JP7589449B2 - Vehicle Surroundings Monitoring System - Google Patents

Description

The present invention relates to a vehicle surroundings monitoring system.

The following Patent Document 1 discloses a navigation system in which an aircraft equipped with a camera is mounted on a vehicle, and the aircraft is flown above the vehicle under the control of an on-board navigation device to capture images, and the system provides driving support for the vehicle based on the analysis of the captured images.

JP 2016-138853 A

Vehicles may be subject to damage such as vehicle break-ins while left unattended and parked. As a countermeasure against vehicle break-ins, crime prevention systems have been put into practical use that use an intrusion detection sensor inside the vehicle to detect the intrusion of a suspicious person into the vehicle cabin and sound an alarm if the intrusion of a suspicious person is detected. However, sounding an alarm alone does not allow an image of the suspicious person to be recorded as evidence, and the alarm does not sound until the suspicious person has intruded into the vehicle cabin. Therefore, even if the alarm succeeds in scaring off the suspicious person, damage such as broken windows has already occurred. Therefore, it is desirable to realize a means of preventing intrusion of suspicious people into the vehicle cabin while keeping a record of their image.

However, the navigation system disclosed in the above-mentioned Patent Document 1 does not consider using an aircraft mounted on a vehicle as a crime prevention measure against suspicious individuals who may try to break into a parked vehicle. According to the navigation system disclosed in the above-mentioned Patent Document 1, the user controls the aircraft by operating the navigation device inside the vehicle, so the aircraft cannot be flown while the vehicle is parked and the user is not in the vehicle.

The present invention was made in consideration of these circumstances, and aims to provide a vehicle perimeter monitoring system that can utilize an aircraft mounted on a vehicle as a crime prevention measure against suspicious individuals attempting to enter a parked vehicle.

A vehicle periphery monitoring system according to one embodiment of the present invention comprises an air vehicle mounted on a vehicle, having a photographing unit and capable of flying outside the vehicle, an image recording unit that records images captured by the photographing unit, a control unit that controls the air vehicle and the image recording unit, and a suspicious person detection unit that detects suspicious persons in the vicinity of the vehicle while parked, wherein the suspicious person detection unit has an image analysis unit that detects the suspicious person by analyzing images captured by the photographing unit, and the control unit controls the air vehicle to take off from the vehicle when the suspicious person detection unit detects the suspicious person, the photographing unit photographs the suspicious person, the air vehicle tracks the suspicious person based on the results of the image analysis by the image analysis unit, and the image recording unit records the images captured by the photographing unit.

According to this aspect, when the suspicious person detection unit detects a suspicious person in the vicinity of the vehicle (a predetermined range, for example, a range of several meters from the vehicle), the control unit controls the flying object to take off from the vehicle, the photographing unit to photograph the suspicious person, and the image photographed by the photographing unit to be recorded by the image recording unit. This makes it possible to intimidate suspicious persons simply by the action of the flying object flying from the vehicle, and to record the image of the suspicious person photographed by the flying object as an evidential image. As a result, it becomes possible to utilize the flying object mounted on a vehicle as a crime prevention measure against suspicious persons attempting to break into a parked vehicle.

In the above aspect, it is desirable that the suspicious person detection unit further includes at least one of a first moving object detection unit included in the vehicle and a second moving object detection unit included in the flying object.

According to this aspect, a suspicious person is detected by at least one of the first moving object detection unit of the vehicle, the second moving object detection unit of the flying object, and the image analysis unit that detects suspicious people by image analysis. Therefore, it is possible to reliably detect suspicious people in the vicinity of a parked vehicle.

In the above aspect, it is preferable that the control unit transmits suspicious person detection information to a pre-registered mobile device when the suspicious person detection unit detects the suspicious person.

According to this aspect, when the suspicious person detection unit detects a suspicious person, the control unit transmits suspicious person detection information to a pre-registered mobile device. This allows the user operating the mobile device to report the suspicious person to an investigative agency, a security company, etc.

In the above aspect, it is desirable that the flying object further has a first warning means for performing a predetermined warning operation, and that when the suspicious person detection unit detects the suspicious person, the first warning means executes a warning operation against the suspicious person.

According to this aspect, the first warning means of the flying object can be expected to have the effect of scaring off the suspicious person by issuing a warning to the suspicious person.

In the above aspect, it is preferable that the first warning means includes at least one of a lighting unit that illuminates a predetermined warning light and a speaker that outputs a predetermined warning sound.

According to this aspect, by illuminating the alarm light and/or outputting an alarm sound, it is possible to effectively scare off suspicious individuals.

In the above aspect, it is desirable that the vehicle further has a second alarm means for performing a predetermined alarm operation, and that when the suspicious person detection unit detects the suspicious person, the second alarm means executes an alarm operation against the suspicious person.

According to this aspect, the second warning means of the vehicle can be expected to have the effect of scaring off suspicious people by issuing a warning to the suspicious people.

In the above aspect, it is preferable that the second warning means includes at least one of a lighting device that illuminates a predetermined warning light and a horn that outputs a predetermined warning sound.

According to this aspect, by illuminating the alarm light and/or outputting an alarm sound, it is possible to effectively scare off suspicious individuals.

According to the present invention, it is possible to utilize an aircraft mounted on a vehicle as a crime prevention measure against suspicious individuals attempting to enter a parked vehicle.
In the above aspect, it is desirable that the vehicle further includes a battery control unit that controls the charging and discharging operation of a battery possessed by the vehicle, and a tether that connects the battery and the aircraft, and that the battery control unit supplies power from the battery to the aircraft via the tether.
In the above aspect, when there is a person who remains stationary in the vicinity of the vehicle for a certain period of time or more, it is desirable that the image analysis unit detects the person as the suspicious person.

1 is a diagram showing an application example of a vehicle surroundings monitoring system according to an embodiment of the present invention; FIG. 2 is a diagram illustrating the appearance of an aircraft. FIG. 2 is a block diagram showing the functional configuration of the flying object. FIG. 2 is a block diagram showing the functional configuration of a vehicle. A block diagram showing the functional configuration of an aircraft control unit. FIG. 2 is a diagram illustrating a functional configuration of a vehicle information detection unit. 5 is a flowchart showing a control flow of the flying object by a control unit of the vehicle. A diagram showing a situation in which an aircraft is threatening and photographing a suspicious person.

The following describes in detail the embodiments of the present invention with reference to the drawings. Note that elements with the same reference numerals in different drawings indicate the same or corresponding elements.

Figure 1 is a diagram showing an application example of a vehicle surroundings monitoring system according to an embodiment of the present invention. A flying object 2 capable of flying outside the vehicle 1 is mounted on the vehicle 1. A take-off and landing platform 3 for the flying object 2 is disposed at a predetermined location on the vehicle 1 (above the rear window in this example). The take-off and landing platform 3 has a horizontal take-off and landing surface for the flying object 2 to take off and land. A take-up reel 19 (not shown in Figure 1) is disposed below the take-off and landing surface. The take-up reel 19 has a rotating shaft (not shown) around which a tether 4, which is a power supply cable, is wound. A through hole is provided in approximately the center of the take-off and landing surface, and the tether 4 wound around the rotating shaft of the take-up reel 19 is inserted through this through hole, pulled out above the take-off and landing surface, and connected to the flying object 2.

Figure 2 is a diagram showing a schematic view of the exterior of the flying object 2. The flying object 2 is configured as a so-called quadcopter-type drone. The flying object 2 includes a main body 111, a camera 112 arranged on the front surface of the main body 111, propellers 113 arranged at the four corners of the main body 111, a shaft 114 extending vertically from both the left and right sides of the main body 111, and a mesh-spherical buffer member 115 that encases the main body 111. The main body 111 and the buffer member 115 are fixed to each other by the shaft 114. A tether 4 is connected to the bottom surface of the main body 111.

3 is a block diagram showing the functional configuration of the flying object 2. As shown in FIG. 3, the flying object 2 has a communication unit 21, a photographing unit 22, a driving unit 23, a position detection unit 24, an attitude detection unit 25, a lighting unit 26, a speaker 27, and a moving object detection unit 28. The flying object 2 also has a control unit 20 that controls the operation of each of these processing units, thereby controlling the entire flying object 2. The flying object 2 also has a power supply unit 29 that supplies driving power to each of these processing units and the control unit 20. The power supply unit 29 is connected to the tether 4. By supplying the driving power of the flying object 2 from the vehicle 1 side via the tether 4, it is possible to omit the installation of a battery on the flying object 2, and as a result, the weight of the flying object 2 is reduced. The total weight of the flying object 2 is less than the limit weight (e.g., 200 grams) that is subject to flight regulations based on weight.

The communication unit 21 performs bidirectional data communication with a communication unit 122 on the vehicle 1 side (described later) using a short-range wireless communication method such as Bluetooth (registered trademark). However, by adding a data communication line within the tether 4, the communication unit 21 and the communication unit 122 may perform wired communication via the data communication line.

The shooting unit 22 includes the camera 112 shown in FIG. 2. Images captured by the shooting unit 22 include both still images (photos) and moving images (video). In the following explanation, an example is taken in which video is captured by the shooting unit 22. The shooting unit 22 records video data of the video captured by the camera 112 on a recording medium such as a flash memory, and outputs the video data in real time.

The drive unit 23 includes a motor for rotating the propeller shaft of the propeller 113 shown in FIG. 2. The drive unit 23 controls the rotation direction and rotation speed of the four propellers 113 individually. This allows the flying object 2 to perform any flight operation, such as forward, backward, ascending, descending, turning, and hovering.

The position detection unit 24 includes a GPS receiver and an altitude sensor, and detects the position of the flying object 2 in real time and outputs position data indicating the detected position.

The attitude detection unit 25 includes an acceleration sensor, a gyro sensor, an orientation sensor, etc., and detects the attitude of the flying object 2 in real time, and outputs attitude data indicating the detected attitude.

The lighting unit 26 functions as an alarm means and includes any lighting device, such as an LED, arranged on one or more surfaces, including the front surface, of the main body 111 of the flying vehicle 2.

The speaker 27 functions as an alarm means and is located at a specified location on the main body 111 of the flying object 2. It can output a specified alarm message or alarm sound by playing pre-prepared audio data.

The moving object detection unit 28 includes a moving object detection sensor for detecting moving objects using a Doppler method based on radio wave irradiation or a frame difference method based on video capture. The monitoring area monitored by the moving object detection unit 28 is set to an area with a radius of several meters centered on the flying object 2.

The control unit 20 transmits the video data output from the image capture unit 22, the position data output from the position detection unit 24, and the attitude data output from the attitude detection unit 25 from the communication unit 21 to the vehicle 1 in real time.

Figure 4 is a block diagram showing the functional configuration of the vehicle 1. As shown in Figure 4, the vehicle 1 has a battery control unit 11, an aircraft control unit 12, an alarm control unit 13, a vehicle information detection unit 14, and a communication unit 15. The vehicle 1 also has a control unit 10 that controls the overall control of the vehicle 1 by controlling the operation of each of these processing units. The vehicle 1 also has a battery 18 that supplies driving power to each of these processing units and the control unit 10. The tether 4 is connected to the battery 18. The vehicle 1 also has a winding reel 19. Driving power for the winding reel 19 is supplied from the battery 18. The winding reel 19 has a rotating shaft (not shown) around which the tether 4 is wound, and a motor (not shown) for rotating and driving the rotating shaft. The winding reel 19 controls the sending and retrieval of the tether 4 by driving the rotating shaft by the motor so that an appropriate amount of tether 4 according to the flight status of the aircraft 2 is paid out from the rotating shaft.

The battery control unit 11 controls the charging and discharging operations of the battery 18. The battery control unit 11 also controls the start and stop of the power supply from the battery 18 to the tether 4.

The aircraft control unit 12 controls the flight of the aircraft 2. Details of the aircraft control unit 12 will be described later.

The warning control unit 13 includes a lighting controller that controls the turning on and off of the lighting devices 131 (headlights, tail lights, room lights, hazard lights, etc.) of the vehicle 1. The warning control unit 13 also includes a horn controller that controls the sounding of the horn 132 of the vehicle 1. The lighting devices 131 and the horn 132 function as warning means.

The vehicle information detection unit 14 detects various information about the vehicle 1. Details of the vehicle information detection unit 14 will be described later.

The communication unit 15 performs bidirectional data communication with a preregistered user's mobile terminal 50 by any wireless communication method such as Bluetooth (registered trademark), wireless LAN, or public telephone line network. The mobile terminal 50 is a smartphone, mobile phone, tablet, notebook computer, smart key, or the like, and has a display unit (LCD, organic EL, etc.).

Figure 5 is a block diagram showing the functional configuration of the aircraft control unit 12. As shown in Figure 5, the aircraft control unit 12 has a communication unit 122, a flight path creation unit 123, a control signal generation unit 124, a shooting signal generation unit 125, a reel control unit 126, an alarm signal generation unit 127, a video analysis unit 128, and a video recording unit 129. The aircraft control unit 12 also has a control unit 121 that controls the operation of each of these processing units.

The communication unit 122 communicates data bidirectionally with the communication unit 21 of the flying object 2 described above using a short-range wireless communication method such as Bluetooth (registered trademark). The communication unit 122 receives video data, position data, and attitude data transmitted from the communication unit 21 of the flying object 2.

When a moving object is detected by the moving object detection unit 28 of the flying object 2 or the moving object detection unit 148 of the vehicle 1 (FIG. 6), the flight path creation unit 123 creates the shortest path for the flying object 2 to take off from the takeoff and landing pad 3 and head in the direction of the detection of the moving object as an initial flight path. In addition, when a suspicious person X is detected by the video analysis unit 128 as shown in FIG. 8, the flight path creation unit 123 creates the shortest path for the flying object 2 to head to a position directly facing the suspicious person X as a tracking flight path.

The control signal generation unit 124 generates control signals for flying the aircraft 2 along the flight path created by the flight path creation unit 123 based on the video data, position data, and attitude data received by the communication unit 122.

The image capture signal generating unit 125 generates an image capture start signal to cause the image capture unit 22 of the aircraft 2 to start capturing images, and an image capture stop signal to cause the image capture unit 22 to stop capturing images, depending on the flight status of the aircraft 2.

The reel control unit 126 controls the take-up reel 19. Specifically, the reel control unit 126 controls the sending and retrieval of the tether 4 by driving the rotating shaft of the motor so that the appropriate amount of tether 4 according to the flight conditions of the aircraft 2 is paid out from the rotating shaft of the take-up reel 19.

The alarm signal generating unit 127 generates an alarm signal that causes the lighting unit 26 of the flying object 2 and the lighting device 131 of the vehicle 1 to emit a predetermined alarm light (e.g., continuous emission of a high-intensity flash light), and causes the speaker 27 of the flying object 2 and the horn 132 of the vehicle 1 to output a predetermined alarm sound (e.g., continuous output of a loud alarm or a shooting sound). However, the alarm operation may be either the illumination of the alarm light or the output of an alarm sound.

The video analysis unit 128 detects a suspicious person when the suspicious person is included in the video captured by the imaging unit 22 of the flying object 2. For example, the video analysis unit 128 identifies all people included in the captured video by pattern matching or the like, and detects a person who has been standing still for a certain period of time or more in the vicinity of the vehicle as a suspicious person. Note that the video analysis unit 128 is not limited to the above example, and can use any suspicious person detection algorithm. For example, the mental state of a person may be estimated based on the facial expression, and a person who is in a tense or aggressive mental state may be detected as a suspicious person.

The video recording unit 129 is provided in the vehicle 1, and records the video data received from the flying object 2 on a recording medium such as a flash memory. By providing the recording medium in the vehicle 1, the video data can be reliably stored even if a suspicious person removes the flying object 2. The video data may also be transferred to a server device outside the vehicle for recording.

The control unit 121 transmits the control signal generated by the control signal generation unit 124, the image capture start signal and image capture stop signal generated by the image capture signal generation unit 125, and the warning signal generated by the warning signal generation unit 127 from the communication unit 122 to the flying object 2 in real time.

Figure 6 is a diagram showing the functional configuration of the vehicle information detection unit 14. As shown in Figure 6, the vehicle information detection unit 14 includes a door lock sensor 141, a start detection sensor 144, an intrusion detection sensor 146, an obstacle detection sensor 147, and a moving object detection unit 148.

The door lock sensor 141 detects the locked/unlocked state of the doors of the vehicle 1. The start detection sensor 144 detects the started/stopped state of the driving force generating device (engine or driving motor, etc.) of the vehicle 1 by an ignition sensor or by detecting the on/off state of a relay switch connecting the battery and the driving motor. The in-vehicle intrusion detection sensor 146 detects the presence or absence of an intruder in the monitoring area, which is the interior of the parked vehicle 1. The obstacle detection sensor 147 detects the presence of an object such as an obstacle near the vehicle 1, for example, by a sonar sensor arranged at the four corners of the vehicle 1. The moving object detection unit 148 includes a moving object detection sensor for detecting a moving object by a Doppler method that irradiates radio waves toward the periphery of the vehicle and detects reflected waves from the object, or by a frame difference method using images of the periphery of the vehicle captured by an on-board camera. The monitoring area monitored by the moving object detection unit 148 is set to an area of several meters from the vehicle 1. The control unit 121 may set the size of the monitoring area to an optimal value depending on the surrounding conditions of the parked vehicle 1. The moving object detection unit 148 may also function as the obstacle detection sensor 147.

Figure 7 is a flowchart showing the control flow of the flying object 2 by the control unit 10 of the vehicle 1. First, in step SP11, the control unit 10 determines whether or not a suspicious person has been detected by the moving object detection units 28, 148. Specifically, the control unit 10 detects that the vehicle 1 is parked when the start detection sensor 144 detects that the driving force generating device of the vehicle 1 is stopped, the interior intrusion detection sensor 146 detects that there is no one inside the vehicle 1, and the door lock sensor 141 detects that all doors of the vehicle 1 are locked. When the vehicle 1 is parked and at least one of the moving object detection units 28, 148 detects a moving object within the monitoring area, the control unit 10 determines that a suspicious person has been detected.

If the moving object detection unit 28, 148 does not detect a suspicious person (step SP11: NO), the control unit 10 repeats the process of step SP11.

If a suspicious person is detected by the moving object detection unit 28, 148 (step SP11: YES), the control unit 10 then causes the flying object control unit 12 to execute takeoff control of the flying object 2 in step SP12. Specifically, referring to FIGS. 3 to 5, the battery control unit 11 first starts supplying power from the battery 18 to the flying object 2 via the tether 4. Next, the control signal generation unit 124 generates a control signal for flying the flying object 2 along the initial flight path created by the flight path creation unit 123. In addition, the image capture signal generation unit 125 generates an image capture start signal for causing the image capture unit 22 of the flying object 2 to start image capture. Next, the communication unit 122 transmits the control signal and the image capture start signal to the flying object 2. Next, the communication unit 21 on the flying object 2 side receives the control signal and the image capture start signal transmitted from the communication unit 122 on the vehicle 1 side. Next, the drive unit 23 starts control for flying the flying object 2 along the initial flight path by driving the propeller 113 based on the control signal. As a result, the flying object 2 takes off from the takeoff and landing pad 3. The photographing unit 22 starts photographing with the camera 112, the position detection unit 24 starts detecting the position of the flying object 2, and the attitude detection unit 25 starts detecting the attitude of the flying object 2. The control unit 20 transmits the video data output from the photographing unit 22, the position data output from the position detection unit 24, and the attitude data output from the attitude detection unit 25 to the vehicle 1 in real time from the communication unit 21. The control unit 10 transfers the video data received from the flying object 2 to the video analysis unit 128 and the video recording unit 129. The video analysis unit 128 analyzes the input video data and detects a person included in the video as a suspicious person. The video recording unit 129 records the input video data. The control unit 10 also transmits suspicious person detection information (text message or image, etc.) indicating that a suspicious person has been detected in the vicinity of the vehicle 1 to the mobile terminal 50 from the communication unit 15.

Next, in step SP13, the control unit 10 causes the flying object control unit 12 to continue flight control and imaging control of the flying object 2. The control signal generation unit 124 generates a control signal for flying the flying object 2 along the tracking flight path based on the video data, position data, and attitude data received by the communication unit 122 from the communication unit 21, and information indicating the position of the suspicious person detected by the video analysis unit 128. As above, the flight of the flying object 2 is controlled by transmitting this control signal to the flying object 2.

Next, in step SP14, the control unit 10 causes the alarm signal generating unit 127 to generate an alarm signal. The generated alarm signal is transmitted from the communication unit 122 to the flying object 2. As a result, the flying object 2 executes an alarm operation (illuminating an alarm light and outputting an alarm sound) against the suspicious person X while hovering directly opposite the suspicious person X as shown in FIG. 8. The control unit 10 also controls the alarm control unit 13 to execute an alarm operation using the lighting device 131 and horn 132 of the vehicle 1.

After starting the execution of the alarm operation, in step SP15 the control unit 10 determines whether or not a suspicious individual has been detected by the video analysis unit 128. If the suspicious individual does not retreat even after the alarm operation, the video analysis unit 128 continues to detect the suspicious individual (step SP15: YES), and the control unit 10 repeatedly executes the processes of steps SP13 to SP15.

If the suspicious person retreats due to the execution of the alarm operation, the video analysis unit 128 does not detect the suspicious person (step SP15: NO), so in step SP16, the control unit 10 next causes the flying object control unit 12 to execute return control of the flying object 2. The control signal generation unit 124 generates a control signal for flying the flying object 2 toward the landing pad 3 based on the video data, position data, and attitude data received by the communication unit 122. As described above, the flight of the flying object 2 is controlled by transmitting this control signal to the flying object 2, and the flying object 2 returns to the landing pad 3. Next, the image capture signal generation unit 125 generates an image capture stop signal for causing the image capture unit 22 of the flying object 2 to stop image capture. The image capture stop signal is transmitted to the flying object 2, and the image capture unit 22 stops image capture by the camera 112. In addition, the recording of image data by the image recording unit 129 is also stopped. After that, the battery control unit 11 stops the power supply from the battery 18 to the flying object 2.

According to the vehicle surroundings monitoring system of this embodiment, when a suspicious person is detected by the moving object detection unit 28, 148 (suspicious person detection unit), the control unit 10 causes the flying object 2 to fly from the vehicle 1, photographs the suspicious person with the photographing unit 22, and records the photographed video in the video recording unit 129. This makes it possible to intimidate the suspicious person by the very act of flying the flying object 2 from the vehicle 1, and to record the video of the suspicious person photographed by the flying object 2 as an evidence image. As a result, it becomes possible to utilize the flying object 2 mounted on the vehicle 1 as a crime prevention measure against suspicious persons attempting to invade the vehicle 1 while it is parked.

In addition, suspicious individuals are detected by at least one of the moving object detection unit 148 of the vehicle 1, the moving object detection unit 28 of the flying object 2, and the video analysis unit 128 that detects suspicious individuals by video analysis. Therefore, it is possible to reliably detect suspicious individuals in the vicinity of the parked vehicle 1.

In addition, when a suspicious person is detected by the suspicious person detection unit, the control unit 10 transmits suspicious person detection information to a pre-registered mobile terminal 50. This allows the user operating the mobile terminal 50 to report the situation to an investigative agency, a security company, etc.

Also, by performing at least one of turning on the alarm light and outputting an alarm sound as an alarm action, it is possible to effectively scare off suspicious individuals.

REFERENCE SIGNS LIST 1 vehicle 2 flying object 10 control unit 12 flying object control unit 14 vehicle information detection unit 22 photography unit 26 lighting unit 27 speaker 28, 148 moving object detection unit 50 portable terminal 123 flight path creation unit 128 video analysis unit 129 video recording unit 131 lighting device 132 horn

Claims (9)

An aircraft mounted on a vehicle, having a photographing unit, and capable of flying outside the vehicle;
A landing platform for the flying object arranged on a rear window of the vehicle;
A tether having a power supply line and a data communication line, which connects the flying object and a battery of the vehicle;
an image recording unit that records the image captured by the photographing unit;
A control unit that controls the flying object and the image recording unit;
a suspicious person detection unit that detects a suspicious person in the vicinity of the parked vehicle ;
an image analysis unit that detects the suspicious person by analyzing the image captured by the image capture unit ;
Equipped with
A vehicle periphery monitoring system in which, when the suspicious person detection unit detects a suspicious person within a monitoring area several meters from the vehicle , the control unit controls the aircraft to take off from the takeoff and landing pad , the photographing unit to photograph the suspicious person, the aircraft to track the suspicious person based on the results of image analysis by the image analysis unit, and the image recording unit to record the images photographed by the photographing unit. The vehicle periphery monitoring system according to claim 1 , wherein the suspicious person detection unit includes at least one of a first moving object detection unit included in the vehicle and a second moving object detection unit included in the flying object. The vehicle surroundings monitoring system according to claim 1 or 2, wherein the control unit transmits suspicious person detection information to a preregistered mobile terminal when the suspicious person detection unit detects the suspicious person. The flying object further has a first warning means for performing a predetermined warning operation,
4. The vehicle periphery monitoring system according to claim 1, wherein, when the suspicious person detection unit detects the suspicious person, the first warning means executes a warning operation against the suspicious person. The vehicle surroundings monitoring system according to claim 4, wherein the first warning means includes at least one of a lighting unit that illuminates a predetermined warning light and a speaker that outputs a predetermined warning sound. The vehicle further includes a second warning means for performing a predetermined warning operation,
6. The vehicle periphery monitoring system according to claim 1, wherein, when the suspicious person detection unit detects the suspicious person, the second warning means executes a warning operation against the suspicious person. The vehicle surroundings monitoring system according to claim 6, wherein the second warning means includes at least one of a lighting device that illuminates a predetermined warning light and a horn that outputs a predetermined warning sound. A battery control unit that controls the charging and discharging operation of the battery
Further equipped with
The vehicle periphery monitoring system according to claim 1 , wherein the battery control unit supplies power from the battery to the flying object via the tether. The vehicle surroundings monitoring system according to claim 1, wherein the image analysis unit detects a person who is stationary in the vicinity of the vehicle for a certain period of time or more as the suspicious person.

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