WO2022070616A1

WO2022070616A1 - Monitoring device, vehicle, monitoring method, and program

Info

Publication number: WO2022070616A1
Application number: PCT/JP2021/029488
Authority: WO
Inventors: 虎喜岩丸; 崚武智
Original assignee: 本田技研工業株式会社
Priority date: 2020-09-30
Filing date: 2021-08-10
Publication date: 2022-04-07
Also published as: JPWO2022070616A1; JP7488908B2

Abstract

A monitoring device (10) that monitors the state of a vehicle while parked comprises: a photographing means (13) provided to the vehicle; an identification means (11a) that identifies a feature part of an image obtained by the photographing means while the vehicle is parked; and a determination means (11b) that determines that an abnormality has occurred in the vehicle if a change in the feature part in the image obtained by the photographing means is detected while the vehicle is parked.

Description

Monitoring equipment, vehicles, monitoring methods, and programs

The present invention relates to a vehicle monitoring technique.

In recent years, it has been required to improve the security of parked vehicles. Patent Document 1 proposes a method of setting a security level according to the surrounding environment based on the sensing data of the surrounding environment of the vehicle.

Japanese Unexamined Patent Publication No. 2008-9615

For example, in a saddle-mounted vehicle, vehicle abnormalities such as mischief, theft, and tipping are likely to occur during parking, but from the viewpoint of suppressing an increase in vehicle cost, abnormalities in the parked vehicle are detected with a simple configuration and processing. Is desired.

Therefore, an object of the present invention is to provide an advantageous technique for detecting an abnormality of a parked vehicle with a simple configuration / processing.

In order to achieve the above object, the monitoring device as one aspect of the present invention is a monitoring device for monitoring the state of a parked vehicle, and the photographing means provided on the vehicle and the monitoring device while the vehicle is parked. An abnormality occurs in the vehicle when a specific means for specifying a characteristic portion of an image obtained by the photographing means and a change in the characteristic portion are detected in the image obtained by the photographing means while the vehicle is parked. It is characterized by comprising a determination means for determining that the vehicle has been used.

According to the present invention, for example, it is possible to provide an advantageous technique for detecting an abnormality of a parked vehicle with a simple configuration / processing.

Other features and advantages of the present invention will be clarified by the following description with reference to the accompanying drawings. In the attached drawings, the same or similar configurations are given the same reference numbers.

The accompanying drawings are included in the specification and are used to form a part thereof, show embodiments of the present invention, and explain the principles of the present invention together with the description thereof.
Block diagram showing a configuration example of a monitoring system The figure which shows the arrangement example of the photographing part (camera) in a vehicle A flowchart showing a monitoring process for monitoring a parked vehicle The figure which shows an example of the image obtained in the shooting part The figure which shows an example of the image obtained in the shooting part The figure which shows an example of the image obtained in the shooting part The figure which shows an example of the image obtained in the shooting part The figure which shows an example of the notification screen to a user The figure which shows an example of the notification screen to a user

Hereinafter, embodiments will be described in detail with reference to the attached drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the plurality of features described in the embodiments may be arbitrarily combined. In addition, the same or similar configuration will be given the same reference number, and duplicated explanations will be omitted.

<Configuration of monitoring system>
An example of applying the monitoring system (monitoring device) according to the present invention to a saddle-mounted vehicle will be described below. The monitoring system according to the present invention is a system (device) for monitoring a parked vehicle and detecting an abnormality caused in the vehicle. Examples of vehicle abnormalities include mischief to a parked vehicle and theft of the vehicle. For example, in the case of a saddle-mounted vehicle, the vehicle may fall. Further, in the following embodiments, a motorcycle is exemplified as a saddle-mounted vehicle, but the present invention is also applied to other types of saddle-mounted vehicles such as tricycles and non-saddle-type vehicles such as four-wheeled vehicles. The monitoring system according to the above can be applied.

FIG. 1 is a block diagram showing a configuration example of the monitoring system 100 of the present embodiment. The monitoring system 100 of the present embodiment may include a monitoring device 10 provided in the vehicle V and an information terminal 20 owned by a user of the vehicle V. The monitoring device 10 and the information terminal 20 can be connected to each other by using a communication method such as Bluetooth (registered trademark) or Wi-Fi (registered trademark), but can communicate with each other via the Internet. May be connected.

The monitoring device 10 may include, for example, a processing unit 11, a storage unit 12, a photographing unit 13, an audio output unit 14, and a communication unit 15 that are communicably connected to each other via the system bus 16. The processing unit 11 is, for example, an ECU (Electronic Control Unit), and may include a processor typified by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage unit 12 stores a program executed by the processor, data used by the processor for processing, and the like, and the processing unit 11 reads the program stored in the storage unit 12 into a storage device such as a memory and executes the program. be able to. In the case of the present embodiment, the storage unit 12 stores an application program (monitoring program) for monitoring the parked vehicle V, and the processing unit 11 stores the monitoring program stored in the storage unit 12 in memory. It can be read and executed by a storage device such as. That is, the processing unit 11 can be a computer that executes a monitoring program.

Further, the processing unit 11 of the present embodiment may be provided with, for example, a specific unit 11a, a determination unit 11b, and a notification unit 11c. The specific unit 11a identifies a characteristic unit of an image (image) obtained by the photographing unit 13 while the vehicle V is parked, for example, by using a known image processing technique. The determination unit 11b determines that an abnormality has occurred in the vehicle V when the characteristic unit specified by the specific unit 11a changes in the image obtained by the photographing unit 13 while the vehicle V is parked. When the determination unit 11b determines that an abnormality has occurred in the vehicle V, the notification unit 11c notifies the user of the vehicle V (specifically, an information terminal) that the abnormality has occurred in the vehicle V via the communication unit 15. Notify 20).

The photographing unit 13 includes, for example, a camera, and is provided in the vehicle V so as to photograph a part of the vehicle V and / or the surroundings of the vehicle V and acquire an image (image). For example, the photographing unit 13 may take a picture so as to repeatedly (for example, periodically) acquire a still image, or may take a picture so as to acquire a moving image. Further, the photographing unit 13 of the present embodiment may include a plurality of cameras 13a to 13f arranged in the vehicle V as shown in FIG. FIG. 2 is a view of the vehicle V as a saddle-mounted vehicle as viewed from above, and shows an example of arrangement of the photographing unit 13 (cameras 13a to 13f) in the vehicle V. In the figure, the fan shape of the broken line represents the shooting direction (shooting range) of each camera, "FR" indicates the front of the vehicle V, and "RR" indicates the rear of the vehicle. In the example shown in FIG. 2, the camera 13a is provided on the vehicle V so as to acquire an image behind the vehicle V including an image of a part of the vehicle V (for example, the seat 32). The camera 13b is provided on the vehicle V so as to acquire an image in front of the vehicle V including an image of a part of the vehicle V (for example, a bar handle 31 (handle), a seat 32). The cameras 13c to 13f are provided on the vehicle V so as to acquire an image around the vehicle V. The camera 13c can photograph the front of the vehicle V, the camera 13d can photograph the rear of the vehicle V, the camera 13e can photograph the left side of the vehicle V, and the camera 13f can photograph the right side of the vehicle V.

The voice output unit 14 includes, for example, a speaker, and outputs voice to the outside of the vehicle V. The voice output from the voice output unit 14 can be arbitrarily set, but may be, for example, a warning sound, music, a human voice, or the like. Further, the communication unit 15 is communicably connected to the information terminal 20 by using a communication method such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). Specifically, the communication unit 15 may have a function as a transmission unit for transmitting information to the information terminal 20 and a function as a reception unit for receiving information from the information terminal 20.

The information terminal 20 is a device capable of transmitting and receiving information to and from the vehicle V (monitoring device 10) such as a smartphone or tablet terminal, and includes, for example, a processing unit 21, a storage unit 22, a display unit 23, and a communication unit 24. Can include. The processing unit 21 includes a processor typified by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage unit 22 stores a program executed by the processor, data used by the processor for processing, and the like, and the processing unit 21 reads the program stored in the storage unit 22 into a storage device such as a memory and executes the program. be able to. The display unit 23 is, for example, a display, and displays (outputs) various information such as information received from the monitoring device 10. The communication unit 24 is communicably connected to the vehicle V (monitoring device 10) using a communication method such as Bluetooth (registered trademark) or Wi-Fi (registered trademark). Specifically, the communication unit 15 has a function as a transmission unit for transmitting information to the vehicle V (monitoring device 10) and a function as a reception unit for receiving information from the vehicle V (monitoring device 10). sell.

<Monitoring process>
Next, a flow of processing (monitoring processing) performed by the processing unit 11 when the monitoring program is executed will be described. FIG. 3 is a flowchart showing a monitoring process performed by the processing unit 11. In this flowchart, it is assumed that the photographing by the photographing unit 13 is repeatedly (continuously and periodically) performed. For example, in this flowchart, it is assumed that the moving image is acquired by the photographing unit 13. The monitoring process of the vehicle V may be understood as a determination process (detection process) for determining (detecting) an abnormality of the vehicle V based on the image obtained by the photographing unit 13.

In step S11, the processing unit 11 determines whether or not to start the monitoring process. For example, when the ignition (ignition switch) of the vehicle V is turned off, the processing unit 11 determines that the vehicle V has been parked (parking of the vehicle V has started), and determines that the monitoring process is started. be able to. Further, the processing unit 11 may determine that the monitoring process is started when the user (driver or the like) receives an instruction to start the monitoring process via an input unit (not shown) provided in the vehicle V. .. The processing unit 11 repeatedly executes step S11 until it is determined to start the monitoring process, and proceeds to step S12 when it is determined to start the monitoring process.

In step S12, the processing unit 11 (specific unit 11a) captures the feature unit of the image obtained by the photographing unit 13 while the vehicle V is parked (specifically, after it is determined that the monitoring process is started in step S11). Identify. For example, the processing unit 11 can use a known image processing technique when specifying a feature portion of an image. As an example, the processing unit 11 extracts and extracts a portion (feature point) having a feature amount such as a corner portion (corner), a curvature, a change in brightness, and a change in color in the image obtained by the photographing unit 13. Information indicating the feature amount and positional relationship of the feature points can be specified (recognized) as the feature portion of the image.

Here, among the objects included in the video obtained by the shooting unit 13, the processing unit 11 is an object whose position (and / or posture) in the video does not change for a predetermined time (hereinafter, referred to as a target object). It is advisable to identify the characteristic part from. As a result, it is possible to avoid identifying the feature portion from the moving object (for example, a person or a car) in the image obtained by the shooting unit 13, and to reduce the false detection of the abnormality of the vehicle V. Can be done. The predetermined time can be arbitrarily set, but as an example, it can be set within the range of several tens of seconds to several minutes.

FIG. 4A shows an example of the image 41 obtained by the photographing unit 13 (camera 13b). The image 41 shown in FIG. 4A includes an image of the bar handle 31 and the seat 32 of the vehicle V. In the parked vehicle V, the handle is locked and the positional relationship between the camera 13b and the bar handle 31 is fixed. Therefore, unless there is an abnormality in the vehicle V (mischief, tipping, etc.), the image 41 is shown. The position and / or posture of the image of the bar handle 31 does not change. Therefore, in the present embodiment, the processing unit 11 (specific unit 11a) determines the image of the bar handle 31 included in the image 41 as the target object, and the straight line Fa ₁ connecting both ends of the bar handle 31 is the image 41. It can be specified as a feature part. Further, when the camera 13b is fixed to the vehicle body frame, the positional relationship between the camera 13b and the seat 32 is fixed. Therefore, unless there is an abnormality in the vehicle V, the position and / or the position of the image of the seat 32 in the image 41. The posture does not change. Therefore, even if the processing unit 11 (specific unit 11a) determines the image of the sheet 32 included in the image 41 as the target object and specifies a part Fa ₂ of the image of the sheet 32 as the feature unit of the image 41. good.

FIG. 5A shows an example of the image 42 obtained by the photographing unit 13 (for example, the camera 13c). The image 42 shown in FIG. 5A is an image around the vehicle V, and as an example, shows an image obtained by the camera 13c when the vehicle V is parked on the breakwater. In this case, the processing unit 11 (specific unit 11a) determines a subject image whose position in the image 42 does not change for a predetermined time as a target object, and places Fb ₁ to Fb ₃ having a relatively large feature amount in the subject image. Each can be specified as a feature portion of the image 42. Further, the processing unit 11 may use a straight line portion (for example, a straight line connecting the locations Fb ₁ and Fb ₂ (horizontal line)) in the image 42 as a feature unit of the image 42. Here, the subject image as the target object may be a natural object or an artificial object. Examples of natural objects that can be target objects include horizon, trees, and rocks. In addition, examples of artificial objects that can be target objects include ground (white lines on roads), signs, buildings (buildings, etc.), and the like.

In step S13, the processing unit 11 (determination unit 11b) determines whether or not the change in the feature unit specified in step S12 is detected in the image newly obtained by the photographing unit 13 while the vehicle V is parked. .. For example, the processing unit 11 uses at least one of the position and the posture of the feature portion in the image used in step S12 as a reference, and the processing unit 11 uses one of the position and the posture of the feature portion in the image newly obtained by the photographing unit 13. Determines if has changed from the criteria. Then, when a change in the characteristic portion is detected in the newly obtained image, it is determined that an abnormality has occurred in the vehicle V, and the process proceeds to step S14. When the processing unit 11 detects a change in the feature unit, the processing unit 11 may cause the voice output unit 14 to output a voice (for example, a warning sound).

In step S14, the processing unit 11 (determination unit 11b) identifies the mode of change in the feature unit detected in step S13, and determines the type of abnormality in the vehicle V based on the mode of change in the identified feature unit. do. For example, in the storage unit 12 of the monitoring device 10, information indicating the type of the characteristic unit, the mode of change of the characteristic unit, and the correspondence relationship between the types of abnormalities of the vehicle V is stored in advance. By referring to the information stored in the storage unit 12, the processing unit 11 can determine the type of abnormality of the vehicle V based on the mode of change of the feature unit. Next, in step S15, the processing unit 11 (notification unit 11c) notifies the user via the communication unit 15 that an abnormality has occurred in the parked vehicle V (specifically, the parked vehicle V). Information indicating that an abnormality has occurred is transmitted to the information terminal 20).

Here, the types of the feature portions are the straight line Fa ₁ connecting both ends of the bar handle 31, the partial Fa ₂ of the sheet 32, and the feature quantity in the subject image, as described above with reference to FIGS. 4A and 5A. It is a relatively large place such as Fb ₁ to Fb ₃ . The mode of change of the feature part is that at least one of the position and the posture of the feature part in the image changes, the positional relationship of a plurality of feature parts in the image changes, and the feature included in the image. It may include the fact that the part is no longer included. Further, the type of abnormality of the vehicle V may include a steering wheel lock or a seat lock release (that is, rotation of the steering wheel or opening / closing of the seat) unintentional by the user, a fall of the vehicle V, and the like.

Further, in step S13, if the change in the feature portion is not detected in the newly obtained image, the process proceeds to step S16. In step S16, the processing unit 11 determines whether or not to end the monitoring process. For example, the processing unit 11 can determine that the monitoring process is terminated when the ignition (ignition switch) of the vehicle V is turned on. Alternatively, when a certain period of time has elapsed from the start of parking of the vehicle V (for example, from the time when the ignition is turned off or when the user gives an instruction to start the monitoring process). It may be determined that the monitoring process is terminated. It is determined that the vehicle V is parked in a safe place (that is, a place where the possibility of mischief, theft, or a fall is low) after a certain period of time has passed since the parking of the vehicle V was started. Because it can be done. By ending the monitoring process when there is a low possibility that an abnormality will occur in the vehicle in this way, it is possible to reduce a decrease in the remaining battery level in the vehicle V. The fixed period can be arbitrarily set, but as an example, it can be set within the range of one day or several days to several weeks. If it is determined in step S16 that the monitoring process is not terminated, the process returns to step S13, and if it is determined that the monitoring process is terminated, this flowchart is terminated.

Next, a specific example of the processing executed in steps S13 to S15 will be described.
FIG. 4B shows an example of the image 41 newly obtained by the photographing unit 13 (camera 13b) in step S13. In the image 41 shown in FIG. 4B, the straight line Fa ₁ (the straight line connecting both ends of the bar handle 31) specified as the feature portion in step S12 changes to the straight line Fa _1'as compared with the image 41 shown in FIG. 4A. There is. That is, the position and posture (inclination) of the straight line Fa ₁ specified as the feature portion in step S12 have changed. In this case, in step S14, the processing unit 11 (determination unit 11b) can determine that the steering wheel lock is released and the bar handle is rotated as the type of abnormality of the vehicle V. Then, in step S15, the processing unit 11 (notification unit 11c) provides the notification information for notifying the user of the abnormality of the vehicle V that the steering wheel lock is released, via the communication unit 15. Send to terminal 20. The notification information may include video data (image data) in which a change in the feature portion is detected. As shown in FIG. 6A, the processing unit 21 of the information terminal 20 that has received the notification information can display the notification screen 23a for notifying the user of the abnormality of the vehicle V on the display unit 23 (display). The notification screen 23a shown in FIG. 6A is provided with a display field 23a ₁ for an image in which a change in a feature portion is detected and a display field 23a ₂ for a comment that the handle lock is released.

Here, although not shown in FIG. 4B, when at least one of the position and the posture of a part Fa ₂ of the image of the sheet 32 specified as the feature portion in step S12 changes, the processing unit (determination unit 11) changes. As a type of abnormality of the vehicle V, it can be determined that the seat lock is released and the seat 32 is opened. Also in this case, the processing unit 11 (notification unit 11d) provides the notification information for notifying the user of the abnormality of the vehicle V that the seat lock is released, via the communication unit 15, the information terminal of the user. Can be transmitted to 20.

FIG. 5B shows an example of the image 42 newly obtained by the photographing unit 13 (camera 13c) in step S13. In the image 42 shown in FIG. 5B, as compared with the image 42 shown in FIG. 5A, the positions of the locations Fb ₁ to Fb ₃ specified as feature portions in step S12 in the image change to Fb _{1'to Fb 3} _' . ing. That is, the position and posture (inclination) of the shape (triangular shape) having the points Fb ₁ to Fb ₃ specified as the feature portions in step S12 as the vertices are changing. In this case, in step S14, the processing unit 11 (determination unit 11b) moves the parking position of the vehicle V (specifically, the vehicle V falls) as a type of abnormality of the vehicle V, and the vehicle V It can be determined that the camera 13c attached to the vehicle is tilted. Then, in step S15, the processing unit 11 (notification unit 11c) notifies the user of the abnormality of the vehicle V that the vehicle V has fallen, and the information terminal 20 of the user via the communication unit 15. Send to. As shown in FIG. 6B, the processing unit 21 of the information terminal 20 that has received the notification information can display the notification screen 23b for notifying the user of the abnormality of the vehicle V on the display unit 23 (display). The notification screen 23b shown in FIG. 6B is provided with a display column 23b ₁ for an image in which a change in a feature portion is detected and a display column 23b ₂ for a comment that the parking position of the vehicle V has moved.

As described above, in the monitoring system 100 (monitoring device 10) of the present embodiment, the characteristic portion of the image obtained by the photographing unit 13 is specified, and the vehicle V responds to the change in the characteristic portion in the image. Detect anomalies. As a result, it is possible to accurately detect the abnormality of the vehicle V based on the image obtained by the photographing unit 13, and when detecting the abnormality of the vehicle V, a sensor other than the photographing unit 13 (camera) (for example, for example). , GPS sensor, gyro sensor, etc.), which can be advantageous in reducing vehicle cost. Further, since the abnormality of the vehicle V detected by the monitoring device 10 is notified to the user (information terminal 20), the user can quickly grasp the abnormality of the vehicle V.

<Summary of embodiments>
1. 1. The monitoring device of the above embodiment is
A monitoring device (for example, 10) that monitors the state of a parked vehicle (for example, V).
With the photographing means (for example, 13) provided in the vehicle,
Specific means (for example, 11a) for specifying a feature portion (for example, Fa ₁ to Fa ₂ , Fb ₁ to Fb ₃ ) of an image (for example, 41, 42) obtained by the photographing means while the vehicle is parked.
The vehicle is provided with a determination means (for example, 11b) for determining that an abnormality has occurred in the vehicle when a change in the characteristic portion is detected in an image obtained by the photographing means while the vehicle is parked.
According to this embodiment, it is possible to accurately detect an abnormality in the vehicle based on the image obtained by the photographing means. Further, since it is not necessary to use a sensor other than the photographing means (camera) when detecting the abnormality of the vehicle, it may be advantageous in reducing the vehicle cost.

2. 2. In the above embodiment
The specific means identifies the characteristic portion from a target object whose position in the image does not change for a predetermined time among a plurality of objects included in the image obtained by the photographing means while the vehicle is parked.
According to this embodiment, it is possible to avoid identifying the feature portion from a moving object (for example, a person or a car) in the image obtained by the photographing means, and it is possible to reduce false detection of an abnormality in the vehicle. be able to.

3. 3. In the above embodiment
The photographing means is provided on the vehicle so as to photograph a part of the vehicle (for example, 31, 32).
The target object is an image of a part of the vehicle included in the image obtained by the photographing means.
According to this embodiment, it is possible to detect an abnormality such as mischief or theft of the vehicle.

4. In the above embodiment
The vehicle is a saddle-mounted vehicle.
The portion of the vehicle photographed by the imaging means includes any one of a steering wheel (eg, 31) and a seat (eg, 32).
According to this embodiment, it is possible to accurately detect the operation of the steering wheel (release of the steering wheel lock) and the opening / closing of the seat (release of the seat lock) for the parked vehicle.

5. In the above embodiment
The photographing means is provided on the vehicle so as to photograph the surroundings of the vehicle.
The target object is a subject image around the vehicle included in the image obtained by the photographing means.
According to this embodiment, in addition to mischief and theft of the vehicle, it is possible to detect an abnormality such as a movement of the parking position of the vehicle (including a fall of the vehicle).

6. In the above embodiment
The subject image includes an image of any one of the ground, a building, and a natural object.
According to this embodiment, it is possible to accurately detect the movement of the parking position of the vehicle such as the fall of the vehicle.

7. In the above embodiment
The determination means determines the type of abnormality of the vehicle based on the mode of change of the feature portion in the image obtained by the photographing means.
According to this embodiment, it is possible to make the user grasp detailed information about the abnormality of the vehicle, such as whether the steering wheel lock is released or the vehicle has fallen.

8. In the above embodiment
The determination means determines that an abnormality has occurred in the vehicle when at least one of the position and the posture of the feature portion in the image obtained by the photographing means changes.
According to this embodiment, it is possible to accurately detect an abnormality in the vehicle based on a change in at least one of the position and the posture of the feature portion in the image.

9. In the above embodiment
When the determination means determines that an abnormality has occurred in the vehicle, the determination means further includes a notification means (for example, 11c) for notifying the user of the vehicle that the abnormality has occurred in the vehicle.
According to this embodiment, the user of the vehicle can quickly grasp that an abnormality has occurred in the vehicle.

10. In the above embodiment
The determination means ends the abnormality determination process of the vehicle when a certain period of time has elapsed from the start of parking of the vehicle.
According to this embodiment, if there is no abnormality in the vehicle (that is, change in the characteristic portion) in a certain period of time, it can be determined that the possibility of abnormality in the vehicle is low. By terminating the determination process (vehicle monitoring process), it is possible to reduce the decrease in the remaining battery level in the vehicle V.

11. In the above embodiment
The determination means starts the determination process assuming that parking of the vehicle has started when the ignition of the vehicle is turned off.
According to this embodiment, it is possible to determine the start of parking of the vehicle and automatically start the determination process (vehicle start process) by using the turning off of the ignition of the vehicle as a trigger.

12. In the above embodiment
The determination means starts the process of determining an abnormality of the vehicle when the ignition of the vehicle is turned off, and ends when the ignition of the vehicle is turned on.
According to this embodiment, it is possible to determine the parking start / parking end of the vehicle and automatically start / end the determination process (vehicle start process) by using the vehicle ignition off / on as a trigger.

The invention is not limited to the above embodiment, and various modifications and changes can be made within the scope of the gist of the invention.

This application claims priority based on Japanese Patent Application No. 2020-166008 submitted on September 30, 2020, and all the contents thereof are incorporated herein by reference.

10: Monitoring device, 11: Processing unit, 11a: Specific unit, 11b: Judgment unit, 11c: Notification unit, 13: Imaging unit

Claims

A monitoring device that monitors the condition of parked vehicles.
The shooting means provided in the vehicle and
A specific means for specifying a feature portion of an image obtained by the photographing means while the vehicle is parked, and a specific means for specifying the feature portion.
A determination means for determining that an abnormality has occurred in the vehicle when a change in the characteristic portion is detected in the image obtained by the photographing means while the vehicle is parked.
A monitoring device characterized by being equipped with.
The specific means identifies the characteristic portion from a target object whose position in the image does not change for a predetermined time among a plurality of objects included in the image obtained by the photographing means while the vehicle is parked. The monitoring device according to claim 1.
The photographing means is provided on the vehicle so as to photograph a part of the vehicle.
The monitoring device according to claim 2, wherein the target object is an image of a part of the vehicle included in the image obtained by the photographing means.
The vehicle is a saddle-mounted vehicle.
The monitoring device according to claim 3, wherein a part of the vehicle photographed by the photographing means includes any one of a handle and a seat.
The photographing means is provided on the vehicle so as to photograph the surroundings of the vehicle.
The monitoring device according to claim 2, wherein the target object is a subject image around the vehicle included in the image obtained by the photographing means.
The monitoring device according to claim 5, wherein the subject image includes an image of any one of a ground, a building, and a natural object.
One of claims 1 to 6, wherein the determination means determines the type of abnormality of the vehicle based on the mode of change of the feature portion in the image obtained by the photographing means. The monitoring device described in.
Claim 1 to claim 1, wherein the determination means determines that an abnormality has occurred in the vehicle when at least one of the position and the posture of the feature portion in the image obtained by the photographing means changes. The monitoring device according to any one of 7.
The first to eighth aspects of claim 1 to 8, further comprising a notification means for notifying the user of the vehicle that an abnormality has occurred in the vehicle when the determination means determines that an abnormality has occurred in the vehicle. The monitoring device according to any one of the following items.
The determination means according to any one of claims 1 to 9, wherein the determination means ends the abnormality determination process of the vehicle when a certain period of time has elapsed from the start of parking of the vehicle. The monitoring device described.
The monitoring device according to claim 10, wherein the determination means starts the determination process assuming that parking of the vehicle has started when the ignition of the vehicle is turned off.
The determination means 1 to 9 are characterized in that the determination process for determining an abnormality of the vehicle is started when the ignition of the vehicle is turned off and ends when the ignition of the vehicle is turned on. The monitoring device according to any one of the above items.
A vehicle equipped with the monitoring device according to any one of claims 1 to 12.
It is a monitoring method for monitoring the parked vehicle by using a photographing means provided on the vehicle.
A specific step of specifying a characteristic portion of an image obtained by the photographing means while the vehicle is parked, and
A determination step of determining that an abnormality has occurred in the vehicle when a change occurs in the characteristic portion in the image obtained by the photographing means while the vehicle is parked.
A monitoring method characterized by including.
A program for causing a computer to execute each process of the monitoring method according to claim 14.