JP2019168364A - Moving body detection system, moving body detection method, program, and vehicle - Google Patents

Abstract

To improve the reliability of detecting a moving body.SOLUTION: A detection unit of a moving body detection system 1 has a first mode and a second mode as operation modes. The first mode determines the presence of an object B1 within a prescribed distance L0 on the basis of a received wave signal. The second mode determines the presence of a moving body M1 in a monitoring space 110 on the basis of a component corresponding to a frequency difference between a reference frequency that corresponds to the prescribed frequency of an oscillation signal and the frequency of the received wave signal. The detection unit at least has a determination condition that the moving body M1 is an intruder when a first and a second condition are met. The first condition refers to determining in the first mode that the object B1 is not present within the distance L0. The second condition refers to determining in the second mode that the moving body M1 is present.SELECTED DRAWING: Figure 3

Description

  The present invention generally relates to a moving body detection system, a moving body detection method, a program, and a vehicle. More specifically, the present invention relates to a moving body detection system, a moving body detection method, and a program for detecting the presence or absence of a moving body in a monitoring space, and a vehicle including the moving body detection system.

  As a conventional example, an intrusion detection device described in Patent Document 1 is illustrated. This intrusion detection device detects an intrusion of a person into a car. This intrusion detection device includes a wave transmitting unit that transmits ultrasonic waves into the vehicle, a wave receiving unit that receives ultrasonic waves propagating in the vehicle and converts them into electrical signals, and whether or not a person in the vehicle exists based on the Doppler signal. A determination unit for determining whether or not. Moreover, in this intrusion detection apparatus, until the signal level of the signal received by the wave receiving unit exceeds a predetermined threshold value (threshold for window glass breakage detection), the ultrasonic wave transmission by the wave transmitting unit is stopped and the signal is stopped. Ultrasound is transmitted after the level exceeds a predetermined threshold. Therefore, since the ultrasonic wave transmission is stopped until the breakage of the window glass is detected, the power consumption can be reduced.

JP 2012-220253 A

  By the way, if a moving object other than a person, such as a flying object such as an insect, enters the vehicle (in the surveillance space) and flies around the intrusion detection device, the intrusion detection device mistakenly detects the flying object such as an insect as an intruder. Judgment and false alarm may occur. Therefore, it is desired to improve the reliability of moving object detection in consideration of flying objects such as insects.

  The present invention has been made in view of the above reasons, and an object thereof is to provide a moving body detection system, a moving body detection method, a program, and a vehicle that can improve the reliability of moving body detection.

  A moving body detection system according to an aspect of the present invention includes a wave transmission unit, a wave reception unit, and a detection unit. When the oscillation signal having a predetermined frequency is input, the transmission unit transmits a continuous energy wave whose amplitude periodically changes to the monitoring space. The wave receiving unit receives a reflected wave generated when the continuous energy wave is reflected by an object existing in the monitoring space, and generates a received signal. The detection unit detects an intruder in the monitoring space. The detection unit has at least a first mode and a second mode as operation modes. The first mode is a mode for determining the presence or absence of an object within a predetermined distance based on the received signal. The second mode is a mode for determining the presence / absence of a moving body in the monitoring space based on a component corresponding to the frequency difference between the reference frequency corresponding to the predetermined frequency and the frequency of the received signal. The detection unit has at least a determination condition for determining that the moving body is an intruder when the first condition and the second condition are satisfied. The first condition is to determine that the object is absent within a predetermined distance in the first mode. The second condition is to determine that the moving object exists in the second mode.

  A moving body detection method according to an aspect of the present invention includes a wave transmission step, a wave reception step, and a detection step. In the transmission step, a continuous energy wave whose amplitude periodically changes when an oscillation signal having a predetermined frequency is input to the transmission unit is transmitted to the monitoring space. In the wave receiving step, the wave receiving unit generates a wave receiving signal by receiving a reflected wave generated by reflecting a continuous energy wave to an object existing in the monitoring space. The detection step detects an intruder in the monitoring space. The detection step has at least a first mode and a second mode as operation modes. In the first mode, the presence or absence of an object within a predetermined distance is determined based on the received signal. In the second mode, the presence / absence of a moving object in the monitoring space is determined based on a component corresponding to the frequency difference between the reference frequency corresponding to the predetermined frequency and the frequency of the received signal. The detection step has at least a determination condition for determining that the moving body is an intruder when the first condition and the second condition are satisfied. The first condition is to determine that the object is absent within a predetermined distance in the first mode, and the second condition is to determine that the moving object is present in the second mode.

  A program according to one embodiment of the present invention causes a computer system to execute a moving object detection method.

  A vehicle according to one embodiment of the present invention includes a moving body detection system and a vehicle body on which the moving body detection system is mounted.

  The present invention has the advantage that the reliability of moving object detection can be improved.

FIG. 1 is a block diagram of a moving object detection system according to an embodiment. FIG. 2 is an explanatory diagram of a vehicle provided with the above moving body detection system. FIG. 3 is an explanatory diagram of the monitoring space in the vehicle. FIG. 4 is a flowchart showing the operation of the detection unit in the moving body detection system of the above. FIG. 5 is a flowchart showing the operation of the detection unit.

(1) Outline The following embodiment is only one of various embodiments of the present invention. The following embodiments can be variously modified according to the design or the like as long as the object of the present invention can be achieved. 1 to 5 described in the following embodiments are schematic diagrams, and the ratios of the sizes and thicknesses of the constituent elements in FIGS. 1 to 5 do not necessarily reflect actual dimensional ratios. Not necessarily.

  As an example, the moving body detection system 1 of the present embodiment is assumed to be mounted on a vehicle body 101 of a vehicle 100 such as an automobile as shown in FIG. That is, the monitoring space 110 monitored by the moving object detection system 1 is an in-vehicle space of the vehicle 100 as an example.

  As shown in FIG. 1, the moving body detection system 1 includes a wave transmission unit 3, a wave reception unit 4, and a detection unit 7. Here, as an example, the moving body detection system 1 is configured as a moving body detection apparatus 10 in which the wave transmission unit 3, the wave reception unit 4, and the detection unit 7 are integrally packaged. It is assembled to an overhead console installed on the front upper ceiling C1 (see FIG. 3). However, the detection unit 7 may be provided in a distributed manner with the transmission unit 3 and the reception unit 4. For example, at least a part of the functions of the detection unit 7 may be provided in an ECU (Electronic Control Unit) of the vehicle 100.

  The transmission unit 3 transmits a continuous energy wave whose amplitude periodically changes to the monitoring space 110 when an oscillation signal S1 having a predetermined frequency (see FIG. 1) is input. The moving body detection system 1 uses, for example, an ultrasonic wave as a continuous energy wave. However, the moving body detection system 1 may use radio waves instead of ultrasonic waves as continuous energy waves.

  The wave receiving unit 4 receives a reflected wave generated by reflection of the ultrasonic wave on the object B1 existing in the monitoring space 110, and generates a received wave signal S2. That is, the wave receiving unit 4 converts the received ultrasonic wave (reflected wave) into an electric wave signal S2 as an electric signal.

  The detection unit 7 is configured to detect an intruder into the monitoring space 110. The detection unit 7 has at least a first mode and a second mode as operation modes. However, it is not particularly limited as to which of the first mode and the second mode the detection unit 7 operates first.

  The first mode is a mode for determining the presence / absence of the object B1 within a predetermined distance L0 (for example, 20 cm) based on the received wave signal S2. The second mode is a mode in which the presence or absence of the moving body M1 in the monitoring space 110 is determined based on a component (frequency difference) corresponding to the frequency difference between the reference frequency corresponding to the predetermined frequency and the frequency of the received signal S2. is there.

  Here, the “predetermined distance L0” is erroneously determined as “the moving body M1 exists” in the second mode even if the reflected wave is an ultrasonic wave having a relatively small reflectance reflected from an insect or the like. This corresponds to the upper limit value of the distance (range). Therefore, the predetermined distance L0 is a value that is appropriately set according to the sensor sensitivity.

  Further, “within the predetermined distance L0” is assumed to correspond to a range of a substantially hemispherical space centered on the center of gravity (reference position P0) of the main body of the moving body detection device 10 in the monitoring space 110. (See FIG. 3). However, the reference position P0 may be the position of the wave receiving unit 4, for example.

  And the detection part 7 has at least the determination conditions which determine that the mobile body M1 is an intruder when satisfy | filling 1st conditions and 2nd conditions. The first condition is to determine that the object B1 is absent within the predetermined distance L0 in the first mode. The second condition is to determine that the moving object M1 exists in the second mode.

  According to this configuration, the detection unit 7 has at least a determination condition for determining that the moving body M1 is an intruder when the first condition and the second condition are satisfied. Therefore, for example, as shown in FIG. 3, even if a relatively small flying object such as an insect (specifically, a fly or a mosquito) H1 exists within a predetermined distance L0, the flying object H1 is mistakenly an intruder. Judging that it exists is suppressed. Therefore, it is possible to improve the reliability of moving object detection.

  In addition, it is preferable to further set a condition (a third condition described later) so as not to be reported when the object B1 existing within the predetermined distance L0 is not a flying object H1 but an intruder.

(2) Details (2.1) Overall Configuration Hereinafter, the overall configuration of the moving body detection system 1 and the vehicle 100 of the present embodiment will be described. The moving body detection system 1 is mounted on a vehicle body 101 of a vehicle 100 such as an automobile as described in the section “(1) Overview” above. The vehicle 100 includes a moving body detection system 1 and a vehicle body 101. The moving body detection system 1 is assembled in an overhead console or the like as a packaged moving body detection apparatus 10.

  The moving body detection system 1 functions as a security system that detects the moving body M1 (intruder) in the monitoring space 110 of the vehicle 100. The usage form of the moving body detection system 1 is not limited to the security system of the vehicle 100 and may be used for other purposes.

  The moving body detection system 1 is configured to be able to communicate with an ECU mounted on the vehicle 100 wirelessly or by wire. The moving body detection system 1 is configured such that, for example, the state of the door lock device (door lock) (locking or unlocking) of the vehicle 100 is notified from the ECU. The moving body detection system 1 determines whether the door lock is locked or unlocked based on the notification from the ECU, and is in a stopped state (or a standby state) until the door lock is locked. When the user (for example, a driver) of the vehicle 100 goes out of the vehicle 100 and the door lock is locked, the moving body detection system 1 is activated and starts the “warning state”.

  FIG. 1 is a block diagram of the moving body detection system 1. The moving body detection system 1 includes an oscillation circuit 2, a wave transmission unit 3, a wave reception unit 4, a phase shift circuit 5, a phase detection unit 6, a detection unit 7, a measurement unit 8, and the like. Here, each component other than the detection unit 7 will be described, and the detection unit 7 will be described in detail in the next section “(2.2) Detection unit”.

  The oscillation circuit 2 is an oscillation circuit using a crystal oscillator, for example. The oscillation circuit 2 outputs an oscillation signal (sine wave signal) S1 having a predetermined frequency corresponding to the reference frequency to the transmission unit 3. Here, the “reference frequency” is, for example, several tens of kilohertz (40 kHz in the present embodiment), and is set based on the frequency of the ultrasonic wave transmitted from the transmission unit 3. The oscillation circuit 2 starts or ends the output of the oscillation signal S1 according to the control signal from the detection unit 7.

  The wave transmission unit 3 is a wave transmitter (microphone) configured to be able to transmit ultrasonic waves. When the oscillation signal S <b> 1 is input from the oscillation circuit 2, the wave transmission unit 3 transmits an ultrasonic wave having a frequency equal to the predetermined frequency of the oscillation signal S <b> 1 toward the inside of the monitoring space 110. The oscillation circuit 2 continuously outputs the oscillation signal S1, and the ultrasonic wave transmitted by the wave transmission unit 3 becomes a continuous wave.

  The wave receiving unit 4 is a wave receiver (microphone) configured to be able to receive ultrasonic waves flying from the monitoring space 110. The wave receiving unit 4 receives a reflected wave (ultrasonic wave) generated by being reflected by the object B1 existing in the monitoring space 110 and generates a received wave signal S2. That is, the wave receiving unit 4 converts the received reflected wave into a voltage signal (received signal S2) having a frequency equal to the frequency of the reflected wave. The receiving unit 4 may further include an amplifier that amplifies the received signal S2. Here, the object B1 includes various stationary objects in the vehicle (window glass W1, door D1, handle, ceiling C1, seat Z1, a bag on the seat Z1, a portable terminal, etc.), a flying object H1, a moving object M1, and the like. May be included. FIG. 3 shows both the flying object H1 such as an insect and the moving body M1 that is an intruder in a bent posture so that the moving body detection system 1 can be easily understood.

  The oscillation signal S1 output from the oscillation circuit 2 is input to the phase shift circuit 5 as the reference signal R1. The phase shift circuit 5 generates a phase shift reference signal R2 in which the phase of the reference signal R1 is shifted (shifted) by π / 2 [rad].

  The phase detection unit 6 includes, for example, a first detection block 61A and a second detection block 61B. The first detection block 61A includes a mixer 62A (mixer), a low-pass filter 63A (Low Pass Filter), a high-pass filter 64A (High Pass Filter), and an amplifier 65A. The second detection block 61B includes a mixer 62B (mixer), a low-pass filter 63B, a high-pass filter 64B, and an amplifier 65B.

  The mixer 62A of the first detection block 61A receives the reception signal S2 output from the reception unit 4 and the oscillation signal S1 (reference signal R1) output from the oscillation circuit 2. The mixer 62A mixes (multiplies) the received signal S2 and the reference signal R1, thereby outputting a signal having a frequency difference component and a sum component of the received signal S2 and the reference signal R1. Similarly, the reception signal S2 output from the reception unit 4 and the phase shift reference signal R2 output from the phase shift circuit 5 are input to the mixer 62B of the second detection block 61B. The mixer 62B mixes (multiplies) the received signal S2 and the phase shift reference signal R2, thereby having a frequency difference component and a sum component of the received signal S2 and the phase shift reference signal R2. Is output.

  The low-pass filter 63A of the first detection block 61A is configured to block a signal having a frequency component substantially equal to the frequency of the reference signal R1. Therefore, the low-pass filter 63A determines the frequency of the received signal S2 and the reference signal R1 from the signal output from the mixer 62A (a signal having a frequency difference component and a sum component between the received signal S2 and the reference signal R1). The signal having the difference component is passed. Similarly, the low pass filter 63B of the second detection block 61B is configured to block a signal having a frequency component substantially equal to the frequency of the phase shift reference signal R2. Therefore, the low-pass filter 63B receives the received signal S2 and the phase shift reference signal from the signal output from the mixer 62B (a signal having a frequency difference component and a sum component between the received signal S2 and the phase shift reference signal R2). A signal having a frequency difference component from R2 is passed.

  Here, in a closed space (monitoring space 110) as in the vehicle 100, reflected waves (ultrasonic waves) reflected by stationary objects such as the window glass W <b> 1, the door D <b> 1, and the seat Z <b> 1 are received by the wave receiving unit 4. Received. Further, a part of the ultrasonic wave transmitted from the transmission unit 3 is directly received by the reception unit 4. When the moving body M1 does not exist in the monitoring space 110, the frequency of the received signal S2 matches the frequency of the reference signal R1 and the phase shift reference signal R2, and the received signal S2, the reference signal R1, and the phase shift reference signal R2 The frequency difference becomes zero. Therefore, a signal having a frequency difference between the received signal S2 and the reference signal R1 and the phase shift reference signal R2 includes a DC component signal.

  The high-pass filter 64A of the first detection block 61A passes a signal having a frequency component equal to or higher than a predetermined cutoff frequency (cut-off frequency) from the output signal of the low-pass filter 63A. Therefore, a Doppler signal obtained by removing a DC component signal from a signal having a frequency difference component between the received signal S2 and the reference signal R1 is output from the high-pass filter 64A. Similarly, the high pass filter 64B of the second detection block 61B passes a signal having a frequency component equal to or higher than a predetermined cutoff frequency (cutoff frequency) from the output signal of the low pass filter 63B. Therefore, a Doppler signal obtained by removing a DC component signal from a signal having a frequency difference component between the received signal S2 and the phase shift reference signal R2 is output from the high pass filter 64B. The cutoff frequencies of the high-pass filters 64A and 64B are set to frequencies corresponding to the moving speed of the moving object M1 that is an assumed detection target. For example, when it is assumed that the moving body M1 is a person (intruder), the cutoff frequency is preferably set to several tens of hertz.

  The amplifier 65A of the first detection block 61A amplifies the output signal of the high pass filter 64A with a predetermined gain and outputs the amplified signal to the detection unit 7. The amplifier 65B of the second detection block 61B amplifies the output signal of the high pass filter 64B with a predetermined gain and outputs the amplified signal to the detection unit 7.

  Each of the first detection block 61A and the second detection block 61B can include a frequency difference component (Doppler component) between the received signal S2 and the oscillation signal S1 (reference signal R1, phase-shifted reference signal R2) by the above configuration. Component) is output to the detector 7. Hereinafter, a signal output from the phase detection unit 6 to the detection unit 7 is referred to as “Doppler signal S3” for convenience of explanation. However, the Doppler signal S3 is a DC component signal that does not include a Doppler component unless the moving body M1 exists.

  The measuring unit 8 has, for example, a TOF (Time-Of-Flight) sensor. The measurement unit 8 is configured to measure the time (time difference) from the transmission of the ultrasonic wave from the transmission unit 3 to the reception of the reflected wave by the reception unit 4. Moreover, the measurement part 8 converts the said time difference into the distance (for example, refer to distance L1 of the flying object H1) from the main body (refer FIG. 3: reference position P0) of the mobile body detection apparatus 10 to object B1 by arithmetic processing. Configured as follows.

  The measuring unit 8 receives the oscillation signal S1 (reference signal R1) from the oscillation circuit 2. Further, the measurement unit 8 receives the received signal S <b> 2 from the receiving unit 4. The reference signal R1 and the received signal S2 may have a pulse width (time difference) proportional to the distance to the object B1. The measuring unit 8 converts the width of this pulse into a distance.

  The measuring unit 8 further detects the signal level (the intensity of the reflected wave) of the received signal S2. For example, even if the two objects B1 are located at substantially the same distance from the reference position P0, the reflectance of the reflected wave is different and the intensity of the reflected wave is also different depending on their size and shape. For example, the intensity differs greatly between a reflected wave from a moving body M1 such as a person and a reflected wave from a flying object H1 such as an insect. The measurement unit 8 outputs a signal including intensity information together with the distance information to the detection unit 7. Hereinafter, a signal including distance information and intensity information output from the measurement unit 8 to the detection unit 7 is referred to as “sensor signal S4” for convenience of explanation.

(2.2) Detection Unit (2.2.1) Overall Configuration of Detection Unit The detection unit 7 is configured by, for example, a microcomputer that mainly includes a CPU (Central Processing Unit) and a memory. In other words, the detection unit 7 is realized by a computer having a CPU and a memory, and the computer functions as the detection unit 7 when the CPU executes a program stored in the memory. Here, the program is recorded in advance in a memory, but may be provided by being recorded through a telecommunication line such as the Internet or a recording medium such as a memory card.

  The detection unit 7 is configured to control the oscillation circuit 2 and the wave transmission unit 3. Specifically, for example, when the driver of the vehicle 100 goes out of the vehicle 100 and the door lock is locked based on a notification from the ECU, the detection unit 7 starts a warning state. For example, the detection unit 7 receives a sound wave generated when the window glass W1 of the vehicle 100 is broken by the wave receiving unit 4 in addition to starting a warning state triggered by the door lock being locked. You may initiate a vigilance on the trigger. When starting the alert state, the detection unit 7 causes the oscillation circuit 2 to output the oscillation signal S1, thereby starting the transmission of the wave transmission unit 3. Moreover, the detection part 7 stops the transmission of the transmission part 3 by stopping the output of the oscillation signal S1 from the oscillation circuit 2 at the end of the alert state.

  The detection unit 7 may store the distance information and the intensity information included in the sensor signal S4 from the measurement unit 8 at the start of the alert state in its own memory as initial information, and may use it for subsequent processing.

  Here, the detection unit 7 is configured to detect an intruder into the monitoring space 110. The detection unit 7 sequentially performs a determination operation based on the Doppler signal S3 and a determination operation based on the sensor signal S4 in the alert state. Specifically, the detection unit 7 has, for example, three operation modes (preparation mode, first mode, and second mode) as operation modes in the alert state. When the alerting state is started, the detection unit 7 executes the operation mode in the order of the preparation mode, the first mode, and the second mode. However, the detection unit 7 may execute these operations partially in parallel. For example, a first processor that executes the first mode and a second processor that executes the second mode are separated, and the two processors execute determination operations at the same time, and the final determination result is matched and an alarm is issued. Also good.

  The detection unit 7 has a determination condition for determining that the moving body M1 is an intruder when the first condition and the second condition are satisfied. When the detection unit 7 determines that the moving body M1 is an intruder, the detection unit 7 generates a detection signal and transmits the detection signal to the ECU. Upon receiving the detection signal, the ECU notifies the surroundings that an intruder exists in the monitoring space 110 by, for example, sounding an alarm sound (horn sound). In the present embodiment, the detection unit 7 further has a determination condition for determining that the moving body M1 is an intruder when the second condition and the third condition are satisfied. The detection unit 7 also generates a detection signal when the second condition and the third condition are satisfied. The third condition is not an essential condition.

(2.2.2) First Mode, First Condition, and Third Condition The first mode determines whether or not the object B1 exists within a predetermined distance L0 from the reference position P0 based on the sensor signal S4 (distance information). It is a mode to do. In the first mode, since it is not determined whether the object B1 is a stationary object or a moving object, the object B1 is referred to as an object B1 here. There is a possibility of flying object H1. The first condition is that it is determined in this mode that the object B1 is absent within the predetermined distance L0. The detector 7 may discard the unnecessary Doppler signal S3 output from the phase detector 6 during operation in the first mode.

  The predetermined distance L0 is 20 cm, for example, and is stored in advance in the memory of the detection unit 7 as reference information. The predetermined distance L0 is erroneously determined as “the moving body M1 is present” in the second mode even if the reflected wave is an ultrasonic wave having a relatively small reflectance reflected from the flying object H1 such as an insect. This corresponds to the upper limit of the distance. In other words, even if the flying object H1 exists in the monitoring space 110, if it exists farther than the predetermined distance L0, the reflected wave from the flying object H1 is attenuated and processed as noise in the second mode. It is difficult to determine that “the moving body M1 exists”. In short, in this mode, the detection unit 7 picks up the cause of erroneous determination in the second mode.

  The sensor signal S4 includes distance information to various objects B1. While operating in the first mode, the detection unit 7 compares a large number of distance information in the sensor signal S4 with a predetermined distance L0 (reference information), and if there is no distance information equal to or less than the predetermined distance L0, It is determined that the object B1 is absent within the predetermined distance L0. That is, the first condition is satisfied. On the other hand, if there is distance information equal to or smaller than the predetermined distance L0, the detection unit 7 determines that the object B1 exists within the predetermined distance L0. That is, the first condition is not satisfied.

  When the first condition is not satisfied (when the object B1 is present within the predetermined distance L0), the detection unit 7 determines that the intensity of the reflected wave (received signal S2) is based on the intensity information included in the sensor signal S4. It is determined whether or not a predetermined value is exceeded. The predetermined value is a value appropriately set based on the intensity of the reflected wave obtained when a part of the human body (head or hand) enters within a predetermined distance L0. If the intensity of the reflected wave exceeds a predetermined value, the detection unit 7 determines that the object B1 is a part of the human body within the predetermined distance L0. That is, the third condition is satisfied. On the other hand, if the intensity of the reflected wave is equal to or less than the predetermined value, the detection unit 7 determines that the object B1 is the flying object H1 within the predetermined distance L0. That is, the third condition is not satisfied.

  The detection unit 7 shifts the operation mode from the first mode to the second mode when the first condition is satisfied or when the third condition is satisfied.

(2.2.3) Second Mode and Second Condition The second mode is a mode in which the presence or absence of the moving body M1 in the monitoring space 110 is determined based on the Doppler signal S3 (frequency difference component). The second condition is that it is determined that the moving body M1 exists in this mode. The detecting unit 7 may discard the unnecessary sensor signal S4 output from the measuring unit 8 during operation in the second mode. Alternatively, the detection unit 7 may stop the operation of the measurement unit 8 when the sensor signal S4 is unnecessary.

  While operating in the second mode, the detection unit 7 determines whether or not the Doppler signal S3 includes a Doppler component due to the moving body M1 (frequency deviation due to the moving body M1), thereby moving the moving body in the monitoring space 110. The presence or absence of M1 is determined. Specifically, the detection unit 7 determines whether the signal level (component magnitude: voltage level, for example) of the Doppler signal S3 of the amplifier 65A is higher or lower than the reference value (first threshold value). In addition, the detection unit 7 determines whether the signal level of the Doppler signal S3 of the amplifier 65B is higher or lower than the first threshold value. The detection unit 7 determines that the moving body M1 exists in the monitoring space 110 when the signal level of at least one of the amplifier 65A and the amplifier 65B exceeds the first threshold value. That is, the second condition is satisfied. On the other hand, if both the signal levels of the amplifier 65A and the amplifier 65B are equal to or lower than the first threshold value, the detection unit 7 determines that the moving object M1 does not exist in the monitoring space 110. That is, the second condition is not satisfied.

  When the second condition is satisfied, the detection unit 7 already satisfies the first condition (or the third condition) in the first mode, and therefore determines that the moving body M1 is an intruder and sends a detection signal to the ECU. Output.

(2.2.4) Preparation Mode The preparation mode is also a mode using the Doppler signal S3. However, the preparation mode is a mode in which the presence or absence of the moving object M1 in the monitoring space 110 is determined prior to the first mode.

  The preparation mode is generally the same as the second mode. However, the reference value to be compared with the signal level of the Doppler signal S3 differs between the preparation mode and the second mode. Specifically, the detection unit 7 determines whether the signal level (component size: voltage level, for example) of the Doppler signal S3 and the reference value (second threshold) are high or low. The second threshold is lower than the first threshold used in the second mode. The detection unit 7 determines that the moving body M1 exists when the signal level of the Doppler signal S3 exceeds the second threshold value in the preparation mode.

  If the detection part 7 determines with the mobile body M1 existing in preparation mode, it will transfer to 1st mode. Thus, by setting the reference value low and executing in advance the preparatory mode having a higher sensitivity than the second mode, it is possible to suppress the occurrence of a situation in which an intruder is not detected and the information is lost.

(2.2.5) Operation Flow of Detection Unit The operation flow of the detection unit 7 will be described below with reference to the flowcharts of FIGS. 4 and 5. Here, as an example, the detection unit 7 starts a warning state triggered by receiving a sound wave generated by the wave receiving unit 4 when the window glass W1 is broken. The detection unit 7 stores in advance a predetermined threshold value (a signal level set based on the signal waveform of the breaking sound of the window glass W1) in the memory.

  The moving body detection system 1 is activated when the driver of the vehicle 100 goes out and the door lock is locked, and the detection unit 7 enters a standby state (step ST1) as shown in FIG. The detection unit 7 monitors the reception signal S2 received by the reception unit 4 in the standby state. When the window glass W <b> 1 is broken and a breaking sound is generated, it is received by the wave receiving unit 4, and further passes through the phase detection unit 6 and is input to the detection unit 7. At this time, the phase detector 6 does not receive the reference signal R1 and the phase shift reference signal R2 from the oscillation circuit 2 and the phase shift circuit 5. Therefore, a frequency difference component caused only by an instantaneous pulse due to the destructive sound is generated and can be detected by the detection unit 7.

  The detection unit 7 determines that the window glass W1 is broken when the signal level of the sound wave (received signal S2) received by the wave receiving unit 4 exceeds a predetermined threshold (step ST2: YES), and is in a standby state. Shifts to a warning state (starts a warning state) (step ST3).

  The detector 7 first executes the preparation mode after the start of the alert state (step ST4). Moreover, the detection part 7 time-measures with the built-in timer, and determines whether predetermined | prescribed 1st time (for example, 1 hour or more etc.) has passed after execution start of preparation mode (step ST5). The detection unit 7 determines whether or not the moving object M1 exists in the monitoring space 110 until the first time elapses (step ST6). When the first time has elapsed without detecting the presence of the moving body M1 (step ST5: YES), the detection unit 7 ends the preparation mode and returns to the standby state. When detecting the presence of the moving body M1 before the first time elapses (step ST6: YES), the detection unit 7 shifts from the preparation mode to the first mode (step ST7). There is no need to time the first time. That is, once the alert state is started, the detection unit 7 may loop the preparation mode until the presence of the moving body M1 is detected.

  Similarly, in the first mode, the detection unit 7 uses a timer to determine whether or not a predetermined second time (for example, several tens of seconds) has elapsed after the start of the execution of the first mode (step ST8). . The detection unit 7 determines whether or not the object B1 exists within 20 cm (predetermined distance L0) until the second time elapses (step ST9). When the second time has elapsed without detecting the presence of the object B1 within 20 cm (step ST8: YES), the detection unit 7 determines that the object B1 is absent within 20 cm (step ST10), It is determined that the condition is satisfied (step ST11). And the detection part 7 transfers to 2nd mode as it is (step ST12). On the other hand, when the detection unit 7 determines that the object B1 exists within 20 cm by the time the second time elapses (step ST9: YES), the detection unit 7 subsequently determines whether or not the intensity of the reflected wave exceeds a predetermined value ( Step ST13). If the intensity of the reflected wave exceeds the predetermined value (step ST13: YES), the detection unit 7 determines that the object B1 existing within 20 cm is a part of the human body (step ST14), and the third It is determined that the condition is satisfied (step ST15). And the detection part 7 transfers to 2nd mode as it is (step ST12). If the intensity of the reflected wave is less than or equal to the predetermined value (step ST13: NO), the detection unit 7 determines that the object B1 existing within 20 cm is a flying object H1 such as an insect (step ST16), and again. Return to the preparation mode (step ST17).

  As shown in FIG. 5, when the second mode is started (step ST20), the detection unit 7 similarly counts with a timer in the second mode, and after the start of execution of the second mode, a predetermined third time ( For example, it is determined whether or not several minutes have elapsed (step ST21). The detection unit 7 determines whether or not the moving object M1 exists in the monitoring space 110 until the third time elapses (step ST22). When the third time has elapsed without detecting the presence of the moving body M1 (step ST21: YES), the detection unit 7 returns to the preparation mode again (step ST23).

  When detecting the presence of the moving body M1 before the third time elapses (step ST22: YES), the detection unit 7 determines that the second condition is satisfied (step ST24). That is, at this time, the first condition and the second condition are satisfied, or the second condition and the third condition are satisfied. Therefore, the detection unit 7 determines that the moving body M1 is an intruder (step ST25), and transmits a detection signal to the ECU. The ECU sounds an alarm sound (step ST26).

  By the way, an intruder breaks the window glass W1 and enters the monitoring space 110, and at the same time, flying objects H1 such as insects may enter the monitoring space 110 together. For example, while the detection unit 7 is operating in the first mode, the flying object H1 may exist within 20 cm, and the intruder may exist outside 20 cm. Therefore, it is preferable that the detection unit 7 also detects the number of the moving bodies M1, for example, in the preparation mode. When a plurality of moving bodies M1 are detected, the detection unit 7 switches the predetermined distance L0 (20 cm) to a long distance (for example, double 40 cm) in the first mode, or sets a predetermined value used for the intensity determination of the reflected wave to a low value. To make it easier to shift to the second mode. Alternatively, when detecting a plurality of moving bodies M1, the detection unit 7 may directly shift to the second mode by omitting the first mode.

  As described above, in the moving body detection system 1 according to the present embodiment, the detection unit 7 determines that the moving body M1 is an intruder when at least the first condition and the second condition are satisfied. Therefore, even if a relatively small flying object H1 (object B1) such as an insect is present within the predetermined distance L0, it is possible to suppress erroneous determination that the flying object H1 is an intruder. Therefore, it is possible to improve the reliability of moving object detection.

  Furthermore, since there is a preparation mode that is executed prior to the first mode, the operation occurrence rate at which the detection unit 7 operates in the first mode can be suppressed. That is, the processing load on the detection unit 7 caused by the first mode can be reduced, and power consumption can be suppressed. In addition, by executing in advance the preparation mode having higher sensitivity than the second mode, it is possible to suppress the occurrence of a situation in which the intruder is not detected and the information is reported. Moreover, in this embodiment, since the detection part 7 determines that the mobile body M1 is an intruder also when 2nd conditions and 3rd conditions are satisfy | filled, generation | occurrence | production of a misreport can further be suppressed.

  In particular, when a warning state is started with the breakage of the window glass W1 of the vehicle body 101 as a trigger, the window glass W1 is not actually broken, that is, a stepping stone hits the window glass W1 of the vehicle body 101 and sounds similar to the sound of glass breakage. There is also a possibility that the receiving unit 4 picks up and starts a warning state by mistake. Unlike the present embodiment, there is no preparation mode or first mode, and if the configuration starts from the second mode suddenly, if there is a flying object H1 such as an insect in the vehicle, it will fly without returning to the standby state again. There is a relatively high possibility that the object H1 is mistakenly determined as an intruder and a false alarm is generated. In this embodiment, since there is the first mode before the second mode and there is a preparation mode, the occurrence of such a false alarm can be suppressed.

(3) Modified Examples Below, several modified examples are listed. Hereinafter, the above-described embodiment is referred to as a “basic example”. Each of the modified examples described below can be applied in appropriate combination with the basic example and other modified examples described above.

  In the basic example, the detection unit 7 has a preparation mode as an operation mode. However, the preparation mode is not an essential configuration and may not have the preparation mode. The detection unit 7 may execute the first mode immediately after the start of the alert state. In this case, since the detection accuracy of the moving body M1 is inferior to that of the basic example, the detection unit 7 includes distance information and intensity information included in the sensor signal S4 from the measurement unit 8 at the start of the alert state. Is preferably stored in the memory as initial information. And it is preferable that the detection part 7 compares the initial information in memory with the distance information and intensity | strength information contained in the present sensor signal S4, and also determines the presence or absence of the mobile body M1 from the difference. Further, the detection unit 7 uses the initial information to remove distance information (for example, distance information of a stationary object such as the ceiling C1, the window glass W1, and the seat Z1) that becomes noise from a large number of distance information in the sensor signal S4. It is preferable to carry out a comparison process.

  In the basic example, the detection unit 7 executes the operation modes in the order of the first mode and the second mode, but this order is not particularly limited. For example, the detection unit 7 may execute the operation mode in the order of the second mode and the first mode. And the detection part 7 may transfer to 2nd mode from 1st mode, when 2nd conditions are satisfy | filled in 2nd mode. In this case, since the detection unit 7 operates in the second mode prior to the first mode, the operation occurrence rate of operating in the first mode can be suppressed. That is, the processing load of the detection unit 7 caused by the first mode can be reduced. Also, the preparation mode in the basic example is not necessary.

  In the basic example, the measurement unit 8 converts the pulse width (time difference) into a distance and outputs it to the detection unit 7 as distance information, but the conversion into the distance is not essential. The measurement unit 8 may output the time difference information to the detection unit 7 as it is. In this case, the detection unit 7 may convert the time difference into a distance. Alternatively, without converting the distance, the detection unit 7 stores the time difference corresponding to the predetermined distance L0 in the memory in advance (based on the result obtained in the test or the like) and obtains the time difference obtained from the measurement unit 8. This information may be compared with a reference time difference in the memory.

  Furthermore, the measurement unit 8 is not an essential component. The detection unit 7 may store the signal level (voltage level) of the received signal S2 corresponding to the predetermined distance L0 in advance in the memory as a reference level (based on a result obtained in a test or the like). The detector 7 may receive the received signal S2 from the receiver 4 and make a determination by comparing it with a reference level in the memory.

  In the basic example, the moving body detection system 1 uses the oscillation circuit 2, the transmission unit 3, and the reception unit 4 that are used in the preparation mode and the second mode even in the first mode (with the circuit configuration). Shared). However, the moving body detection system 1 may include an oscillation circuit, a transmission unit, and a reception unit dedicated to the first mode separately from the oscillation circuit 2, the transmission unit 3, and the reception unit 4.

  In the basic example, the difference between the preparation mode and the second mode is only the threshold values (first threshold value, second threshold value) used for the determination of the moving object M1. However, the preparation mode may be a mode simpler than the second mode as a process, in addition to the threshold value. For example, in the preparation mode, the detection unit 7 does not use the phase shift reference signal R2 obtained by shifting the phase of the reference signal R1 by π / 2 [rad], that is, is output from the amplifier 65A of the first detection block 61A. Only the Doppler signal S3 may be used.

  Functions similar to those of the mobile object detection system 1 (mainly the detection unit 7 and the measurement unit 8) in the basic example may be embodied by a control method, a computer program, or a non-temporary recording medium in which the program is recorded. . Here, the execution unit of the detection unit 7, the measurement unit 8, or the control method includes a computer system. The computer system mainly includes a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, a function as an execution subject of the detection unit 7, the measurement unit 8, or the control method is realized. The program may be recorded in advance in the memory of the computer system, but may be provided through an electric communication line, or may be recorded in a recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. May be provided. A processor of a computer system includes one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The plurality of electronic circuits may be integrated on one chip, or may be distributed on the plurality of chips. The plurality of chips may be integrated into one device, or may be distributed and provided in a plurality of devices.

  Moreover, although the mobile body detection apparatus 10 of a basic example is implement | achieved by one apparatus, it is not limited to this structure. For example, at least one function of the functions of the mobile body detection device 10 may be distributed and provided in two or more devices. In addition, at least a part of the functions in the mobile body detection system 1 (the mobile body detection device 10) may be realized by, for example, cloud (cloud computing).

(4) Advantages As described above, the mobile body detection system (1) according to the first aspect includes the wave transmission unit (3), the wave reception unit (4), and the detection unit (7). . When the oscillation signal (S1) having a predetermined frequency is input, the wave transmission unit (3) transmits a continuous energy wave whose amplitude periodically changes to the monitoring space (110). The wave receiving unit (4) receives a reflected wave generated by reflecting the continuous energy wave on the object (B1) existing in the monitoring space (110) and generates a received signal (S2). The detection unit (7) detects an intruder into the monitoring space (110). The detector (7) has at least a first mode and a second mode as operation modes. The first mode is a mode for determining whether or not the object (B1) exists within a predetermined distance (L0) based on the received wave signal (S2). The second mode is a mode for determining the presence / absence of the moving object (M1) in the monitoring space (110) based on the component corresponding to the frequency difference between the reference frequency corresponding to the predetermined frequency and the frequency of the received signal (S2). It is. The detection unit (7) has at least a determination condition for determining that the moving body (M1) is an intruder when the first condition and the second condition are satisfied. The first condition is to determine that the object (B1) is absent within a predetermined distance (L0) in the first mode. The second condition is to determine that the moving object (M1) exists in the second mode. According to the first aspect, the detection unit (7) determines that the moving body (M1) is an intruder when at least the first condition and the second condition are satisfied. Therefore, for example, even if a flying object (H1) such as an insect is present within the predetermined distance L0, it is suppressed that the flying object (H1) is erroneously determined to be an intruder. Therefore, it is possible to improve the reliability of moving object detection.

  Regarding the mobile body detection system (1) according to the second aspect, in the first aspect, it is preferable that the detection unit (7) further has a preparation mode as an operation mode. The preparation mode is a mode in which the presence or absence of the moving body (M1) in the monitoring space (110) is determined based on the received signal (S2) prior to the first mode. When it is determined that the moving body (M1) is present in the preparation mode, the detection unit (7) preferably shifts from the preparation mode to the first mode. The detection unit (7) preferably shifts from the first mode to the second mode when at least the first condition is satisfied in the first mode. According to the second aspect, since the detection unit (7) operates in the preparation mode prior to the first mode, it is possible to suppress the operation occurrence rate that operates in the first mode. That is, the processing load of the detection unit (7) due to the first mode can be reduced.

  Regarding the mobile body detection system (1) according to the third aspect, in the second aspect, the detection unit (7) moves when the magnitude of the component exceeds the first threshold in the second mode. It is preferable to determine that the body (M1) exists. The detection unit (7) preferably determines that the moving body (M1) exists when the magnitude of the component exceeds a second threshold value lower than the first threshold value in the preparation mode. According to the third aspect, by executing the preparation mode having higher sensitivity than the second mode at the beginning of the operation mode, the intruder can be detected without being detected even though the intruder actually exists. The occurrence of a situation such as reporting can be suppressed.

  Regarding the mobile body detection system (1) according to the fourth aspect, in the first aspect, the detection unit (7) switches from the second mode to the first mode when the second condition is satisfied in the second mode. It is preferable to migrate. According to the fourth aspect, since the operation is performed in the second mode prior to the first mode, the operation occurrence rate of the operation in the first mode can be suppressed. That is, the processing load of the detection unit (7) due to the first mode can be reduced. Also, the preparation mode is not necessary.

  Regarding the moving body detection system (1) according to the fifth aspect, in any one of the first to fourth aspects, the detection unit (7) further receives the received signal (S2) in the first mode. It is preferable to determine whether or not the signal level exceeds a predetermined value. It is preferable that the detection unit (7) further has a determination condition for determining that the moving body (M1) is an intruder when the second condition and the third condition are satisfied. The third condition is preferably that in the first mode, it is determined that the object (B1) exists within a predetermined distance (L0), and the signal level exceeds a predetermined value. According to the fifth aspect, the intruder can be detected although the object (B1) existing within the predetermined distance (L0) is not actually a relatively small flying object such as an insect but an intruder. It is possible to suppress the occurrence of unreported situations.

  The moving body detection method according to the sixth aspect includes a wave transmission step, a wave reception step, and a detection step. In the wave transmitting step, when the oscillation signal (S1) having a predetermined frequency is input to the wave transmitting unit (3), a continuous energy wave whose amplitude periodically changes is transmitted to the monitoring space (110). In the wave receiving step, the wave receiving unit (4) generates a wave receiving signal (S2) by receiving the reflected wave generated by reflecting the continuous energy wave on the object (B1) existing in the monitoring space (110). The detection step detects an intruder into the monitoring space (110). The detection step has at least a first mode and a second mode as operation modes. In the first mode, the presence / absence of the object (B1) within a predetermined distance (L0) is determined based on the received signal (S2). In the second mode, the presence / absence of the moving object (M1) in the monitoring space (110) is determined based on the component corresponding to the frequency difference between the reference frequency corresponding to the predetermined frequency and the frequency of the received signal (S2). The detection step has at least a determination condition for determining that the moving body (M1) is an intruder when the first condition and the second condition are satisfied. The first condition is to determine that the object (B1) is absent within a predetermined distance (L0) in the first mode. The second condition is that the moving body (M1) is present in the second mode. Then it is to determine. According to the 6th aspect, the mobile body detection method which can aim at the improvement of the reliability of mobile body detection can be provided.

  A program according to a seventh aspect causes a computer system to execute the moving body detection method according to the sixth aspect. According to the 7th aspect, the function which can aim at the improvement of the reliability of a mobile body detection can be provided.

  A vehicle (100) according to an eighth aspect includes a mobile body detection system (1) according to any one of the first to fifth aspects, a vehicle body (101) on which the mobile body detection system (1) is mounted, Is provided. According to the 8th aspect, the vehicle (100) which can aim at the improvement of the reliability of a mobile body detection can be provided.

DESCRIPTION OF SYMBOLS 1 Mobile body detection system 3 Transmission part 4 Reception part 7 Detection part 100 Vehicle 101 Car body 110 Monitoring space B1 Object L0 Predetermined distance L1 Distance M1 Moving object S1 Oscillation signal S2 Received signal

Claims (8)

A transmission unit that transmits a continuous energy wave whose amplitude periodically changes when an oscillation signal of a predetermined frequency is input to the monitoring space;
A receiving unit that receives a reflected wave generated by reflecting the continuous energy wave to an object existing in the monitoring space and generates a received signal;
A detection unit for detecting an intruder into the monitoring space;
With
The detection unit is an operation mode.
A first mode for determining the presence or absence of the object within a predetermined distance based on the received signal;
A second mode for determining the presence or absence of a moving object in the monitoring space based on a component corresponding to a frequency difference between a reference frequency corresponding to the predetermined frequency and the frequency of the received signal;
Having at least
The detection unit has at least a determination condition for determining that the moving body is the intruder when the first condition and the second condition are satisfied, and the first condition is that the object is the first mode in the first mode. Determining that the mobile object is absent within a predetermined distance, and the second condition is determining that the moving object is present in the second mode.
Moving object detection system. The detector further includes a preparation mode for determining the presence or absence of the moving body in the monitoring space based on the received signal prior to the first mode as the operation mode,
The detector is
When it is determined in the preparation mode that the moving body is present, the preparation mode is shifted to the first mode,
When at least the first condition is satisfied in the first mode, transition from the first mode to the second mode;
The moving body detection system according to claim 1. The detection unit determines that the moving body is present when the size of the component exceeds a first threshold in the second mode,
The detection unit determines that the moving body is present when the size of the component exceeds a second threshold value lower than the first threshold value in the preparation mode.
The moving body detection system according to claim 2. The detection unit transitions from the second mode to the first mode when the second condition is satisfied in the second mode.
The moving body detection system according to claim 1. The detection unit further determines whether or not the signal level of the received signal exceeds a predetermined value in the first mode,
The detection unit further includes a determination condition for determining that the moving body is the intruder when the second condition and the third condition are satisfied, and the third condition is the object in the first mode. Is determined to exist within the predetermined distance, and the signal level exceeds the predetermined value.
The moving body detection system of any one of Claims 1-4. A transmission step for transmitting a continuous energy wave whose amplitude periodically changes to a monitoring space when an oscillation signal having a predetermined frequency is input to the transmission unit;
A receiving step for generating a received signal by receiving a reflected wave generated by reflecting the continuous energy wave to an object existing in the monitoring space in a receiving unit;
Detecting an intruder into the monitoring space; and
Including
In the detection step, as an operation mode,
A first mode for determining the presence or absence of the object within a predetermined distance based on the received signal;
A second mode for determining the presence or absence of a moving object in the monitoring space based on a component corresponding to a frequency difference between a reference frequency corresponding to the predetermined frequency and the frequency of the received signal;
Having at least
The detection step has at least a determination condition for determining that the moving body is the intruder when the first condition and the second condition are satisfied, and the first condition is that the object is the first mode in the first mode. Determining that the mobile object is absent within a predetermined distance, and the second condition is determining that the moving object is present in the second mode.
Moving object detection method. A computer system is caused to execute the moving body detection method according to claim 6.
program. The moving body detection system according to any one of claims 1 to 5,
A vehicle body on which the moving body detection system is mounted;
Comprising
vehicle.

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