions

  • the present invention relates to an arithmetic device and arithmetic program for detecting the position of an object, the position of a person, or the movement of a person.
  • the transmission device described in Patent Document 1 is known as an invention related to conventional arithmetic devices.
  • the transmission device described in Patent Literature 1 uses electromagnetic waves to sense the surroundings.
  • the transmitter uses electromagnetic waves to detect people or vehicles.
  • an object of the present invention is to provide a computing device and a computing program capable of sensing the surroundings with higher accuracy regardless of whether it is raining or snowing.
  • a computing device includes: A computing device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person within a first region,
  • the detection device comprises a communication device located within the first region,
  • the communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
  • the first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas, T, R and N are integers of 1 or more
  • the computing device is an obtaining step of obtaining weather information about the weather in the first region; selecting an operation mode based on the weather information obtained in the obtaining step; setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas.
  • the reception sensitivity of the electromagnetic wave to Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to the T-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna; and a detecting step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculating step.
  • a computing program comprises An arithmetic program executed in an arithmetic device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person in a first region
  • the detection device comprises a communication device located within the first region
  • the communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
  • the first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas, T, R and N are integers of 1 or more
  • the computing program is an obtaining step of obtaining weather information about the weather in the first region; selecting an operation mode based on the weather information obtained in the obtaining step; setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas.
  • the reception sensitivity of the electromagnetic wave to Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to R-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna; and a detecting step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculating step.
  • the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing.
  • FIG. 1 is a side view of a passenger car 1 according to the first embodiment.
  • FIG. 2 is a block diagram of the detection device 20 according to the first embodiment.
  • FIG. 3 is a top view of the cabin 10 of the passenger car 1 according to the first embodiment.
  • FIG. 4 is a diagram showing an example of transmission paths of electromagnetic waves between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR according to the first embodiment.
  • FIG. 5 is a flowchart showing processing executed by the arithmetic device 5 according to the first embodiment.
  • FIG. 6 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area operates according to the first embodiment.
  • FIG. 7 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area according to the first embodiment.
  • FIG. 8 is a flowchart showing processing executed by the arithmetic device 5 according to the second embodiment.
  • FIG. 9 is a flowchart showing processing executed by the arithmetic device 5 according to the third embodiment.
  • FIG. 10 is a flowchart showing processing executed by the arithmetic device 5 according to the fourth embodiment.
  • FIG. 11 is a flowchart showing processing executed by the arithmetic device 5 according to the fifth embodiment.
  • FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first region under fine weather according to the fifth embodiment. It is a figure which shows.
  • FIG. 13 shows an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area in rainy weather according to the fifth embodiment. It is a figure which shows.
  • FIG. 1 is a side view of a passenger car 1 according to the first embodiment.
  • FIG. 2 is a block diagram of the detection device 20 according to the first embodiment.
  • FIG. 3 is a top view of the cabin 10 of the passenger car 1 according to the first embodiment.
  • FIG. 4 is a diagram showing an example of transmission paths of electromagnetic waves between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR according to the first embodiment.
  • FIG. 5 is a flowchart showing processing executed by the arithmetic device 5 according to the first embodiment.
  • FIG. 6 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area operates according to the first embodiment. is.
  • the horizontal axis indicates time and the vertical axis indicates amplitude or phase.
  • FIG. 7 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area according to the first embodiment. is.
  • the horizontal axis indicates time and the vertical axis indicates amplitude or phase.
  • FIGS. 6 and 7 is an experimental result when the person 3 is seated on the rear seat of the passenger car 1 and is breathing in fine weather.
  • the detection device 20 is a detection device that detects the position of the object 2, the position of the person 3, or the movement of the person 3 within the first area.
  • the detection device 20 is a detection device that detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the cabin 10 of the passenger car 1, as shown in FIGS. Used.
  • the cabin 10 of the passenger car 1 is an example of the first area.
  • the passenger car 1 is an example of a vehicle. That is, in this embodiment, the first area is the cabin 10 of the vehicle.
  • the passenger car 1 has a window, as shown in FIG.
  • the object 2 is, for example, a smart phone.
  • the detection device 20 includes a communication device 4, as shown in FIG. Further, the calculation device 5 is used in the detection device 20 as shown in FIG.
  • the communication device 4 includes a transmitting device 41, first transmitting antenna 4t1 to T-th transmitting antenna 4tT, receiving device 42, and first receiving antenna 4r1 to R-th receiving antenna 4rR.
  • T and R are each an integer of 1 or more.
  • the communication device 4 is arranged inside the cabin 10 as shown in FIG. That is, the communication device 4 is arranged within the first area. Moreover, in this embodiment, the arithmetic device 5 is arranged in the cabin 10 as shown in FIG. That is, the arithmetic device 5 is arranged within the first region.
  • the propagation of electromagnetic waves has the property of changing when the path of the electromagnetic wave changes.
  • the path of an electromagnetic wave changes as the environment through which the electromagnetic wave travels changes. Changes in the environment include, for example, the position of the object 2 existing in the environment through which the electromagnetic wave passes, the movement of the object 2, the position of the person 3, the movement of the person 3, the movement of the object 2 accompanying the movement of the person 3, or the change in rainfall. Presence or absence of snowfall.
  • radio waves from Wi-Fi are used as an example of electromagnetic waves.
  • the transmitting device 41 and the receiving device 42 are Wi-Fi (registered trademark) access points.
  • the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT are Wi-Fi (registered trademark) transmitting antennas.
  • the first receiving antenna 4r1 to the R-th receiving antenna 4rR are Wi-Fi (registered trademark) receiving antennas.
  • Wi-Fi (registered trademark) channel state information (CSI) is used as electromagnetic wave propagation information.
  • Wi-Fi (registered trademark) channel state information CSI is an example of channel state information. Details are described below.
  • the transmission device 41 generates each of the first transmission signal to the Tth transmission signal.
  • the transmission device 41 causes the first transmission antenna 4t1 to the Tth transmission antenna 4tT to transmit the first transmission signal to the Tth transmission signal, respectively.
  • Each of the first transmission signal to the Tth transmission signal includes signals of the first subcarrier to the Nth subcarrier.
  • N is an integer of 1 or more.
  • Each of the signals of the first subcarrier to the Nth subcarrier is a signal digitally modulated by the transmitting device 41 by OFDM (Orthogonal Frequency Division Multiplexing). Since the 1st to Nth subcarriers are orthogonal to each other, they do not interfere with each other.
  • OFDM Orthogonal Frequency Division Multiplexing
  • Each of the first transmission antenna 4t1 to the Tth transmission antenna 4tT transmits the first transmission signal to the Tth transmission signal by electromagnetic waves.
  • each of the first to T-th transmission signals transmitted from each of the first to T-th transmission antennas 4t1 to 4tT is an object 2 and a person 3 existing in an environment through which electromagnetic waves pass. and received by at least one of the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
  • Each of the first to Rth reception signals received by the first to Rth reception antennas 4r1 to 4rR includes signals of the first to Nth subcarriers. That is, the first receiving antenna 4r1 to the Rth receiving antenna 4rR receive the signals of the first to Nth subcarriers transmitted by electromagnetic waves from the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT.
  • the receiving device 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR.
  • the first to T-th transmission signals are represented by complex numbers x1 to xT, respectively. That is, signals transmitted from the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT are represented by x1 to xT, which are complex numbers, respectively. Also, the first to R-th received signals are represented by complex numbers y1 to yR, respectively. That is, the signals received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR are represented by y1 to yR, which are complex numbers, respectively.
  • x1 to xT and y1 to yR satisfy Equations 1 to 5 below.
  • i is an integer of 1 or more and N or less.
  • m is an integer of 1 or more and R or less.
  • n is an integer of 1 or more and T or less.
  • Hi is channel state information between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR of the i-th subcarrier.
  • hmn is channel state information between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn.
  • is the amplitude of hmn.
  • ⁇ hmn is the phase of hmn.
  • ni is the noise vector of the i-th subcarrier.
  • the computing device 5 is communicably connected to each of the transmitting device 41 and the receiving device 42 .
  • the arithmetic unit 5 is a processing circuit such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit).
  • a storage device (not shown) stores the arithmetic program of the flow chart shown in FIG. The arithmetic device 5 reads and executes this arithmetic program.
  • This process is started when the computing device 5 acquires weather information about the weather in the first area (FIG. 5: START). Specifically, first, the computing device 5 acquires weather information about the weather in the first region ( FIG. 5 : acquisition step S11). Specifically, the computing device 5 acquires weather information about the weather in the first area from, for example, a weather sensor that detects weather information about the weather in the first area. Note that the computing device 5 may acquire weather information about the weather in the first region by the user inputting the weather information about the weather in the first region to the computing device 5 . Further, the computing device 5 may be connected to, for example, an in-vehicle LAN (Local Area Network) and acquire weather information regarding the weather in the first area from an in-vehicle electronic device connected to the in-vehicle LAN.
  • in-vehicle LAN Local Area Network
  • the computing device 5 When the computing device 5 acquires weather information indicating that it is neither raining nor snowing (Fig. 5: step S12), it selects the first mode (Fig. 5: step S13). On the other hand, when the computing device 5 acquires weather information indicating that it is raining or snowing (FIG. 5: step S12), it selects the second mode (FIG. 5: step S23). That is, the arithmetic device 5 selects an operation mode based on the weather information acquired in the acquisition step S11. Moreover, in this embodiment, the operation mode includes a first mode and a second mode.
  • the computing device 5 causes the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT to transmit electromagnetic waves having the first intensity in the first mode ( FIG. 5 : step S14). More specifically, the computing device 5 causes the transmitting device 41 to generate the first to Tth transmission signals having the first intensity. Further, the transmitting device 41 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit the first to Tth transmitting signals having the first intensity, respectively.
  • the computing device 5 causes the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT to transmit electromagnetic waves having a second intensity stronger than the first intensity in the second mode (FIG. 5: step S24). More specifically, the computing device 5 causes the transmitting device 41 to generate the first to Tth transmission signals having a second intensity stronger than the first intensity. Further, the transmitting device 41 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit the first to Tth transmission signals having a second strength higher than the first strength, respectively.
  • the arithmetic device 5 Based on the signals of the first to N-th subcarriers received by the first to R-th receiving antennas 4r1 to 4rR, the arithmetic device 5 generates the first to T-th transmitting antennas 4t1 to 4tT and the Channel state information H1 to HN indicating the state of the electromagnetic wave transmission path between the first receiving antenna 4r1 to the R-th receiving antenna are calculated ( FIG. 5 : calculation step S15, calculation step S25).
  • the arithmetic device 5 sends each of the first to T-th transmission signals generated by the transmission device 41 and each of the first to R-th reception signals acquired by the reception device 42 to the transmission device 41 and Obtained from each of the receiving devices 42 .
  • the computing device 5 uses Equation 1 to calculate channel state information Hi between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR of the i-th subcarrier. .
  • the calculation device 5 performs this calculation for the first to N-th subcarriers. Therefore, the computing device 5 calculates channel state information H1 to HN between the first transmitting antenna 4t1 to Tth transmitting antenna 4tT and the first receiving antenna 4r1 to Rth receiving antenna 4rR, respectively.
  • the arithmetic device 5 calculates the channel state information H1 through the channel state information H1 through Based on HN, the position of the object 2, the position of the person 3, or the movement of the person 3 within the first area is detected (FIG. 5: detection step S16, detection step S26).
  • the movement of person 3 includes both the movement due to breathing of person 3 and the movement of person 3.
  • the movement of the person 3 may be either the movement due to breathing of the person 3 or the movement of the person 3 only. That is, the movement of the person 3 includes movement due to breathing of the person 3 .
  • the channel state information H1 to HN between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR is the position of the object 2 in the first region, the position of the object 2 , the position of the person 3, and the movement of the person 3 change.
  • the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first region is, as shown in FIG. Change.
  • the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area is, as shown in FIG. ,Change.
  • the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area is in operation is the m-th transmitting antenna 4tm when the person 3 in the first area is breathing. and the n-th receiving antenna 4rn. More specifically, the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during operation of the person 3 in the first region shown in FIG. is greater than the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 inside is breathing.
  • the computing device 5 calculates the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn to detect the change in the position of the person 3 in the first area or the position of the person in the first area. 3 movements can be detected.
  • the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing. More specifically, the computing device 5 acquires weather information regarding the weather in the first region. Based on the signals of the first to N-th subcarriers received by the first to R-th receiving antenna 4r1 to R-th receiving antenna 4rR, the arithmetic unit 5 connects the first to T-th transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna.
  • Channel state information H1 to HN indicating the state of electromagnetic wave transmission paths between 4r1 to R-th receiving antennas are calculated.
  • the path of the electromagnetic wave changes when the environment through which the electromagnetic wave passes changes.
  • the path of electromagnetic waves changes depending on the presence or absence of rainfall or snowfall. More specifically, when it rains or snows, water adheres to the windows of the passenger car 1, for example. Therefore, the state of reflection of electromagnetic waves on the windows of the passenger car 1 changes depending on whether it is raining or snowing. Therefore, the arithmetic unit 5 selects an operation mode based on the obtained weather information regarding the weather in the first region.
  • the arithmetic device 5 Based on the calculated channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR in the selected operation mode, the arithmetic device 5 Detecting the position of the object 2, the position of the person 3 or the movement of the person 3 within the first area. As a result, the computing device 5 can detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area by operating modes suitable for the weather. As described above, according to the computing device 5, the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing.
  • the computing device 5 it is possible to sense the surroundings with higher accuracy regardless of whether it is raining or snowing. More specifically, when the arithmetic device 5 acquires weather information indicating that it is not raining or snowing, the first mode causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having a first intensity. to select. On the other hand, when obtaining weather information indicating that it is raining or snowing, the computing device 5 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having a second intensity higher than the first intensity. Select the second mode.
  • the signals of the first to N-th subcarriers are sufficient for the arithmetic unit 5 to detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area. can be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
  • the computing device 5 can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
  • FIG. 8 is a flowchart showing processing executed by the arithmetic device 5 according to the second embodiment.
  • the detection device 20a having the arithmetic device 5 according to the second embodiment only the parts different from the detection device 20 having the arithmetic device 5 according to the first embodiment will be explained, and the rest will be omitted.
  • This embodiment differs from the detection device 20 in that the operation mode includes a third mode and a fourth mode.
  • step S12 when the computing device 5 acquires weather information indicating that it is not raining or snowing (FIG. 8: step S12), it selects the third mode (FIG. 8: step S13a). On the other hand, when the arithmetic device 5 acquires weather information indicating that it is raining or snowing (FIG. 8: step S12), it selects the fourth mode (FIG. 8: step S23a).
  • the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to transmit electromagnetic waves with the first sensitivity in the third mode (FIG. 8: step S14a). More specifically, the computing device 5, for example, sets the gain of the receiving device 42 to the first gain. More precisely, the receiver 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR. The receiving device 42 multiplies each of the acquired first to R-th received signals by a first amplification factor. The computing device 5 acquires from the receiving device 42 the first signal to the R-th signal, which are the result of the receiving device 42 multiplying the first to R-th received signals by the first amplification factor. The arithmetic unit 5 treats the first signal to the Rth signal as the first reception signal to the Rth reception signal.
  • the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to receive electromagnetic waves with the second sensitivity stronger than the first sensitivity (FIG. 8: step S24a). More specifically, the computing device 5, for example, sets the gain of the receiving device 42 to a second gain higher than the first gain. More precisely, the receiver 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR. The receiving device 42 multiplies each of the acquired first to R-th received signals by the second amplification factor.
  • the computing device 5 acquires from the receiving device 42 the first signal to the R-th signal, which are the result of the receiving device 42 multiplying the first to R-th received signals by the second amplification factor.
  • the arithmetic unit 5 treats the first signal to the Rth signal as the first reception signal to the Rth reception signal.
  • the arithmetic device 5 as described above also has the same effects as the arithmetic device 5 according to the first embodiment. More specifically, when obtaining weather information indicating that it is not raining or snowing, the computing device 5 selects the third mode in which the first receiving antenna 4r1 to the R-th receiving antenna 4rR receive electromagnetic waves with the first sensitivity. select. On the other hand, when obtaining weather information indicating that it is raining or snowing, the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to receive electromagnetic waves with a second sensitivity higher than the first sensitivity. Select 4 modes.
  • the signals of the first to N-th subcarriers are sufficient for the arithmetic unit 5 to detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area. can be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
  • the computing device 5 according to the second embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
  • FIG. 9 is a flowchart showing processing executed by the arithmetic device 5 according to the third embodiment.
  • the detection device 20b including the arithmetic device 5 according to the third embodiment only different parts from the detection device 20 including the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
  • the computing device 5 uses a machine learning model to determine the position of the object 2 and the position of the person 3 in the first region in the detection step S16b shown in FIG. 9 and the detection step S26b shown in FIG. Alternatively, it differs from the detection device 20 in that it detects the movement of the person 3 .
  • the machine learning model includes channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR, the position of the object 2 in the first region, Teacher data indicating the relationship between the movement of the object 2, the position of the person 3, and the movement of the person 3 is used. Therefore, the machine learning model uses the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR and the information of the object 2 in the first region.
  • the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR are selected according to teacher data indicating the relationship between the position, the movement of the object 2, the position of the person 3, and the movement of the person 3.
  • the relationship between the channel state information H1 to HN between , the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 in the first region is learned in advance.
  • the computing device 5 provides channel state information indicating the state of the electromagnetic wave transmission path between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna calculated by the computing device 5.
  • a machine learning model is used to detect the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 within the first region corresponding to H1 to HN.
  • the computing device 5 according to the third embodiment it is possible to sense the surroundings with higher accuracy. More specifically, in the detection step S16b shown in FIG. 9 and the detection step S26b shown in FIG. Alternatively, the motion of the person 3 is detected. Thereby, the detection accuracy of the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area can be improved. As a result, the computing device 5 according to the third embodiment can sense the surroundings with higher accuracy.
  • FIG. 10 is a flowchart showing processing executed by the arithmetic device 5 according to the fourth embodiment.
  • the detection device 20c equipped with the arithmetic device 5 according to the fourth embodiment only different parts from the detection device 20 equipped with the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
  • This embodiment differs from the detection device 20 in that the operation modes include a fifth mode and a sixth mode.
  • the machine learning model uses channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is not raining or snowing as training data.
  • the first machine learning model to be used and the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing are trained. It contains a second machine learning model to use as data.
  • the first machine learning model provides channel state information between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR when it is not raining or snowing.
  • Teacher data indicating the relationship between H1 to HN, the position of the object 2 within the first region, the movement of the object 2, the position of the person 3, and the movement of the person 3 is used.
  • the second machine learning model provides channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing. , the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 in the first area.
  • step S12 when the computing device 5 acquires weather information indicating that it is not raining or snowing (FIG. 10: step S12), it selects the fifth mode (FIG. 10: step S13c). On the other hand, when obtaining weather information indicating that it is raining or snowing ( FIG. 10 : step S12), arithmetic device 5 selects the sixth mode ( FIG. 10 : step S23c).
  • the computing device 5 detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the first region using the first machine learning model in the fifth mode (FIG. 10: step S16c).
  • the computing device 5 detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area using the second machine learning model in the sixth mode (FIG. 10: detection step S26c).
  • the arithmetic device 5 as described above also has the same effects as the arithmetic device 5 according to the first embodiment.
  • the machine learning model calculates the channel state information H1 to A first machine learning model using HN as training data and channel state information between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing. It includes a second machine learning model that uses H1 through HN as training data. As a result, it is possible to suppress deterioration in detection accuracy of the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area due to the presence or absence of rain or snow. As a result, the computing device 5 according to the fourth embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
  • the arithmetic device 5 when acquiring weather information indicating that it is not raining or snowing, uses the first machine learning model to determine the position of the object 2 in the first region, the number of people Select a fifth mode that detects the position of 3 or the movement of person 3 .
  • the arithmetic device 5 acquires weather information indicating that it is raining or snowing, it uses the second machine learning model to determine the position of the object 2, the position of the person 3, or the position of the person 3 in the first region. Select the sixth mode of motion detection.
  • the computing device 5 according to the fourth embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
  • FIG. 11 is a flowchart showing processing executed by the arithmetic device 5 according to the fifth embodiment.
  • FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first area under fine weather according to the fifth embodiment. It is a figure which shows.
  • the horizontal axis indicates time and the vertical axis indicates amplitude or phase.
  • FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first area under fine weather according to the fifth embodiment. It is a figure which shows.
  • the horizontal axis indicates time and the vertical axis indicates amplitude or phase.
  • FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and
  • FIG. 13 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first area in rainy weather according to the fifth embodiment. It is a figure which shows. In FIG. 13, the horizontal axis indicates time and the vertical axis indicates amplitude or phase. 12 and 13 are experimental results when the person 3 is seated on the rear seat of the passenger car 1 and is breathing. As for the detection device 20d including the arithmetic device 5 according to the fifth embodiment, only the parts different from the detection device 20 including the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
  • the computing device 5 acquires the channel state information H1 between the first to T-th transmitting antennas 4t1 to 4tT and the first to R-th receiving antennas 4r1 to 4rR in the acquisition step S12d shown in FIG. It differs from the detection device 20 in that it acquires weather information about the weather in the first area based on HN.
  • the path of electromagnetic waves changes when the environment through which the electromagnetic waves pass changes. Therefore, the path of electromagnetic waves changes depending on the presence or absence of rainfall or snowfall. More specifically, water adheres to the windows of passenger car 1 when it rains or snows. Therefore, the state of reflection of electromagnetic waves on the windows of the passenger car 1 changes depending on whether it is raining or snowing. Therefore, the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR can be determined whether it is raining or snowing at the position of the first area. has the property of changing when is changed.
  • the computing device 5 calculates channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR (FIG. 11: calculation step S11d). ).
  • the computing device 5 calculates the first area based on the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR. acquires weather information about the weather in (FIG. 11: acquisition step S12d).
  • the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area in fine weather shown in FIG. 12 is shown in FIG. It is different from the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area in rainy weather.
  • the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first region under fine weather shown in FIG. 12 is shown in FIG. It is smaller than the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area in rainy weather. Therefore, the arithmetic device 5 calculates the channel state information H1 to HN between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR. Weather information about the weather can be acquired. More specifically, the computing device 5 calculates the 1st The presence or absence of rain or snow in a region can be determined.
  • steps S14d through S17d and steps S24d through S27d shown in FIG. 11 are respectively the same as steps S13 through S16 and steps S23 through S26 shown in FIG. omitted.
  • the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR is determined by the presence or absence of rainfall or It has the property of changing when the presence or absence of snowfall changes.
  • the computing device 5 calculates the weather in the first area based on the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR. You can get weather information about As a result, even if the weather sensor that detects weather information on the weather in the first area does not acquire weather information on the weather in the first area, the computing device 5 can acquire weather information on the weather in the first area. can. As a result, according to the arithmetic device 5 according to the fifth embodiment, even when the weather information regarding the weather in the first region is not acquired from the weather sensor that detects the weather information regarding the weather in the first region, rain or snowfall can be detected. With or without it, the surroundings can be sensed with higher accuracy.
  • the arithmetic device includes the arithmetic device 5 according to the first embodiment, the arithmetic device 5 according to the second embodiment, the arithmetic device 5 according to the third embodiment, and the arithmetic device according to the fourth embodiment. 5. It is not limited to the arithmetic device 5 according to the fifth embodiment, and can be modified within the scope of the gist thereof.
  • the arithmetic device 5 according to the first embodiment the arithmetic device 5 according to the second embodiment, the arithmetic device 5 according to the third embodiment, the arithmetic device 5 according to the fourth embodiment, and the fifth embodiment
  • each of the machine learning model, the first machine learning model, and the second machine learning model may be a machine learning model that does not use teacher data.
  • the passenger car 1 does not have to have windows.
  • the vehicle is not limited to passenger car 1.
  • a vehicle may be, for example, a golf cart, an airplane, a rocket, a train, a helicopter, or a watercraft.
  • the first area is not limited to the cabin 10 of the vehicle.
  • Cabin 10 may be, for example, a trunk or cargo compartment.
  • the first area may be, for example, an internal space of a building. Even in this case, the same effect as that of the detection device 20 can be obtained.
  • the first area does not have to be a closed space.
  • the first area may be connected to an area outside the first area.
  • the arithmetic device 5 estimates the noise ni from the mechanical characteristics and electromagnetic characteristics of each of the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and each of the first receiving antenna 4r1 to R-th receiving antenna 4rR, Noise ni may be removed.
  • Person 3 is not limited to adults. Person 3 may be, for example, a child or a baby.
  • the position of the object 2 or the position of the person 3 is not limited to above the seat.
  • the position of the object 2 or the position of the person 3 may for example be under the seat.
  • electromagnetic waves are not limited to Wi-Fi (registered trademark).
  • the electromagnetic wave may be, for example, Bluetooth (registered trademark) or the like.
  • the arithmetic device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to transmit electromagnetic waves with the first sensitivity, and in the second mode, with the second sensitivity stronger than the first sensitivity, Electromagnetic waves may be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
  • the arithmetic device 5 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having the first intensity in the third mode, and the second intensity stronger than the first intensity in the fourth mode. may be transmitted from the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT.
  • the first intensity and the second intensity may be the same intensity.
  • the arithmetic device 5 is not limited to being arranged within the first region.
  • the computing device 5 may be arranged outside the first area, or may be arranged inside and outside the first area.
  • the weather information regarding the weather in the first region is not limited to whether it rains or snows, and may be, for example, the presence of hail or the presence of volcanic ash.
  • the first receiving antenna 4r1 to the R-th receiving antenna 4rR receive electromagnetic waves with a second sensitivity stronger than the first sensitivity. It is not limited to setting the second amplification factor higher than the gain, and other methods may be used.

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Abstract

A computation device according to the present invention executes the following: an acquisition step for acquiring weather information relating to weather in a first region; a step for selecting an operating mode on the basis of the weather information acquired in the acquisition step; a step for setting transmission intensity of electromagnetic waves, transmitted by a first transmission antenna through a T-th transmission antenna, on the basis of the selected operating mode, or a step for setting reception sensitivity of magnetic waves received by a first reception antenna through an R-th reception antenna; a calculation step for calculating channel status information, which indicates the status of transmission paths of electromagnetic waves between the first transmission antenna through the T-th transmission antenna and the first reception antenna through the R-th transmission antenna, on the basis of signals of a first subcarrier through an N-th subcarrier as received by the first reception antenna through the R-th transmission antenna; and a detection step for detecting positions of objects, positions of persons, or movement of persons inside the first region on the basis of the channel status information calculated in the calculation step.

Description

演算装置および演算プログラムArithmetic unit and arithmetic program
　本発明は、物体の位置、人の位置または人の動きを検出する演算装置および演算プログラムに関する。 The present invention relates to an arithmetic device and arithmetic program for detecting the position of an object, the position of a person, or the movement of a person.
　従来の演算装置に関する発明としては、例えば、特許文献１に記載の送信装置が知られている。特許文献１に記載の送信装置は、電磁波を用いて周囲のセンシングを行う。具体的には、送信装置は、電磁波を用いて、人または車を検出する。 For example, the transmission device described in Patent Document 1 is known as an invention related to conventional arithmetic devices. The transmission device described in Patent Literature 1 uses electromagnetic waves to sense the surroundings. Specifically, the transmitter uses electromagnetic waves to detect people or vehicles.
国際公開第２０２０／１２２２２０号WO2020/122220
　ところで、特許文献１に記載の送信装置において、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングしたいという要望がある。 By the way, in the transmitting device described in Patent Document 1, there is a demand for more accurate sensing of the surroundings regardless of whether it is raining or snowing.
　そこで、本発明の目的は、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる演算装置および演算プログラムを提供することである。 Therefore, an object of the present invention is to provide a computing device and a computing program capable of sensing the surroundings with higher accuracy regardless of whether it is raining or snowing.
　本発明の一形態に係る演算装置は、
　第１領域内の物体の位置、人の位置または人の動きを検出する検出装置に用いられる演算装置であって、
　前記検出装置は、前記第１領域内に配置されている通信装置を備えており、
　前記通信装置は、第１送信アンテナ乃至第Ｔ送信アンテナおよび第１受信アンテナ乃至第Ｒ受信アンテナを含み、
　前記第１受信アンテナ乃至前記第Ｒ受信アンテナは、前記第１送信アンテナ乃至前記第Ｔ送信アンテナから電磁波により送信された第１サブキャリア乃至第Ｎサブキャリアの信号を受信し、
　Ｔ、ＲおよびＮは、１以上の整数であり、
　前記演算装置は、
　前記第１領域における天候に関する天候情報を取得する取得ステップと、
　前記取得ステップにおいて取得した前記天候情報に基づいて、動作モードを選択するステップと、
　前記選択された動作モードに基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナが送信する前記電磁波の送信強度を設定するステップと、又は、前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信する前記電磁波の受信感度を設定するステップと、
　前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信した前記第１サブキャリア乃至前記第Ｎサブキャリアの信号に基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナと前記第１受信アンテナ乃至前記第Ｒ受信アンテナとの間の前記電磁波の伝送経路の状態を示すチャネル状態情報を算出する算出ステップと、
　前記算出ステップにおいて算出した前記チャネル状態情報に基づいて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する検出ステップと、を実行する。 A computing device according to one aspect of the present invention includes:
A computing device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person within a first region,
The detection device comprises a communication device located within the first region,
The communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
The first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas,
T, R and N are integers of 1 or more,
The computing device is
an obtaining step of obtaining weather information about the weather in the first region;
selecting an operation mode based on the weather information obtained in the obtaining step;
setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas. setting the reception sensitivity of the electromagnetic wave to
Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to the T-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna;
and a detecting step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculating step.
　本発明の一形態に係る演算プログラムは、
　第１領域内の物体の位置、人の位置または人の動きを検出する検出装置に用いられる演算装置において実行される演算プログラムであって、
　前記検出装置は、前記第１領域内に配置されている通信装置を備えており、
　前記通信装置は、第１送信アンテナ乃至第Ｔ送信アンテナおよび第１受信アンテナ乃至第Ｒ受信アンテナを含み、
　前記第１受信アンテナ乃至前記第Ｒ受信アンテナは、前記第１送信アンテナ乃至前記第Ｔ送信アンテナから電磁波により送信された第１サブキャリア乃至第Ｎサブキャリアの信号を受信し、
　Ｔ、ＲおよびＮは、１以上の整数であり、
　前記演算プログラムは、
　前記第１領域における天候に関する天候情報を取得する取得ステップと、
　前記取得ステップにおいて取得した前記天候情報に基づいて、動作モードを選択するステップと、
　前記選択された動作モードに基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナが送信する前記電磁波の送信強度を設定するステップと、又は、前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信する前記電磁波の受信感度を設定するステップと、
　前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信した前記第１サブキャリア乃至前記第Ｎサブキャリアの信号に基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナと前記第１受信アンテナ乃至前記第Ｒ受信アンテナとの間の前記電磁波の伝送経路の状態を示すチャネル状態情報を算出する算出ステップと、
　前記算出ステップにおいて算出した前記チャネル状態情報に基づいて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する検出ステップと、を実行する。 A computing program according to one aspect of the present invention comprises
An arithmetic program executed in an arithmetic device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person in a first region,
The detection device comprises a communication device located within the first region,
The communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
The first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas,
T, R and N are integers of 1 or more,
The computing program is
an obtaining step of obtaining weather information about the weather in the first region;
selecting an operation mode based on the weather information obtained in the obtaining step;
setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas. setting the reception sensitivity of the electromagnetic wave to
Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to R-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna;
and a detecting step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculating step.
　本発明によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 According to the present invention, the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing.
図１は、第１の実施形態に係る乗用車１の側面図である。FIG. 1 is a side view of a passenger car 1 according to the first embodiment. 図２は、第１の実施形態に係る検出装置２０のブロック図である。FIG. 2 is a block diagram of the detection device 20 according to the first embodiment. 図３は、第１の実施形態に係る乗用車１のキャビン１０の上面図である。FIG. 3 is a top view of the cabin 10 of the passenger car 1 according to the first embodiment. 図４は、第１の実施形態に係る第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間の電磁波の伝送経路の一例を示す図である。FIG. 4 is a diagram showing an example of transmission paths of electromagnetic waves between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR according to the first embodiment. 図５は、第１の実施形態に係る演算装置５が実行する処理を示すフローチャートである。FIG. 5 is a flowchart showing processing executed by the arithmetic device 5 according to the first embodiment. 図６は、第１の実施形態に係る第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。FIG. 6 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area operates according to the first embodiment. is. 図７は、第１の実施形態に係る第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。FIG. 7 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area according to the first embodiment. is. 図８は、第２の実施形態に係る演算装置５が実行する処理を示すフローチャートである。FIG. 8 is a flowchart showing processing executed by the arithmetic device 5 according to the second embodiment. 図９は、第３の実施形態に係る演算装置５が実行する処理を示すフローチャートである。FIG. 9 is a flowchart showing processing executed by the arithmetic device 5 according to the third embodiment. 図１０は、第４の実施形態に係る演算装置５が実行する処理を示すフローチャートである。FIG. 10 is a flowchart showing processing executed by the arithmetic device 5 according to the fourth embodiment. 図１１は、第５の実施形態に係る演算装置５が実行する処理を示すフローチャートである。FIG. 11 is a flowchart showing processing executed by the arithmetic device 5 according to the fifth embodiment. 図１２は、第５の実施形態に係る晴天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first region under fine weather according to the fifth embodiment. It is a figure which shows. 図１３は、第５の実施形態に係る雨天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。FIG. 13 shows an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area in rainy weather according to the fifth embodiment. It is a figure which shows.
　［第１の実施形態］
　以下に、本発明の第１の実施形態に係る演算装置５を備える検出装置２０について、図を参照しながら説明する。図１は、第１の実施形態に係る乗用車１の側面図である。図２は、第１の実施形態に係る検出装置２０のブロック図である。図３は、第１の実施形態に係る乗用車１のキャビン１０の上面図である。図４は、第１の実施形態に係る第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間の電磁波の伝送経路の一例を示す図である。図５は、第１の実施形態に係る演算装置５が実行する処理を示すフローチャートである。図６は、第１の実施形態に係る第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。図６において、横軸は、時間を示し、かつ、縦軸は、振幅または位相を示す。図７は、第１の実施形態に係る第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。図７において、横軸は、時間を示し、かつ、縦軸は、振幅または位相を示す。図６および図７のそれぞれは、晴天時に、乗用車１のリアシートに人３が着席して呼吸をしている時の実験結果である。 [First embodiment]
A detection device 20 including an arithmetic device 5 according to a first embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a side view of a passenger car 1 according to the first embodiment. FIG. 2 is a block diagram of the detection device 20 according to the first embodiment. FIG. 3 is a top view of the cabin 10 of the passenger car 1 according to the first embodiment. FIG. 4 is a diagram showing an example of transmission paths of electromagnetic waves between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR according to the first embodiment. FIG. 5 is a flowchart showing processing executed by the arithmetic device 5 according to the first embodiment. FIG. 6 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area operates according to the first embodiment. is. In FIG. 6, the horizontal axis indicates time and the vertical axis indicates amplitude or phase. FIG. 7 is a diagram showing an example of the amplitude and phase of channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area according to the first embodiment. is. In FIG. 7, the horizontal axis indicates time and the vertical axis indicates amplitude or phase. Each of FIGS. 6 and 7 is an experimental result when the person 3 is seated on the rear seat of the passenger car 1 and is breathing in fine weather.
　検出装置２０は、第１領域内の物体２の位置、人３の位置または人３の動きを検出する検出装置である。本実施形態では、検出装置２０は、一例として、図１および図３に示すように、乗用車１のキャビン１０内の物体２の位置、人３の位置または人３の動きを検出する検出装置として用いられる。なお、乗用車１のキャビン１０は、第１領域の一例である。また、乗用車１は、ビークルの一例である。すなわち、本実施形態では、第１領域は、ビークルのキャビン１０である。なお、本実施形態では、乗用車１は、図１に示すように、窓を有している。また、物体２は、例えば、スマートフォンである。 The detection device 20 is a detection device that detects the position of the object 2, the position of the person 3, or the movement of the person 3 within the first area. In this embodiment, as an example, the detection device 20 is a detection device that detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the cabin 10 of the passenger car 1, as shown in FIGS. Used. Note that the cabin 10 of the passenger car 1 is an example of the first area. Also, the passenger car 1 is an example of a vehicle. That is, in this embodiment, the first area is the cabin 10 of the vehicle. In addition, in this embodiment, the passenger car 1 has a window, as shown in FIG. Also, the object 2 is, for example, a smart phone.
　検出装置２０は、一例として、図２に示すように、通信装置４を備えている。また、演算装置５は、図２に示すように、検出装置２０に用いられる。 As an example, the detection device 20 includes a communication device 4, as shown in FIG. Further, the calculation device 5 is used in the detection device 20 as shown in FIG.
　通信装置４は、図２に示すように、送信装置４１、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴ、受信装置４２および第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲを含んでいる。ここで、ＴおよびＲは、それぞれ１以上の整数である。 As shown in FIG. 2, the communication device 4 includes a transmitting device 41, first transmitting antenna 4t1 to T-th transmitting antenna 4tT, receiving device 42, and first receiving antenna 4r1 to R-th receiving antenna 4rR. Here, T and R are each an integer of 1 or more.
　通信装置４は、図３に示すように、キャビン１０内に配置されている。すなわち、通信装置４は、第１領域内に配置されている。また、本実施形態では、演算装置５は、図３に示すように、キャビン１０内に配置されている。すなわち、演算装置５は、第１領域内に配置されている。 The communication device 4 is arranged inside the cabin 10 as shown in FIG. That is, the communication device 4 is arranged within the first area. Moreover, in this embodiment, the arithmetic device 5 is arranged in the cabin 10 as shown in FIG. That is, the arithmetic device 5 is arranged within the first region.
　電磁波の伝搬は、電磁波の経路が変化すると、変化する性質を有している。電磁波の経路は、電磁波が通過する環境が変化すると、変化する。環境の変化は、例えば、電磁波が通過する環境に存在する物体２の位置、物体２の動き、人３の位置、人３の動き、人３の動きに伴う物体２の動き、または、降雨の有無または降雪の有無である。 The propagation of electromagnetic waves has the property of changing when the path of the electromagnetic wave changes. The path of an electromagnetic wave changes as the environment through which the electromagnetic wave travels changes. Changes in the environment include, for example, the position of the object 2 existing in the environment through which the electromagnetic wave passes, the movement of the object 2, the position of the person 3, the movement of the person 3, the movement of the object 2 accompanying the movement of the person 3, or the change in rainfall. Presence or absence of snowfall.
　本実施形態では、電磁波の一例として、Ｗｉ－Ｆｉ（登録商標）による電波を使用する。本実施形態では、送信装置４１および受信装置４２は、Ｗｉ－Ｆｉ（登録商標）のアクセスポイントである。第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴは、Ｗｉ－Ｆｉ（登録商標）送信アンテナである。また、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲは、Ｗｉ－Ｆｉ（登録商標）受信アンテナである。 In this embodiment, radio waves from Wi-Fi (registered trademark) are used as an example of electromagnetic waves. In this embodiment, the transmitting device 41 and the receiving device 42 are Wi-Fi (registered trademark) access points. The first transmitting antenna 4t1 to the T-th transmitting antenna 4tT are Wi-Fi (registered trademark) transmitting antennas. Also, the first receiving antenna 4r1 to the R-th receiving antenna 4rR are Wi-Fi (registered trademark) receiving antennas.
　本実施形態では、電磁波伝搬情報として、Ｗｉ－Ｆｉ（登録商標）のチャネル状態情報（Ｃｈａｎｎｅｌ　Ｓｔａｔｅ　Ｉｎｆｏｒｍａｔｉｏｎ：ＣＳＩ）を用いる。Ｗｉ－Ｆｉ（登録商標）のチャネル状態情報ＣＳＩは、チャネル状態情報の一例である。以下に、詳細を説明する。 In this embodiment, Wi-Fi (registered trademark) channel state information (CSI) is used as electromagnetic wave propagation information. Wi-Fi (registered trademark) channel state information CSI is an example of channel state information. Details are described below.
　送信装置４１は、第１送信信号乃至第Ｔ送信信号のそれぞれを生成する。送信装置４１は、第１送信信号乃至第Ｔ送信信号のそれぞれを第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれに送信させる。第１送信信号乃至第Ｔ送信信号のそれぞれは、第１サブキャリア乃至第Ｎサブキャリアの信号を含んでいる。ここで、Ｎは、１以上の整数である。 The transmission device 41 generates each of the first transmission signal to the Tth transmission signal. The transmission device 41 causes the first transmission antenna 4t1 to the Tth transmission antenna 4tT to transmit the first transmission signal to the Tth transmission signal, respectively. Each of the first transmission signal to the Tth transmission signal includes signals of the first subcarrier to the Nth subcarrier. Here, N is an integer of 1 or more.
　第１サブキャリア乃至第Ｎサブキャリアの信号のそれぞれは、送信装置４１がＯＦＤＭ（Ｏｒｔｈｏｇｏｎａｌ　Ｆｒｅｑｕｅｎｃｙ　Ｄｉｖｉｓｉｏｎ　Ｍｕｌｔｉｐｌｅｘｉｎｇ）によりデジタル変調された信号である。第１サブキャリア乃至第Ｎサブキャリアのそれぞれは、互いに直交しているため、互いに干渉しない。 Each of the signals of the first subcarrier to the Nth subcarrier is a signal digitally modulated by the transmitting device 41 by OFDM (Orthogonal Frequency Division Multiplexing). Since the 1st to Nth subcarriers are orthogonal to each other, they do not interfere with each other.
　第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれは、電磁波により第１送信信号乃至第Ｔ送信信号のそれぞれを送信する。第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれから送信された第１送信信号乃至第Ｔ送信信号のそれぞれは、図４に示すように、電磁波が通過する環境に存在する物体２、人３に反射して、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲの少なくともいずれかに受信される。 Each of the first transmission antenna 4t1 to the Tth transmission antenna 4tT transmits the first transmission signal to the Tth transmission signal by electromagnetic waves. As shown in FIG. 4, each of the first to T-th transmission signals transmitted from each of the first to T-th transmission antennas 4t1 to 4tT is an object 2 and a person 3 existing in an environment through which electromagnetic waves pass. and received by at least one of the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
　第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲのそれぞれが受信した第１受信信号乃至第Ｒ受信信号のそれぞれは、第１サブキャリア乃至第Ｎサブキャリアの信号を含んでいる。すなわち、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲは、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴから電磁波により送信された第１サブキャリア乃至第Ｎサブキャリアの信号を受信する。 Each of the first to Rth reception signals received by the first to Rth reception antennas 4r1 to 4rR includes signals of the first to Nth subcarriers. That is, the first receiving antenna 4r1 to the Rth receiving antenna 4rR receive the signals of the first to Nth subcarriers transmitted by electromagnetic waves from the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT.
　受信装置４２は、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲのそれぞれが受信した第１受信信号乃至第Ｒ受信信号のそれぞれを取得する。 The receiving device 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR.
　第１送信信号乃至第Ｔ送信信号のそれぞれは、複素数であるｘ１乃至ｘＴで表される。すなわち、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴが送信する信号のそれぞれは、複素数であるｘ１乃至ｘＴで表される。また、第１受信信号乃至第Ｒ受信信号のそれぞれは、複素数であるｙ１乃至ｙＲで表される。すなわち、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲが受信する信号のそれぞれは、複素数であるｙ１乃至ｙＲで表される。このとき、ｘ１乃至ｘＴおよびｙ１乃至ｙＲは、以下の数式１乃至数式５を満たす。 The first to T-th transmission signals are represented by complex numbers x1 to xT, respectively. That is, signals transmitted from the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT are represented by x1 to xT, which are complex numbers, respectively. Also, the first to R-th received signals are represented by complex numbers y1 to yR, respectively. That is, the signals received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR are represented by y1 to yR, which are complex numbers, respectively. At this time, x1 to xT and y1 to yR satisfy Equations 1 to 5 below.
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000008
Figure JPOXMLDOC01-appb-M000008
Figure JPOXMLDOC01-appb-M000009
Figure JPOXMLDOC01-appb-M000009
Figure JPOXMLDOC01-appb-M000010
Figure JPOXMLDOC01-appb-M000010
　ここで、ｉは、１以上Ｎ以下の整数である。また、ｍは、１以上Ｒ以下の整数である。また、ｎは、１以上Ｔ以下の整数である。また、Ｈｉは、第ｉサブキャリアの第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報である。また、ｈｍｎは、第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報である。｜｜ｈｍｎ｜｜は、ｈｍｎの振幅である。また、∠ｈｍｎは、ｈｍｎの位相である。また、ｎｉは、第ｉサブキャリアのノイズベクトルである。 Here, i is an integer of 1 or more and N or less. Moreover, m is an integer of 1 or more and R or less. Also, n is an integer of 1 or more and T or less. Also, Hi is channel state information between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR of the i-th subcarrier. Also, hmn is channel state information between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn. ||hmn|| is the amplitude of hmn. Also, ∠hmn is the phase of hmn. Also, ni is the noise vector of the i-th subcarrier.
　演算装置５は、送信装置４１および受信装置４２のそれぞれと通信可能に接続されている。演算装置５は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）やＧＰＵ（Ｇｒａｐｈｉｃｓ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）等の処理回路である。記憶装置（図示せず）は、図５に示すフローチャートの演算プログラムを記憶している。演算装置５は、この演算プログラムを読み出して実行する。 The computing device 5 is communicably connected to each of the transmitting device 41 and the receiving device 42 . The arithmetic unit 5 is a processing circuit such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). A storage device (not shown) stores the arithmetic program of the flow chart shown in FIG. The arithmetic device 5 reads and executes this arithmetic program.
　以下、演算装置５における処理の詳細を説明する。本処理は、演算装置５が第１領域における天候に関する天候情報を取得することにより開始される（図５：ＳＴＡＲＴ）。具体的には、まず、演算装置５は、第１領域における天候に関する天候情報を取得する（図５：取得ステップＳ１１）。具体的には、演算装置５は、例えば、第１領域における天候に関する天候情報を検出する気象センサから第１領域における天候に関する天候情報を取得する。なお、演算装置５は、ユーザが第１領域における天候に関する天候情報を演算装置５に入力することにより、第１領域における天候に関する天候情報を取得してもよい。また、演算装置５は、例えば、車内ＬＡＮ（Ｌｏｃａｌ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）に接続され、車内ＬＡＮに接続されている車載電子機器から第１領域における天候に関する天候情報を取得してもよい。 The details of the processing in the computing device 5 will be described below. This process is started when the computing device 5 acquires weather information about the weather in the first area (FIG. 5: START). Specifically, first, the computing device 5 acquires weather information about the weather in the first region ( FIG. 5 : acquisition step S11). Specifically, the computing device 5 acquires weather information about the weather in the first area from, for example, a weather sensor that detects weather information about the weather in the first area. Note that the computing device 5 may acquire weather information about the weather in the first region by the user inputting the weather information about the weather in the first region to the computing device 5 . Further, the computing device 5 may be connected to, for example, an in-vehicle LAN (Local Area Network) and acquire weather information regarding the weather in the first area from an in-vehicle electronic device connected to the in-vehicle LAN.
　演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合（図５：ステップＳ１２）、第１モードを選択する（図５：ステップＳ１３）。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合（図５：ステップＳ１２）、第２モードを選択する（図５：ステップＳ２３）。すなわち、演算装置５は、取得ステップＳ１１において取得した天候情報に基づいて、動作モードを選択する。また、本実施形態では、動作モードは、第１モードと、第２モードと、を含んでいる。 When the computing device 5 acquires weather information indicating that it is neither raining nor snowing (Fig. 5: step S12), it selects the first mode (Fig. 5: step S13). On the other hand, when the computing device 5 acquires weather information indicating that it is raining or snowing (FIG. 5: step S12), it selects the second mode (FIG. 5: step S23). That is, the arithmetic device 5 selects an operation mode based on the weather information acquired in the acquisition step S11. Moreover, in this embodiment, the operation mode includes a first mode and a second mode.
　本実施形態では、演算装置５は、第１モードにおいて、第１強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させる（図５：ステップＳ１４）。より詳細には、演算装置５は、送信装置４１に第１強度を有する第１送信信号乃至第Ｔ送信信号を生成させる。また、送信装置４１は、第１強度を有する第１送信信号乃至第Ｔ送信信号のそれぞれを第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれに送信させる。 In this embodiment, the computing device 5 causes the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT to transmit electromagnetic waves having the first intensity in the first mode ( FIG. 5 : step S14). More specifically, the computing device 5 causes the transmitting device 41 to generate the first to Tth transmission signals having the first intensity. Further, the transmitting device 41 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit the first to Tth transmitting signals having the first intensity, respectively.
　本実施形態では、演算装置５は、第２モードにおいて、第１強度よりも強い第２強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させる（図５：ステップＳ２４）。より詳細には、演算装置５は、送信装置４１に第１強度よりも強い第２強度を有する第１送信信号乃至第Ｔ送信信号を生成させる。また、送信装置４１は、第１強度よりも強い第２強度を有する第１送信信号乃至第Ｔ送信信号のそれぞれを第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれに送信させる。 In the present embodiment, the computing device 5 causes the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT to transmit electromagnetic waves having a second intensity stronger than the first intensity in the second mode (FIG. 5: step S24). More specifically, the computing device 5 causes the transmitting device 41 to generate the first to Tth transmission signals having a second intensity stronger than the first intensity. Further, the transmitting device 41 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit the first to Tth transmission signals having a second strength higher than the first strength, respectively.
　次に、演算装置５は、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲが受信した第１サブキャリア乃至第Ｎサブキャリアの信号に基づいて、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナとの間の電磁波の伝送経路の状態を示すチャネル状態情報Ｈ１乃至ＨＮを算出する（図５：算出ステップＳ１５、算出ステップＳ２５）。 Next, based on the signals of the first to N-th subcarriers received by the first to R-th receiving antennas 4r1 to 4rR, the arithmetic device 5 generates the first to T-th transmitting antennas 4t1 to 4tT and the Channel state information H1 to HN indicating the state of the electromagnetic wave transmission path between the first receiving antenna 4r1 to the R-th receiving antenna are calculated ( FIG. 5 : calculation step S15, calculation step S25).
　より詳細には、演算装置５は、送信装置４１が生成した第１送信信号乃至第Ｔ送信信号のそれぞれおよび受信装置４２が取得した第１受信信号乃至第Ｒ受信信号のそれぞれを送信装置４１および受信装置４２のそれぞれから取得する。 More specifically, the arithmetic device 5 sends each of the first to T-th transmission signals generated by the transmission device 41 and each of the first to R-th reception signals acquired by the reception device 42 to the transmission device 41 and Obtained from each of the receiving devices 42 .
　演算装置５は、数式１を用いて、第ｉサブキャリアの第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈｉを算出する。演算装置５は、この算出を、第１サブキャリア乃至第Ｎサブキャリアに対して行う。したがって、演算装置５は、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮのそれぞれを算出する。 The computing device 5 uses Equation 1 to calculate channel state information Hi between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR of the i-th subcarrier. . The calculation device 5 performs this calculation for the first to N-th subcarriers. Therefore, the computing device 5 calculates channel state information H1 to HN between the first transmitting antenna 4t1 to Tth transmitting antenna 4tT and the first receiving antenna 4r1 to Rth receiving antenna 4rR, respectively.
　次に、演算装置５は、算出ステップＳ１５または算出ステップＳ２５において算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する（図５：検出ステップＳ１６、検出ステップＳ２６）。 Next, the arithmetic device 5 calculates the channel state information H1 through the channel state information H1 through Based on HN, the position of the object 2, the position of the person 3, or the movement of the person 3 within the first area is detected (FIG. 5: detection step S16, detection step S26).
　より詳細には、人３の動きとは、人３の呼吸による動きおよび人３の動作の両方を含んでいる。人３の動きとは、人３の呼吸による動きまたは人３の動作のいずれかのみであってもよい。すなわち、人３の動きは、人３の呼吸による動きを含んでいる。 More specifically, the movement of person 3 includes both the movement due to breathing of person 3 and the movement of person 3. The movement of the person 3 may be either the movement due to breathing of the person 3 or the movement of the person 3 only. That is, the movement of the person 3 includes movement due to breathing of the person 3 .
　以上の取得ステップＳ１１から検出ステップＳ１６までの処理または取得ステップＳ１１から検出ステップＳ２６までの処理を実行することにより、演算装置５における処理は、完了する（図５：ＥＮＤ）。 By executing the processing from the acquisition step S11 to the detection step S16 or the processing from the acquisition step S11 to the detection step S26, the processing in the arithmetic device 5 is completed (FIG. 5: END).
　電磁波の経路は、電磁波が通過する環境が変化すると、変化する。これにより、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮは、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きが変化すると、変化する性質を有している。具体的には、第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎは、図６に示すように、人３の動作により、変化する。また、第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎは、図７に示すように、人３の呼吸による動きの有無により、変化する。 The path of electromagnetic waves changes when the environment through which the electromagnetic waves pass changes. As a result, the channel state information H1 to HN between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR is the position of the object 2 in the first region, the position of the object 2 , the position of the person 3, and the movement of the person 3 change. Specifically, the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first region is, as shown in FIG. Change. In addition, the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area is, as shown in FIG. ,Change.
　また、第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎは、第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎと異なる。より詳細には、図６に示す第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅は、図７に示す第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅よりも大きい。したがって、演算装置５は、第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎを算出することにより、第１領域内の人３の位置の変化または第１領域内の人３の動きを検出することができる。 Also, the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 in the first area is in operation is the m-th transmitting antenna 4tm when the person 3 in the first area is breathing. and the n-th receiving antenna 4rn. More specifically, the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during operation of the person 3 in the first region shown in FIG. is greater than the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 inside is breathing. Therefore, the computing device 5 calculates the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn to detect the change in the position of the person 3 in the first area or the position of the person in the first area. 3 movements can be detected.
　［効果］
　演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。より詳細には、演算装置５は、第１領域における天候に関する天候情報を取得する。演算装置５は、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲが受信した第１サブキャリア乃至第Ｎサブキャリアの信号に基づいて、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナとの間の電磁波の伝送経路の状態を示すチャネル状態情報Ｈ１乃至ＨＮを算出する。ここで、電磁波の経路は、電磁波が通過する環境が変化すると、変化する。したがって、降雨または降雪の有無により、電磁波の経路が変化する。より詳細には、雨または雪が降ると、例えば、水が乗用車１の窓に付着する。そのため、降雨の有無または降雪の有無により、乗用車１の窓における電磁波の反射の状態が変化する。そこで、演算装置５は、取得した第１領域における天候に関する天候情報に基づいて、動作モードを選択する。演算装置５は、選択した動作モードにおいて、算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する。その結果、演算装置５は、天候に適した動作モードにより、第１領域内の物体２の位置、人３の位置または人３の動きを検出できる。以上より、演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 [effect]
According to the computing device 5, the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing. More specifically, the computing device 5 acquires weather information regarding the weather in the first region. Based on the signals of the first to N-th subcarriers received by the first to R-th receiving antenna 4r1 to R-th receiving antenna 4rR, the arithmetic unit 5 connects the first to T-th transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna. Channel state information H1 to HN indicating the state of electromagnetic wave transmission paths between 4r1 to R-th receiving antennas are calculated. Here, the path of the electromagnetic wave changes when the environment through which the electromagnetic wave passes changes. Therefore, the path of electromagnetic waves changes depending on the presence or absence of rainfall or snowfall. More specifically, when it rains or snows, water adheres to the windows of the passenger car 1, for example. Therefore, the state of reflection of electromagnetic waves on the windows of the passenger car 1 changes depending on whether it is raining or snowing. Therefore, the arithmetic unit 5 selects an operation mode based on the obtained weather information regarding the weather in the first region. Based on the calculated channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR in the selected operation mode, the arithmetic device 5 Detecting the position of the object 2, the position of the person 3 or the movement of the person 3 within the first area. As a result, the computing device 5 can detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area by operating modes suitable for the weather. As described above, according to the computing device 5, the surroundings can be sensed with higher accuracy regardless of whether it is raining or snowing.
　演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。より詳細には、演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合、第１強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させる第１モードを選択する。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合、第１強度よりも強い第２強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させる第２モードを選択する。これにより、降雨時または降雪時においても、演算装置５が第１領域内の物体２の位置、人３の位置または人３の動きを検出できるほどの第１サブキャリア乃至第Ｎサブキャリアの信号を第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲが受信できるようになる。その結果、演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 According to the computing device 5, it is possible to sense the surroundings with higher accuracy regardless of whether it is raining or snowing. More specifically, when the arithmetic device 5 acquires weather information indicating that it is not raining or snowing, the first mode causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having a first intensity. to select. On the other hand, when obtaining weather information indicating that it is raining or snowing, the computing device 5 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having a second intensity higher than the first intensity. Select the second mode. As a result, even when it rains or snows, the signals of the first to N-th subcarriers are sufficient for the arithmetic unit 5 to detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area. can be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR. As a result, the computing device 5 can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
　［第２の実施形態］
　以下に第２の実施形態に係る演算装置５を備える検出装置２０ａについて図を参照しながら説明する。図８は、第２の実施形態に係る演算装置５が実行する処理を示すフローチャートである。なお、第２の実施形態に係る演算装置５を備える検出装置２０ａについては、第１の実施形態に係る演算装置５を備える検出装置２０と異なる部分のみ説明し、後は省略する。 [Second embodiment]
A detection device 20a including an arithmetic device 5 according to the second embodiment will be described below with reference to the drawings. FIG. 8 is a flowchart showing processing executed by the arithmetic device 5 according to the second embodiment. As for the detection device 20a having the arithmetic device 5 according to the second embodiment, only the parts different from the detection device 20 having the arithmetic device 5 according to the first embodiment will be explained, and the rest will be omitted.
　本実施形態では、動作モードは、第３モードと、第４モードと、を含んでいる点において、検出装置２０と相違する。 This embodiment differs from the detection device 20 in that the operation mode includes a third mode and a fourth mode.
　本実施形態では、演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合（図８：ステップＳ１２）、第３モードを選択する（図８：ステップＳ１３ａ）。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合（図８：ステップＳ１２）、第４モードを選択する（図８：ステップＳ２３ａ）。 In this embodiment, when the computing device 5 acquires weather information indicating that it is not raining or snowing (FIG. 8: step S12), it selects the third mode (FIG. 8: step S13a). On the other hand, when the arithmetic device 5 acquires weather information indicating that it is raining or snowing (FIG. 8: step S12), it selects the fourth mode (FIG. 8: step S23a).
　本実施形態では、演算装置５は、第３モードにおいて、第１感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を送信させる（図８：ステップＳ１４ａ）。より詳細には、演算装置５は、例えば、受信装置４２の増幅率を第１増幅率に設定させる。より正確には、受信装置４２は、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲのそれぞれが受信した第１受信信号乃至第Ｒ受信信号のそれぞれを取得する。受信装置４２は、取得した第１受信信号乃至第Ｒ受信信号のそれぞれに第１増幅率を乗じる。演算装置５は、受信装置４２が第１受信信号乃至第Ｒ受信信号のそれぞれに第１増幅率を乗じた結果である第１信号乃至第Ｒ信号を受信装置４２から取得する。演算装置５は、第１信号乃至第Ｒ信号を第１受信信号乃至第Ｒ受信信号として扱う。 In the present embodiment, the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to transmit electromagnetic waves with the first sensitivity in the third mode (FIG. 8: step S14a). More specifically, the computing device 5, for example, sets the gain of the receiving device 42 to the first gain. More precisely, the receiver 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR. The receiving device 42 multiplies each of the acquired first to R-th received signals by a first amplification factor. The computing device 5 acquires from the receiving device 42 the first signal to the R-th signal, which are the result of the receiving device 42 multiplying the first to R-th received signals by the first amplification factor. The arithmetic unit 5 treats the first signal to the Rth signal as the first reception signal to the Rth reception signal.
　本実施形態では、演算装置５は、第４モードにおいて、第１感度よりも強い第２感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を受信させる（図８：ステップＳ２４ａ）。より詳細には、演算装置５は、例えば、受信装置４２の増幅率を第１増幅率よりも高い第２増幅率に設定させる。より正確には、受信装置４２は、第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲのそれぞれが受信した第１受信信号乃至第Ｒ受信信号のそれぞれを取得する。受信装置４２は、取得した第１受信信号乃至第Ｒ受信信号のそれぞれに第２増幅率を乗じる。演算装置５は、受信装置４２が第１受信信号乃至第Ｒ受信信号のそれぞれに第２増幅率を乗じた結果である第１信号乃至第Ｒ信号を受信装置４２から取得する。演算装置５は、第１信号乃至第Ｒ信号を第１受信信号乃至第Ｒ受信信号として扱う。 In this embodiment, in the fourth mode, the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to receive electromagnetic waves with the second sensitivity stronger than the first sensitivity (FIG. 8: step S24a). More specifically, the computing device 5, for example, sets the gain of the receiving device 42 to a second gain higher than the first gain. More precisely, the receiver 42 acquires the first to R-th reception signals respectively received by the first to R-th reception antennas 4r1 to 4rR. The receiving device 42 multiplies each of the acquired first to R-th received signals by the second amplification factor. The computing device 5 acquires from the receiving device 42 the first signal to the R-th signal, which are the result of the receiving device 42 multiplying the first to R-th received signals by the second amplification factor. The arithmetic unit 5 treats the first signal to the Rth signal as the first reception signal to the Rth reception signal.
　以上のような演算装置５においても、第１の実施形態に係る演算装置５と同じ効果を奏する。より詳細には、演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合、第１感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を受信させる第３モードを選択する。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合、第１感度よりも高い第２感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を受信させる第４モードを選択する。これにより、降雨時または降雪時においても、演算装置５が第１領域内の物体２の位置、人３の位置または人３の動きを検出できるほどの第１サブキャリア乃至第Ｎサブキャリアの信号を第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲが受信できるようになる。その結果、第２の実施形態に係る演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 The arithmetic device 5 as described above also has the same effects as the arithmetic device 5 according to the first embodiment. More specifically, when obtaining weather information indicating that it is not raining or snowing, the computing device 5 selects the third mode in which the first receiving antenna 4r1 to the R-th receiving antenna 4rR receive electromagnetic waves with the first sensitivity. select. On the other hand, when obtaining weather information indicating that it is raining or snowing, the computing device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to receive electromagnetic waves with a second sensitivity higher than the first sensitivity. Select 4 modes. As a result, even when it rains or snows, the signals of the first to N-th subcarriers are sufficient for the arithmetic unit 5 to detect the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area. can be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR. As a result, the computing device 5 according to the second embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
　［第３の実施形態］
　以下に第３の実施形態に係る演算装置５を備える検出装置２０ｂについて図を参照しながら説明する。図９は、第３の実施形態に係る演算装置５が実行する処理を示すフローチャートである。なお、第３の実施形態に係る演算装置５を備える検出装置２０ｂについては、第１の実施形態に係る演算装置５を備える検出装置２０と異なる部分のみ説明し、後は省略する。 [Third Embodiment]
A detection device 20b including an arithmetic device 5 according to the third embodiment will be described below with reference to the drawings. FIG. 9 is a flowchart showing processing executed by the arithmetic device 5 according to the third embodiment. As for the detection device 20b including the arithmetic device 5 according to the third embodiment, only different parts from the detection device 20 including the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
　本実施形態では、演算装置５は、図９に示す検出ステップＳ１６ｂ、および、図９に示す検出ステップＳ２６ｂにおいて、機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する点において、検出装置２０と相違する。 In this embodiment, the computing device 5 uses a machine learning model to determine the position of the object 2 and the position of the person 3 in the first region in the detection step S16b shown in FIG. 9 and the detection step S26b shown in FIG. Alternatively, it differs from the detection device 20 in that it detects the movement of the person 3 .
　機械学習モデルは、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮと、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きと、の関係を示す教師データを用いる。したがって、機械学習モデルは、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮと、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きと、の関係を示す教師データにより、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮと、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きと、の関係を事前に学習している。 The machine learning model includes channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR, the position of the object 2 in the first region, Teacher data indicating the relationship between the movement of the object 2, the position of the person 3, and the movement of the person 3 is used. Therefore, the machine learning model uses the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR and the information of the object 2 in the first region. The first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR are selected according to teacher data indicating the relationship between the position, the movement of the object 2, the position of the person 3, and the movement of the person 3. The relationship between the channel state information H1 to HN between , the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 in the first region is learned in advance.
　そして、演算装置５は、演算装置５が算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナとの間の電磁波の伝送経路の状態を示すチャネル状態情報Ｈ１乃至ＨＮに対応する第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きを、機械学習モデルを用いて、検出する。 Then, the computing device 5 provides channel state information indicating the state of the electromagnetic wave transmission path between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna calculated by the computing device 5. A machine learning model is used to detect the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 within the first region corresponding to H1 to HN.
　第３の実施形態に係る演算装置５によれば、周囲をより高精度にセンシングすることができる。より詳細には、演算装置５は、図９に示す検出ステップＳ１６ｂ、および、図９に示す検出ステップＳ２６ｂにおいて、機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する。これにより、第１領域内の物体２の位置、人３の位置または人３の動きの検出精度を向上させることができる。その結果、第３の実施形態に係る演算装置５によれば、周囲をより高精度にセンシングすることができる。 According to the computing device 5 according to the third embodiment, it is possible to sense the surroundings with higher accuracy. More specifically, in the detection step S16b shown in FIG. 9 and the detection step S26b shown in FIG. Alternatively, the motion of the person 3 is detected. Thereby, the detection accuracy of the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area can be improved. As a result, the computing device 5 according to the third embodiment can sense the surroundings with higher accuracy.
　［第４の実施形態］
　以下に第４の実施形態に係る演算装置５を備える検出装置２０ｃについて図を参照しながら説明する。図１０は、第４の実施形態に係る演算装置５が実行する処理を示すフローチャートである。なお、第４の実施形態に係る演算装置５を備える検出装置２０ｃについては、第１の実施形態に係る演算装置５を備える検出装置２０と異なる部分のみ説明し、後は省略する。 [Fourth embodiment]
A detection device 20c including an arithmetic device 5 according to the fourth embodiment will be described below with reference to the drawings. FIG. 10 is a flowchart showing processing executed by the arithmetic device 5 according to the fourth embodiment. As for the detection device 20c equipped with the arithmetic device 5 according to the fourth embodiment, only different parts from the detection device 20 equipped with the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
　本実施形態では、動作モードは、第５モードと、第６モードと、を含んでいる点において、検出装置２０と相違する。 This embodiment differs from the detection device 20 in that the operation modes include a fifth mode and a sixth mode.
　機械学習モデルは、雨および雪が降っていない場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮを教師データとして用いる第１機械学習モデルおよび雨または雪が降っている場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮを教師データとして用いる第２機械学習モデルを含んでいる。 The machine learning model uses channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is not raining or snowing as training data. The first machine learning model to be used and the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing are trained. It contains a second machine learning model to use as data.
　より詳細には、第１機械学習モデルは、雨および雪が降っていない場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮと、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きと、の関係を示す教師データを用いる。 More specifically, the first machine learning model provides channel state information between the first transmitting antenna 4t1 to the Tth transmitting antenna 4tT and the first receiving antenna 4r1 to the Rth receiving antenna 4rR when it is not raining or snowing. Teacher data indicating the relationship between H1 to HN, the position of the object 2 within the first region, the movement of the object 2, the position of the person 3, and the movement of the person 3 is used.
　また、第２機械学習モデルは、雨または雪が降っている場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮと、第１領域内の物体２の位置、物体２の動き、人３の位置、人３の動きと、の関係を示す教師データを用いる。 In addition, the second machine learning model provides channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing. , the position of the object 2, the movement of the object 2, the position of the person 3, and the movement of the person 3 in the first area.
　本実施形態では、演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合（図１０：ステップＳ１２）、第５モードを選択する（図１０：ステップＳ１３ｃ）。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合（図１０：ステップＳ１２）、第６モードを選択する（図１０：ステップＳ２３ｃ）。 In this embodiment, when the computing device 5 acquires weather information indicating that it is not raining or snowing (FIG. 10: step S12), it selects the fifth mode (FIG. 10: step S13c). On the other hand, when obtaining weather information indicating that it is raining or snowing ( FIG. 10 : step S12), arithmetic device 5 selects the sixth mode ( FIG. 10 : step S23c).
　本実施形態では、演算装置５は、第５モードにおいて、第１機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する（図１０：ステップＳ１６ｃ）。 In this embodiment, the computing device 5 detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the first region using the first machine learning model in the fifth mode (FIG. 10: step S16c).
　本実施形態では、演算装置５は、第６モードにおいて、第２機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する（図１０：検出ステップＳ２６ｃ）。 In this embodiment, the computing device 5 detects the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area using the second machine learning model in the sixth mode (FIG. 10: detection step S26c).
　以上のような演算装置５においても、第１の実施形態に係る演算装置５と同じ効果を奏する。より詳細には、機械学習モデルは、雨および雪が降っていない場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮを教師データとして用いる第１機械学習モデルおよび雨または雪が降っている場合の第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮを教師データとして用いる第２機械学習モデルを含んでいる。これにより、降雨または降雪の有無による第１領域内の物体２の位置、人３の位置または人３の動きの検出精度の低下を抑制することができる。その結果、第４の実施形態に係る演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 The arithmetic device 5 as described above also has the same effects as the arithmetic device 5 according to the first embodiment. In more detail, the machine learning model calculates the channel state information H1 to A first machine learning model using HN as training data and channel state information between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR when it is raining or snowing. It includes a second machine learning model that uses H1 through HN as training data. As a result, it is possible to suppress deterioration in detection accuracy of the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area due to the presence or absence of rain or snow. As a result, the computing device 5 according to the fourth embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
　また、第４の実施形態に係る演算装置５は、雨および雪が降っていないことを示す天候情報を取得した場合、第１機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する第５モードを選択する。一方、演算装置５は、雨または雪が降っていることを示す天候情報を取得した場合、第２機械学習モデルを用いて、第１領域内の物体２の位置、人３の位置または人３の動きを検出する第６モードを選択する。これにより、降雨または降雪の有無による第１領域内の物体２の位置、人３の位置または人３の動きの検出精度の低下を抑制することができる。その結果、第４の実施形態に係る演算装置５によれば、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 Further, when acquiring weather information indicating that it is not raining or snowing, the arithmetic device 5 according to the fourth embodiment uses the first machine learning model to determine the position of the object 2 in the first region, the number of people Select a fifth mode that detects the position of 3 or the movement of person 3 . On the other hand, when the arithmetic device 5 acquires weather information indicating that it is raining or snowing, it uses the second machine learning model to determine the position of the object 2, the position of the person 3, or the position of the person 3 in the first region. Select the sixth mode of motion detection. As a result, it is possible to suppress deterioration in detection accuracy of the position of the object 2, the position of the person 3, or the movement of the person 3 in the first area due to the presence or absence of rain or snow. As a result, the computing device 5 according to the fourth embodiment can sense the surroundings with higher accuracy regardless of whether it is raining or snowing.
　［第５の実施形態］
　以下に第５の実施形態に係る演算装置５を備える検出装置２０ｄについて図を参照しながら説明する。図１１は、第５の実施形態に係る演算装置５が実行する処理を示すフローチャートである。図１２は、第５の実施形態に係る晴天時の第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。図１２において、横軸は、時間を示し、かつ、縦軸は、振幅または位相を示す。図１３は、第５の実施形態に係る雨天時の第１領域内の人３の動作時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅および位相の一例を示す図である。図１３において、横軸は、時間を示し、かつ、縦軸は、振幅または位相を示す。図１２および図１３のそれぞれは、乗用車１のリアシートに人３が着席して呼吸をしている時の実験結果である。なお、第５の実施形態に係る演算装置５を備える検出装置２０ｄについては、第１の実施形態に係る演算装置５を備える検出装置２０と異なる部分のみ説明し、後は省略する。 [Fifth embodiment]
A detection device 20d including an arithmetic device 5 according to the fifth embodiment will be described below with reference to the drawings. FIG. 11 is a flowchart showing processing executed by the arithmetic device 5 according to the fifth embodiment. FIG. 12 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first area under fine weather according to the fifth embodiment. It is a figure which shows. In FIG. 12, the horizontal axis indicates time and the vertical axis indicates amplitude or phase. FIG. 13 shows an example of the amplitude and phase of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 operates in the first area in rainy weather according to the fifth embodiment. It is a figure which shows. In FIG. 13, the horizontal axis indicates time and the vertical axis indicates amplitude or phase. 12 and 13 are experimental results when the person 3 is seated on the rear seat of the passenger car 1 and is breathing. As for the detection device 20d including the arithmetic device 5 according to the fifth embodiment, only the parts different from the detection device 20 including the arithmetic device 5 according to the first embodiment will be described, and the rest will be omitted.
　本実施形態では、演算装置５は、図１１に示す取得ステップＳ１２ｄにおいて、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域における天候に関する天候情報を取得する点において、検出装置２０と相違する。 In this embodiment, the computing device 5 acquires the channel state information H1 between the first to T-th transmitting antennas 4t1 to 4tT and the first to R-th receiving antennas 4r1 to 4rR in the acquisition step S12d shown in FIG. It differs from the detection device 20 in that it acquires weather information about the weather in the first area based on HN.
　電磁波の経路は、電磁波が通過する環境が変化すると、変化する。したがって、降雨または降雪の有無により、電磁波の経路が変化する。より詳細には、雨または雪が降ると、水が乗用車１の窓に付着する。そのため、降雨の有無または降雪の有無により、乗用車１の窓における電磁波の反射の状態が変化する。したがって、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮは、第１領域の位置における降雨の有無または降雪の有無が変化すると、変化する性質を有している。 The path of electromagnetic waves changes when the environment through which the electromagnetic waves pass changes. Therefore, the path of electromagnetic waves changes depending on the presence or absence of rainfall or snowfall. More specifically, water adheres to the windows of passenger car 1 when it rains or snows. Therefore, the state of reflection of electromagnetic waves on the windows of the passenger car 1 changes depending on whether it is raining or snowing. Therefore, the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR can be determined whether it is raining or snowing at the position of the first area. has the property of changing when is changed.
　まず、演算装置５は、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮを算出する（図１１：算出ステップＳ１１ｄ）。 First, the computing device 5 calculates channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR (FIG. 11: calculation step S11d). ).
　次に、演算装置５は、算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域における天候に関する天候情報を取得する（図１１：取得ステップＳ１２ｄ）。 Next, the computing device 5 calculates the first area based on the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR. acquires weather information about the weather in (FIG. 11: acquisition step S12d).
　より詳細には、図１２に示す晴天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅は、図１３に示す雨天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅と異なる。 More specifically, the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first area in fine weather shown in FIG. 12 is shown in FIG. It is different from the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area in rainy weather.
　本実施形態では、図１２に示す晴天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅は、図１３に示す雨天時の第１領域内の人３の呼吸時の第ｍ送信アンテナ４ｔｍと第ｎ受信アンテナ４ｒｎとの間のチャネル状態情報ｈｍｎの振幅よりも小さい。そのため、演算装置５は、算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域における天候に関する天候情報を取得することができる。より詳細には、演算装置５は、算出した第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域における降雨または降雪の有無を判定することができる。 In the present embodiment, the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn during breathing of the person 3 in the first region under fine weather shown in FIG. 12 is shown in FIG. It is smaller than the amplitude of the channel state information hmn between the m-th transmitting antenna 4tm and the n-th receiving antenna 4rn when the person 3 breathes in the first area in rainy weather. Therefore, the arithmetic device 5 calculates the channel state information H1 to HN between the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT and the first receiving antenna 4r1 to the R-th receiving antenna 4rR. Weather information about the weather can be acquired. More specifically, the computing device 5 calculates the 1st The presence or absence of rain or snow in a region can be determined.
　なお、図１１に示すステップＳ１４ｄ乃至検出ステップＳ１７ｄおよびステップＳ２４ｄ乃至検出ステップＳ２７ｄのそれぞれについては、図５に示すステップＳ１３乃至検出ステップＳ１６およびステップＳ２３乃至検出ステップＳ２６のそれぞれと同じであるため、説明を省略する。 Note that steps S14d through S17d and steps S24d through S27d shown in FIG. 11 are respectively the same as steps S13 through S16 and steps S23 through S26 shown in FIG. omitted.
　第５の実施形態に係る演算装置５によれば、第１領域における天候に関する天候情報を検出する気象センサから第１領域における天候に関する天候情報を取得しない場合においても、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。より詳細には、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮは、第１領域の位置における降雨の有無または降雪の有無が変化すると、変化する性質を有している。これにより、演算装置５は、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴと第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲとの間のチャネル状態情報Ｈ１乃至ＨＮに基づいて、第１領域における天候に関する天候情報を取得することができる。その結果、第１領域における天候に関する天候情報を検出する気象センサから第１領域における天候に関する天候情報を取得しない場合においても、演算装置５は、第１領域における天候に関する天候情報を取得することができる。その結果、第５の実施形態に係る演算装置５によれば、第１領域における天候に関する天候情報を検出する気象センサから第１領域における天候に関する天候情報を取得しない場合においても、降雨または降雪の有無にかかわらず、周囲をより高精度にセンシングすることができる。 According to the arithmetic device 5 according to the fifth embodiment, even if the weather information regarding the weather in the first area is not obtained from the weather sensor that detects the weather information regarding the weather in the first area, regardless of whether it is raining or snowing. Therefore, it is possible to sense the surroundings with higher accuracy. More specifically, the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR is determined by the presence or absence of rainfall or It has the property of changing when the presence or absence of snowfall changes. As a result, the computing device 5 calculates the weather in the first area based on the channel state information H1 to HN between the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and the first receiving antenna 4r1 to R-th receiving antenna 4rR. You can get weather information about As a result, even if the weather sensor that detects weather information on the weather in the first area does not acquire weather information on the weather in the first area, the computing device 5 can acquire weather information on the weather in the first area. can. As a result, according to the arithmetic device 5 according to the fifth embodiment, even when the weather information regarding the weather in the first region is not acquired from the weather sensor that detects the weather information regarding the weather in the first region, rain or snowfall can be detected. With or without it, the surroundings can be sensed with higher accuracy.
　［その他の実施形態］
　本発明に係る演算装置は、第１の実施形態に係る演算装置５、第２の実施形態に係る演算装置５、第３の実施形態に係る演算装置５、第４の実施形態に係る演算装置５、第５の実施形態に係る演算装置５に限らず、その要旨の範囲において変更可能である。また、第１の実施形態に係る演算装置５、第２の実施形態に係る演算装置５、第３の実施形態に係る演算装置５、第４の実施形態に係る演算装置５、第５の実施形態に係る演算装置５の構成を任意に組み合わせてもよい。 [Other embodiments]
The arithmetic device according to the present invention includes the arithmetic device 5 according to the first embodiment, the arithmetic device 5 according to the second embodiment, the arithmetic device 5 according to the third embodiment, and the arithmetic device according to the fourth embodiment. 5. It is not limited to the arithmetic device 5 according to the fifth embodiment, and can be modified within the scope of the gist thereof. Further, the arithmetic device 5 according to the first embodiment, the arithmetic device 5 according to the second embodiment, the arithmetic device 5 according to the third embodiment, the arithmetic device 5 according to the fourth embodiment, and the fifth embodiment You may combine the structure of the arithmetic unit 5 which concerns on a form arbitrarily.
　なお、機械学習モデル、第１機械学習モデルおよび第２機械学習モデルのそれぞれは、教師データが用いられない機械学習モデルであってもよい。 It should be noted that each of the machine learning model, the first machine learning model, and the second machine learning model may be a machine learning model that does not use teacher data.
　なお、乗用車１は、窓を有していなくてもよい。 It should be noted that the passenger car 1 does not have to have windows.
　なお、ビークルは、乗用車１以外に限られない。ビークルは、例えば、ゴルフカート、飛行機、ロケット、列車、ヘリコプターまたは船舶であってもよい。 The vehicle is not limited to passenger car 1. A vehicle may be, for example, a golf cart, an airplane, a rocket, a train, a helicopter, or a watercraft.
　なお、第１領域は、ビークルのキャビン１０に限られない。キャビン１０は、例えば、トランクまたは貨物室であってもよい。また、第１領域は、例えば、建物の内部空間であってもよい。この場合においても、検出装置２０と同じ効果を奏する。 It should be noted that the first area is not limited to the cabin 10 of the vehicle. Cabin 10 may be, for example, a trunk or cargo compartment. Also, the first area may be, for example, an internal space of a building. Even in this case, the same effect as that of the detection device 20 can be obtained.
　なお、第１領域は、閉空間でなくてもよい。この場合、第１領域は、第１領域外の領域と繋がっていてもよい。 It should be noted that the first area does not have to be a closed space. In this case, the first area may be connected to an area outside the first area.
　なお、演算装置５は、第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴのそれぞれおよび第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲのそれぞれが有する機械的特性および電磁気的特性からノイズｎｉを推定し、ノイズｎｉを除去してもよい。 Note that the arithmetic device 5 estimates the noise ni from the mechanical characteristics and electromagnetic characteristics of each of the first transmitting antenna 4t1 to T-th transmitting antenna 4tT and each of the first receiving antenna 4r1 to R-th receiving antenna 4rR, Noise ni may be removed.
　なお、人３は、大人に限られない。人３は、例えば、子供であってもよいし、赤ちゃんであってもよい。 "Person 3 is not limited to adults." Person 3 may be, for example, a child or a baby.
　なお、物体２の位置または人３の位置は、座席の上に限られない。物体２の位置または人３の位置は、例えば、座席の下であってもよい。 It should be noted that the position of the object 2 or the position of the person 3 is not limited to above the seat. The position of the object 2 or the position of the person 3 may for example be under the seat.
　なお、電磁波は、Ｗｉ－Ｆｉ（登録商標）に限られない。電磁波は、例えば、Ｂｌｕｅｔｏｏｔｈ（登録商標）等であってもよい。 It should be noted that electromagnetic waves are not limited to Wi-Fi (registered trademark). The electromagnetic wave may be, for example, Bluetooth (registered trademark) or the like.
　なお、演算装置５は、第１モードにおいて、第１感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を送信させ、かつ、第２モードにおいて、第１感度よりも強い第２感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を受信させてもよい。 Note that, in the first mode, the arithmetic device 5 causes the first receiving antenna 4r1 to the R-th receiving antenna 4rR to transmit electromagnetic waves with the first sensitivity, and in the second mode, with the second sensitivity stronger than the first sensitivity, Electromagnetic waves may be received by the first receiving antenna 4r1 to the R-th receiving antenna 4rR.
　なお、演算装置５は、第３モードにおいて、第１強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させ、かつ、第４モードにおいて、第１強度よりも強い第２強度を有する電磁波を第１送信アンテナ４ｔ１乃至第Ｔ送信アンテナ４ｔＴに送信させてもよい。 Note that the arithmetic device 5 causes the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT to transmit electromagnetic waves having the first intensity in the third mode, and the second intensity stronger than the first intensity in the fourth mode. may be transmitted from the first transmitting antenna 4t1 to the T-th transmitting antenna 4tT.
　なお、第３の実施形態に係る演算装置５、第４の実施形態に係る演算装置５において、第１強度と第２強度とは、同じ強度であってもよい。 In addition, in the arithmetic device 5 according to the third embodiment and the arithmetic device 5 according to the fourth embodiment, the first intensity and the second intensity may be the same intensity.
　なお、演算装置５は、第１領域内に配置されることに限られない。演算装置５は、第１領域外に配置されていてもよいし、第１領域内と第１領域外とに配置されていてもよい。 It should be noted that the arithmetic device 5 is not limited to being arranged within the first region. The computing device 5 may be arranged outside the first area, or may be arranged inside and outside the first area.
　なお、第１領域における天候に関する天候情報は、降雨の有無または降雪の有無に限らず、例えば、雹の有無または火山灰の有無であってもよい。 Note that the weather information regarding the weather in the first region is not limited to whether it rains or snows, and may be, for example, the presence of hail or the presence of volcanic ash.
　なお、第４モードにおいて、第１感度よりも強い第２感度により第１受信アンテナ４ｒ１乃至第Ｒ受信アンテナ４ｒＲに電磁波を受信させる方法は、演算装置５が受信装置４２の増幅率を第１増幅率よりも高い第２増幅率に設定させることに限られず、他の方法であってもよい。 In the fourth mode, the first receiving antenna 4r1 to the R-th receiving antenna 4rR receive electromagnetic waves with a second sensitivity stronger than the first sensitivity. It is not limited to setting the second amplification factor higher than the gain, and other methods may be used.
１：乗用車
２：物体
３：人
４：通信装置
４ｒ１：第１受信アンテナ
４ｒＲ：第Ｒ受信アンテナ
４ｒｎ：第ｎ受信アンテナ
４ｔ１：第１送信アンテナ
４ｔＴ：第Ｔ送信アンテナ
４ｔｍ：第ｍ送信アンテナ
５：演算装置
１０：キャビン
２０，２０ａ，２０ｂ，２０ｃ，２０ｄ：検出装置
４１：送信装置
４２：受信装置
Ｈ１，Ｈｉ，ｈｍｎ：チャネル状態情報
Ｓ１１，Ｓ１２ｄ：取得ステップ
Ｓ１１ｄ，Ｓ１５，Ｓ２５：算出ステップ
Ｓ１６，Ｓ１６ｂ，Ｓ１７ｄ，Ｓ２６，Ｓ２６ｂ，Ｓ２６ｃ，Ｓ２７ｄ：検出ステップ
Ｓ１２，Ｓ１３，Ｓ１３ａ，Ｓ１３ｃ，Ｓ１４，Ｓ１４ａ，Ｓ１４ｄ，Ｓ１６ｃ，Ｓ２３，Ｓ２３ａ，Ｓ２３ｃ，Ｓ２４，Ｓ２４ａ，Ｓ２４ｄ：ステップ
ｎｉ：ノイズ 1: passenger car 2: object 3: person 4: communication device 4r1: first receiving antenna 4rR: R-th receiving antenna 4rn: n-th receiving antenna 4t1: first transmitting antenna 4tT: T-th transmitting antenna 4tm: m-th transmitting antenna 5 : Arithmetic device 10: Cabins 20, 20a, 20b, 20c, 20d: Detecting device 41: Transmitting device 42: Receiving device H1, Hi, hmn: Channel state information S11, S12d: Acquisition steps S11d, S15, S25: Calculation step S16 , S16b, S17d, S26, S26b, S26c, S27d: detection steps S12, S13, S13a, S13c, S14, S14a, S14d, S16c, S23, S23a, S23c, S24, S24a, S24d: step ni: noise

Claims (15)

  1. 　第１領域内の物体の位置、人の位置または人の動きを検出する検出装置に用いられる演算装置であって、
    　前記検出装置は、前記第１領域内に配置されている通信装置を備えており、
    　前記通信装置は、第１送信アンテナ乃至第Ｔ送信アンテナおよび第１受信アンテナ乃至第Ｒ受信アンテナを含み、
    　前記第１受信アンテナ乃至前記第Ｒ受信アンテナは、前記第１送信アンテナ乃至前記第Ｔ送信アンテナから電磁波により送信された第１サブキャリア乃至第Ｎサブキャリアの信号を受信し、
    　Ｔ、ＲおよびＮは、１以上の整数であり、
    　前記演算装置は、
    　前記第１領域における天候に関する天候情報を取得する取得ステップと、
    　前記取得ステップにおいて取得した前記天候情報に基づいて、動作モードを選択するステップと、
    　前記選択された動作モードに基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナが送信する前記電磁波の送信強度を設定するステップと、又は、前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信する前記電磁波の受信感度を設定するステップと、
    　前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信した前記第１サブキャリア乃至前記第Ｎサブキャリアの信号に基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナと前記第１受信アンテナ乃至前記第Ｒ受信アンテナとの間の前記電磁波の伝送経路の状態を示すチャネル状態情報を算出する算出ステップと、
    　前記算出ステップにおいて算出した前記チャネル状態情報に基づいて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する検出ステップと、を実行する、
    　演算装置。     A computing device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person within a first region,
    The detection device comprises a communication device located within the first region,
    The communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
    The first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas,
    T, R and N are integers of 1 or more,
    The computing device is
    an obtaining step of obtaining weather information about the weather in the first region;
    selecting an operation mode based on the weather information obtained in the obtaining step;
    setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas. setting the reception sensitivity of the electromagnetic wave to
    Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to R-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna;
    a detection step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculation step;
    Arithmetic unit.
  2. 　前記動作モードは、第１強度を有する電磁波を前記第１送信アンテナ乃至前記第Ｔ送信アンテナに送信させる第１モードと、前記第１強度よりも強い第２強度を有する電磁波を前記第１送信アンテナ乃至前記第Ｔ送信アンテナに送信させる第２モードと、を含んでおり、
    　前記演算装置は、雨および雪が降っていないことを示す前記天候情報を取得した場合、前記第１モードを選択し、
    　前記演算装置は、雨または雪が降っていることを示す前記天候情報を取得した場合、前記第２モードを選択する、
    　請求項１に記載の演算装置。     The operation modes include a first mode for transmitting an electromagnetic wave having a first intensity to the first to T-th transmitting antennas, and a first mode for transmitting an electromagnetic wave having a second intensity stronger than the first intensity to the first transmitting antenna. to a second mode for causing the T transmit antenna to transmit,
    The computing device selects the first mode when obtaining the weather information indicating that it is neither raining nor snowing,
    The computing device selects the second mode when obtaining the weather information indicating that it is raining or snowing.
    A computing device according to claim 1 .
  3. 　前記動作モードは、第１感度により前記第１受信アンテナ乃至前記第Ｒ受信アンテナに電磁波を受信させる第３モードと、前記第１感度よりも高い第２感度により前記第１受信アンテナ乃至前記第Ｒ受信アンテナに電磁波を受信させる第４モードと、を含んでおり、
    　前記演算装置は、雨および雪が降っていないことを示す前記天候情報を取得した場合、前記第３モードを選択し、
    　前記演算装置は、雨または雪が降っていることを示す前記天候情報を取得した場合、前記第４モードを選択する、
    　請求項１または請求項２に記載の演算装置。     The operation modes include a third mode in which the first to R-th receiving antennas receive electromagnetic waves with a first sensitivity, and a third mode in which electromagnetic waves are received by the first to R-th receiving antennas with a second sensitivity higher than the first sensitivity. a fourth mode for causing the receiving antenna to receive electromagnetic waves;
    The computing device selects the third mode when obtaining the weather information indicating that it is neither raining nor snowing,
    The computing device selects the fourth mode when obtaining the weather information indicating that it is raining or snowing.
    3. The computing device according to claim 1 or 2.
  4. 　前記第１送信アンテナ乃至前記第Ｔ送信アンテナが送信する信号のそれぞれは、複素数であるｘ１乃至ｘＴで表され、
    　前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信する信号のそれぞれは、複素数であるｙ１乃至ｙＲで表され、
    　ｘ１乃至ｘＴおよびｙ１乃至ｙＲは、以下の数式１乃至数式５を満たしており、
    Figure JPOXMLDOC01-appb-M000001
    Figure JPOXMLDOC01-appb-M000002
    Figure JPOXMLDOC01-appb-M000003
    Figure JPOXMLDOC01-appb-M000004
    Figure JPOXMLDOC01-appb-M000005
     　ｉは、１以上Ｎ以下の整数であり、
    　ｍは、１以上Ｒ以下の整数であり、
    　ｎは、１以上Ｔ以下の整数であり、
    　Ｈｉは、第ｉサブキャリアの前記第１送信アンテナ乃至前記第Ｔ送信アンテナと前記第１受信アンテナ乃至前記第Ｒ受信アンテナとの間の前記チャネル状態情報であり、
    　ｈｍｎは、第ｍ送信アンテナと第ｎ受信アンテナとの間の前記チャネル状態情報であり、
    　｜｜ｈｍｎ｜｜は、ｈｍｎの振幅であり、
    　∠ｈｍｎは、ｈｍｎの位相であり、
    　ｎｉは、第ｉサブキャリアのノイズベクトルである、
    　請求項１乃至請求項３のいずれかに記載の演算装置。     Each of the signals transmitted by the first transmitting antenna to the T-th transmitting antenna is represented by a complex number x1 to xT,
    Each of the signals received by the first receiving antenna to the R-th receiving antenna is represented by a complex number y1 to yR,
    x1 to xT and y1 to yR satisfy the following formulas 1 to 5,
    Figure JPOXMLDOC01-appb-M000001
    Figure JPOXMLDOC01-appb-M000002
    Figure JPOXMLDOC01-appb-M000003
    Figure JPOXMLDOC01-appb-M000004
    Figure JPOXMLDOC01-appb-M000005
     i is an integer of 1 or more and N or less,
    m is an integer of 1 or more and R or less,
    n is an integer of 1 or more and T or less,
    Hi is the channel state information between the first to T transmit antennas and the first to R receive antennas of the i-th subcarrier;
    hmn is the channel state information between the mth transmit antenna and the nth receive antenna;
    ||hmn|| is the amplitude of hmn,
    ∠hmn is the phase of hmn,
    ni is the noise vector of the ith subcarrier,
    4. The computing device according to any one of claims 1 to 3.
  5. 　前記演算装置は、前記検出ステップにおいて、機械学習モデルを用いて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する、
    　請求項１乃至請求項４のいずれかに記載の演算装置。     In the detecting step, the computing device uses a machine learning model to detect the position of the object, the position of the person, or the movement of the person within the first area.
    5. The computing device according to any one of claims 1 to 4.
  6. 　前記機械学習モデルは、雨および雪が降っていない場合の前記チャネル状態情報を教師データとして用いる第１機械学習モデルおよび雨または雪が降っている場合の前記チャネル状態情報を教師データとして用いる第２機械学習モデルを含む、
    　請求項５に記載の演算装置。     The machine learning model includes a first machine learning model using the channel state information when it is not raining or snowing as teacher data, and a second machine learning model using the channel state information when it is raining or snowing as teacher data. including models,
    A computing device according to claim 5 .
  7. 　前記動作モードは、前記第１機械学習モデルを用いて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する第５モードと、前記第２機械学習モデルを用いて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する第６モードと、を含んでおり、
    　前記演算装置は、雨および雪が降っていないことを示す前記天候情報を取得した場合、前記第５モードを選択し、
    　前記演算装置は、雨または雪が降っていることを示す前記天候情報を取得した場合、前記第６モードを選択する、
    　請求項６に記載の演算装置。     The operation mode includes a fifth mode for detecting the position of the object, the position of the person, or the movement of the person in the first area using the first machine learning model, and the second machine learning model. a sixth mode for detecting the position of the object, the position of the person, or the movement of the person within the first area using
    The computing device selects the fifth mode when obtaining the weather information indicating that it is neither raining nor snowing,
    The computing device selects the sixth mode when obtaining the weather information indicating that it is raining or snowing.
    A computing device according to claim 6 .
  8. 　前記演算装置は、前記チャネル状態情報に基づいて、前記天候情報を取得する、
    　請求項１乃至請求項７のいずれかに記載の演算装置。     the computing device acquires the weather information based on the channel state information;
    8. The computing device according to any one of claims 1 to 7.
  9. 　前記チャネル状態情報は、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きが変化すると、変化する性質を有している、
    　請求項１乃至請求項８のいずれかに記載の演算装置。     The channel state information has the property of changing when the position of the object, the position of the person or the movement of the person within the first area changes.
    9. The computing device according to any one of claims 1 to 8.
  10. 　前記チャネル状態情報は、前記第１領域の位置における降雨または降雪の有無が変化すると、変化する性質を有している、
    　請求項１乃至請求項９のいずれかに記載の演算装置。     The channel state information has a property of changing when the presence or absence of rainfall or snowfall at the position of the first region changes.
    10. The computing device according to any one of claims 1 to 9.
  11. 　前記第１領域は、ビークルのキャビンである、
    　請求項１乃至請求項１０のいずれかに記載の演算装置。     wherein the first area is a vehicle cabin;
    The computing device according to any one of claims 1 to 10.
  12. 　前記第１領域は、建物の内部空間である、
    　請求項１乃至請求項１０のいずれかに記載の演算装置。     The first area is an interior space of a building,
    The computing device according to any one of claims 1 to 10.
  13. 　前記演算装置は、前記第１領域内に配置されている、
    　請求項１乃至請求項１２のいずれかに記載の演算装置。     The computing device is arranged in the first region,
    13. The computing device according to any one of claims 1 to 12.
  14. 　前記人の動きは、前記人の呼吸による動きを含んでいる、
    　請求項１乃至請求項１３のいずれかに記載の演算装置。     movement of the person includes movement due to breathing of the person;
    14. The computing device according to any one of claims 1 to 13.
  15. 　第１領域内の物体の位置、人の位置または人の動きを検出する検出装置に用いられる演算装置において実行される演算プログラムであって、
    　前記検出装置は、前記第１領域内に配置されている通信装置を備えており、
    　前記通信装置は、第１送信アンテナ乃至第Ｔ送信アンテナおよび第１受信アンテナ乃至第Ｒ受信アンテナを含み、
    　前記第１受信アンテナ乃至前記第Ｒ受信アンテナは、前記第１送信アンテナ乃至前記第Ｔ送信アンテナから電磁波により送信された第１サブキャリア乃至第Ｎサブキャリアの信号を受信し、
    　Ｔ、ＲおよびＮは、１以上の整数であり、
    　前記演算プログラムは、
    　前記第１領域における天候に関する天候情報を取得する取得ステップと、
    　前記取得ステップにおいて取得した前記天候情報に基づいて、動作モードを選択するステップと、
    　前記選択された動作モードに基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナが送信する前記電磁波の送信強度を設定するステップと、又は、前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信する前記電磁波の受信感度を設定するステップと、
    　前記第１受信アンテナ乃至前記第Ｒ受信アンテナが受信した前記第１サブキャリア乃至前記第Ｎサブキャリアの信号に基づいて、前記第１送信アンテナ乃至前記第Ｔ送信アンテナと前記第１受信アンテナ乃至前記第Ｒ受信アンテナとの間の前記電磁波の伝送経路の状態を示すチャネル状態情報を算出する算出ステップと、
    　前記算出ステップにおいて算出した前記チャネル状態情報に基づいて、前記第１領域内の前記物体の位置、前記人の位置または前記人の動きを検出する検出ステップと、を実行する、
    　演算プログラム。     An arithmetic program executed in an arithmetic device used in a detection device for detecting the position of an object, the position of a person, or the movement of a person in a first region,
    The detection device comprises a communication device located within the first region,
    The communication device includes first to T-th transmitting antennas and first to R-th receiving antennas,
    The first to R-th receiving antennas receive signals of first to N-th subcarriers transmitted by electromagnetic waves from the first to T-th transmitting antennas,
    T, R and N are integers of 1 or more,
    The computing program is
    an obtaining step of obtaining weather information about the weather in the first region;
    selecting an operation mode based on the weather information obtained in the obtaining step;
    setting the transmission strength of the electromagnetic waves transmitted by the first to T-th transmission antennas based on the selected operation mode; or receiving by the first to R-th reception antennas. setting the reception sensitivity of the electromagnetic wave to
    Based on the signals of the first to N-th subcarriers received by the first to R-th reception antennas, the first to T-th transmission antennas and the first to R-th reception antennas a calculating step of calculating channel state information indicating a state of a transmission path of the electromagnetic wave between the R-th receiving antenna;
    a detection step of detecting the position of the object, the position of the person, or the movement of the person in the first area based on the channel state information calculated in the calculation step;
    Arithmetic program.
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