JPH09272402A - Ultrasonic Doppler intrusion detection system for vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] An ultrasonic Doppler intrusion detection device for vehicles that detects the Doppler shift amount caused by the movement of a person by intermittent operation and detects the illegal intrusion of the person while reducing the power consumption. The purpose is to provide. A microcomputer 100 starts arithmetic processing every time a trigger pulse is output from a trigger circuit 90. The analog switch 80 is turned on under the control of the microcomputer 100 to turn on the battery B.
To ultrasonic transmitter 10a, drive circuit 20, oscillator circuit 3
0, ultrasonic receiver 10b, amplification circuit 40, comparison circuit 5
0, power is supplied to the phase difference output circuit 60 and the BPF 70, while this power supply is cut off by turning off.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle intrusion detection device, and more particularly to a vehicle suitable for detecting illegal intrusion of a person by utilizing Doppler shift of ultrasonic waves generated when a person intrudes into a vehicle compartment. Ultrasonic Doppler type intrusion detection device

[0002]

2. Description of the Related Art Conventionally, a vehicle intrusion detecting device of this type has been disclosed in an output signal of an ultrasonic Doppler radar mounted in an automobile, as disclosed in, for example, Japanese Patent Publication No. 7-5062. There is a device that when a Doppler signal of a predetermined level or higher appears, it is detected as illegal intrusion of a person and an alarm signal is issued.

[0003]

By the way, in such an intrusion detection device using the ultrasonic Doppler signal, it is usual that the illegal intrusion of a person is detected while the vehicle is stopped. Therefore, as a matter of course, the intrusion detection device must operate by receiving power from the power source when the vehicle is stopped.

In this case, since this intrusion detection device detects illegal intrusion of a person by the movement of the person, it is usual to continuously transmit and receive ultrasonic waves by the Doppler radar. As a result, there is a problem in that the power consumption of the intrusion detection device becomes large. On the other hand, the present inventors paid attention to the fact that there is a continuous movement when a person intrudes into the vehicle, and variously examined the intruding state of this person. As a result, the inventors of the present invention, even in a state in which the Doppler ultrasonic intrusion detection device is operated intermittently, for example, as compared with the time when a person continuously moves, the intermittent cycle is set to be sufficiently short and the intermittent operation time therein. By devising such as increasing the length of time, similar to the case where the intrusion detection device is operated continuously, it is possible to obtain an appropriate Doppler shift amount corresponding to the intrusion movement state of the person and detect illegal intrusion of the person. , Recognized that the power consumption can be sufficiently reduced.

As disclosed in Japanese Patent Laid-Open No. 6-52449, a pulse radar system for detecting illegal intrusion of a person by intermittent transmission / reception by pulse oscillation of ultrasonic waves is adopted to reduce power consumption. It is also possible to do it. However, such a pulse radar method attempts to determine the detection of illegal intrusion of a person simply by the magnitude of the reception level of ultrasonic waves, and makes a determination in consideration of the moving speed in the state of intrusion of a person. Not something to do. Therefore, it is not possible to correctly detect illegal intrusion of a person.

Therefore, based on the above-described viewpoint, the present invention is for a vehicle for detecting the Doppler shift amount caused by the movement of a person by intermittent operation and detecting the illegal intrusion of the person while reducing the power consumption. An object is to provide an ultrasonic Doppler type intrusion detection device.

[0007]

In order to achieve the above object, according to the invention described in claims 1 to 5, the control means includes an ultrasonic wave transmitting means, an ultrasonic wave receiving means and a Doppler shift amount output means. At least one of them is controlled to operate intermittently. Then, during this intermittent operation, the determination means determines whether or not a person has illegally entered the vehicle interior based on the Doppler shift amount.

As described above, during the intermittent operation, the Doppler shift amount is utilized to determine whether or not a person has illegally entered the vehicle interior. Therefore, the ultrasonic Doppler intrusion detection in the stopped state of the vehicle is performed. When detecting illegal intrusion of a person by the device, it is possible to ensure reduction of the power consumption. Here, as in the invention according to claim 3, the number of determinations by the first determination means that the Doppler shift amount is within a setting range that represents illegal intrusion of a person into the vehicle interior is irrelevant to the external disturbance. Whether or not a predetermined number of times to identify the illegal entry of a person into
The second determining means makes a determination, and based on the determination made by the second determining means, the presence / absence of illegal entry of a person into the vehicle interior is determined.

Thus, the detection of illegal intrusion of a person by the ultrasonic Doppler type intrusion detecting device can be correctly performed without being affected by disturbance. Further, according to the invention described in claim 4, the predetermined time period during which the power consumption can be reduced based on the determination by the first determination means that the Doppler shift amount is within the setting range representing the illegal entry of a person into the vehicle interior. Is extended by the extension means, and during the extension time by the extension means, the second determination means determines whether or not the determination by the first determination means that it is within the set range is continued. Based on the determination, it is determined whether or not a person has illegally entered the vehicle interior.

With this configuration as well, it is possible to achieve the same effect as that of the third aspect.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram showing an example of a vehicle ultrasonic Doppler type intrusion detection device according to the present invention. This intrusion detection device includes an ultrasonic wave transmission / reception sensor S, and this ultrasonic wave transmission / reception sensor S is shown in FIG.
As shown in (a), it is arranged at the center of the upper edge of the front shield in the passenger compartment of the vehicle.

The ultrasonic wave transmission / reception sensor S includes an ultrasonic wave transmitter 10a and an ultrasonic wave receiver 10b, and the ultrasonic wave transmitter 10a and the ultrasonic wave receiver 10b are arranged close to each other. . However, without being limited to this,
These ultrasonic transmitter 10a and ultrasonic receiver 10b are
They may be located apart from each other as long as they can be transmitted and received.

An oscillator circuit 30 is connected to the ultrasonic transmitter 10a via a drive circuit 20, and the oscillator circuit 30 is connected to the oscillator circuit 30.
Outputs an oscillation pulse at an oscillation frequency f (= 40 KHz). The drive circuit 20 sequentially receives the oscillation pulses from the oscillation circuit 30 and drives the ultrasonic transmitter 10a. This means that the ultrasonic transmitter 10a transmits the ultrasonic wave so that the ultrasonic wave is reflected in the vehicle interior in response to the drive.
The ultrasonic transmitter 10a, the drive circuit 20, and the oscillation circuit 30 form an ultrasonic transmitter of the ultrasonic transmission / reception sensor S.

The ultrasonic receiver 10b receives the transmitted ultrasonic waves reflected in the passenger compartment and outputs them to the amplifier circuit 40 as received signals. The amplifier circuit 40 amplifies the reception signal from the ultrasonic receiver 10b and outputs it to the comparison circuit 50 as an amplified voltage having a sine waveform. The comparison circuit 50 compares the amplified voltage of the amplification circuit 50 with the reference voltage Vr of the reference power supply 51. Then, only when the amplified voltage is higher than the reference voltage Vr, the comparison circuit 50 outputs the comparison signal at the high level. The ultrasonic receiver 10b, the amplification circuit 40, the comparison circuit 50, and the reference power supply 51 form a reception unit of the ultrasonic transmission / reception sensor S.

The phase difference output circuit 60 is composed of an exclusive OR gate (hereinafter referred to as EXOR gate 60). The EXOR gate 60 changes the level of both the oscillation pulse of the oscillation circuit 30 and the comparison signal of the comparison circuit 50. According to the above, the phase difference pulse signal is generated by obtaining the difference between the phases of the oscillation pulse and the comparison signal. The bandpass filter 70 (hereinafter, referred to as BPF 70) includes an EXOR gate 6
A frequency component corresponding to the intrusion speed of a person is extracted from the phase difference pulse signal from 0 and a Doppler shift signal is generated.
Here, the frequency difference specified by the Doppler shift signal is a value based on the relative speed of the person with respect to the ultrasonic wave transmission / reception sensor S. The EXOR gate 60 and the BP
F70 corresponds to the Doppler detection unit in the ultrasonic wave transmission / reception sensor S.

In the present embodiment, the ultrasonic transmitter 10a, the drive circuit 20, the oscillator circuit 30, the ultrasonic receiver 10b, the amplifier circuit 40, the comparison circuit 50, the phase difference output circuit 60 and the BPF 70 described above are Power is supplied from the battery B mounted on the vehicle via the analog switch 80 to be in an operating state. The analog switch 80 is turned on under the control of the microcomputer 100, which will be described later, from the battery B to the ultrasonic transmitter 10a, the drive circuit 20, the oscillation circuit 30, the ultrasonic receiver 10b, the amplification circuit 40, the comparison circuit 50, Power is supplied to the phase difference output circuit 60 and the BPF 70,
On the other hand, this power supply is cut off by turning off.

The trigger circuit 90 generates a trigger pulse at a predetermined cycle P (for example, 160 msec) and outputs it to the microcomputer 100. The microcomputer 100 follows the flow chart shown in FIG.
A computer program is executed based on the output of the PF 70, and during this execution, arithmetic processing required for controlling the analog switch 80 and determining whether there is illegal intrusion of a person is performed. Execution of the computer program by the microcomputer 100 is started each time a trigger pulse is output from the trigger circuit 90. The computer program is stored in the ROM of the microcomputer 100 in advance.

The alarm device 100a is controlled by the microcomputer 100 to issue an alarm indicating illegal entry of a person. In the present embodiment thus configured, when the trigger circuit 90 sequentially generates trigger pulses and outputs them to the microcomputer 100, the microcomputer 1
00 repeatedly starts the execution of the computer program each time the trigger pulse is output according to the flowchart of FIG. 3, as described below.

First, in step 110, initialization processing is performed. Then, in the next step 111, the timer built in the microcomputer 100 is reset and activated. As a result, the timer starts counting the time. When the processing in step 111 is completed as described above, the analog switch 80 is turned on in step 112, and this on-processing command is output to the analog switch 80. Therefore, the analog switch 80 is turned on, and the battery B is connected to the ultrasonic transmitter 10a,
Drive circuit 20, oscillation circuit 30, ultrasonic receiver 10b, amplification circuit 40, comparison circuit 50, phase difference output circuit 60 and B
Power PF 70 to keep these circuits operational.

Along with this, the measured value of the above timer (hereinafter,
The ultrasonic transmitter 10a is driven based on the oscillation pulse of the oscillation circuit 30 in a state where the determination of NO in step 120 is repeated based on the fact that the measured value t is less than the waiting time T1 (described later). When the ultrasonic waves are transmitted to the vehicle interior by being driven by the circuit 20, the transmitted ultrasonic waves are reflected inside the vehicle interior. Then, this reflected ultrasonic wave is received by the ultrasonic receiver 10b as a received signal, and this received signal is output as an amplified voltage by the amplifier circuit 40.

Next, this amplified voltage is compared with the reference voltage Vr of the reference power source 51 by the comparison circuit 50. here,
When the amplified voltage is higher than the reference voltage Vr, the comparison circuit 50 outputs the comparison signal at the high level. After that, the phase difference output circuit 60 generates a phase difference output signal according to the difference between the phase of the oscillation pulse of the oscillation circuit 30 and the phase of the comparison signal of the comparison circuit 50, and the BPF 70 performs Doppler based on this phase difference output signal. Output shift signal.

However, the waiting time T1 is the detection time T2.
In addition, it is introduced to specify the operation time T (see FIG. 4). Here, the operation time T allows the operation of the ultrasonic transmitter 10a, the drive circuit 20, the oscillation circuit 30, the ultrasonic receiver 10b, the amplification circuit 40, the comparison circuit 50, the phase difference output circuit 60, and the BPF 70 described above. Represents time.

This operating time T represents the sum of the waiting time T1 and the detection time T2, as shown enlarged in FIG. 4 (b), so that the power consumption of the battery B can be reduced as much as possible. It is set. In the waiting time T1, after the ultrasonic wave is transmitted by the ultrasonic wave transmitter 10a, this ultrasonic wave is reflected in the passenger compartment and is received by the ultrasonic wave receiver 10b.
The output of 0 represents the time required to reach the microcomputer 100.

Further, the detection time T2 corresponds to a time sufficient to properly detect the movement due to the entry of a person into the vehicle interior. Considering that the movement speed of a person entering the vehicle compartment is usually about 0.2 m / sec to 2 m / sec, the frequency of the Doppler shift caused by the person's motion is 44 Hz to 450 Hz. Therefore, in order to correctly detect the movement of a person, the detection time T2 is at least about 4
It requires a time corresponding to 4 Hz, that is, about 25 msec.

Therefore, in consideration of the above points, the operating time T is set to 55 msec in this embodiment. Further, the shorter the operating time T, the more the power consumption of the battery B is reduced. The operating time T is stored in the ROM of the microcomputer 100 in advance. When the measured value t of the timer reaches the waiting time T1 in such a state, the determination in step 120 becomes YES. For this reason, the period of the Doppler shift signal of the BPF 70 (hereinafter referred to as the Doppler shift period D) is step 12
1 is calculated. Then, in step 130, it is determined whether or not the cycle D is a value within the predetermined cycle range ΔDo.

Here, the predetermined period range ΔDo is a Doppler shift period range corresponding to the relative speed of a person entering the vehicle interior with respect to the ultrasonic wave transmission / reception sensor S and is set in advance. Then, if the Doppler shift period D is not within the predetermined period range ΔDo, the determination in step 130 is NO, and the determination in the next step 140 is also NO, based on the determination that no person has entered the vehicle interior. Becomes

When the determination in step 130 is YES while repeating the processing of steps 121 to 140, the number-of-times data N is determined in step 150 based on the tentative determination that a person has entered the vehicle interior. It is determined whether the number of consecutive times No has been reached. This predetermined number of consecutive times No is YES in step 130 due to disturbance
The number of continuous determinations (for example, 3) that can correctly determine that a person has entered is shown in consideration of the erroneous determination that

At this stage, if the number data N is smaller than the predetermined consecutive number No, the determination at step 150 becomes NO, and at step 151, the number data N
Is updated by adding N = N + 1. On the other hand, after the determination in step 130 is NO as described above, if the determination in step 140 becomes YES due to the time value t reaching the operating time T, the intrusion of a person into the vehicle is the current operating time T. Step 14
In 1, the count data N is cleared to N = 0.

When the computer program proceeds from step 141 or 151 to step 152, the analog switch 80 is turned off, and the off command is output to the analog switch 80. This allows
The ultrasonic transmitter 10a, the drive circuit 20, the oscillation circuit 30, the ultrasonic receiver 10b, the amplification circuit 40, the comparison circuit 50, the phase difference output circuit 60, and the BPF 70 are shut off from the battery B and stop operating. The microcomputer 10
0 also shifts to a low current consumption mode called a sleep mode.

Thereafter, based on the output of the trigger pulse from the trigger circuit 90, if the above-mentioned processing of the microcomputer 100 is repeated and the determination in step 150 becomes YES, it is certain that the illegal entry of a person into the vehicle compartment is confirmed. Based on the determination that there is, an alarm output process is performed in step 153, and an alarm command is output to the alarm device 100a. As a result, the alarm device 100a warns that a person has illegally entered the vehicle interior of the vehicle.

As described above, in the present embodiment,
The ultrasonic transmitter 10a, the drive circuit 20, the oscillator circuit 30, the ultrasonic receiver 10b, and the amplifier circuit 40 are based on the processing of the microcomputer 100 performed at the output interval (predetermined period P) of the trigger pulse from the trigger circuit 90. The power supply from the battery B to the comparison circuit 50, the phase difference output circuit 60, and the BPF 70 is limited every time the operation time T in the predetermined period P elapses.

Therefore, the ultrasonic Doppler type intrusion detection device according to the present invention is intermittently operated at every operation time T in the predetermined period P, and the power consumption of the battery B required for such operation is the same as that of the vehicle. Even in the stopped state, the power consumption of the battery B required for continuous operation of the intrusion detection device can be significantly reduced. Even under the intermittent operation, since the operation time T and the detection time T2 are set as described above, the calculation of the Doppler shift period D in step 121 and the illegal intrusion of the person in step 130 are performed. The presence / absence can be correctly determined.

Next, a modification of the above embodiment will be described with reference to FIGS. 5 and 6. In this modification, the flowchart described in the above embodiment (see FIG. 3)
Is characterized in that it is partially changed as shown in FIG. Other configurations are the same as those of the above embodiment. In this modified example configured in this manner, as in the case of the above-described embodiment, if the Doppler shift period D is not within the predetermined period range ΔDo, it is determined that there is no person invading the vehicle interior. , The determination in step 130 is NO, and the determination in the next step 140A is also NO
Becomes This is because the measured value t is less than the extension operation time T described later (see FIG. 6B).

If the determination in step 130 is YES while repeating the processing of steps 121 to 140A, the time count value t is set to a predetermined value in step 150A based on a temporary determination that a person has entered the vehicle interior. It is determined whether the continuous time Mo has been reached. This predetermined continuous time Mo is YES in step 130 due to disturbance.
In consideration of the erroneous determination of, the continuous determination time for correctly determining the intrusion of a person is shown.

At the present stage, the measured value t is the predetermined continuous time Mo
If shorter, the determination in step 150A is NO
In step 151A, the operating time T becomes T
It is extended by the addition update with = T + ΔM (see FIG. 6). Here, ΔM represents a predetermined extension time to be added to the previous operation time T. Then, steps 121 and 130
And processing through steps 140 and 140A or steps 121 and 13
While the process of passing through 0, 150A and 151A is being repeated, after the determination of NO in step 130, the time value t reaches the extension operation time T, and thus step 140A
If the determination is YES (see FIG. 6B), it is determined that no person has entered the vehicle compartment while the time data M has elapsed, and the analog switch 80 is turned off in step 152A. Processing is performed, and an off command is output to the analog switch 80.

As a result, the ultrasonic transmitter 10a, the drive circuit 20, the oscillation circuit 30, the ultrasonic receiver 10b, the amplification circuit 40, the comparison circuit 50, the phase difference output circuit 60 and the BPF 7 are provided.
0 is cut off from the battery B and stops operating. Then, the above process is repeated based on the output of a new trigger pulse from the trigger circuit 90. On the other hand, if the measured value t has reached the predetermined continuous time Mo after the determination in step 130 becomes YES, the determination in step 150A becomes YES, and the alarm process is performed in step 153 as in the above embodiment. .

As described above, in the present modification, the ultrasonic transmitter 10a and the drive circuit 20 are based on the processing of the microcomputer 100 performed at the output interval (predetermined period P) of the trigger pulse from the trigger circuit 90. The power supply from the battery B to the oscillator circuit 30, the ultrasonic receiver 10b, the amplifier circuit 40, the comparison circuit 50, the phase difference output circuit 60, and the BPF 70 is limited every time the operation time T during the predetermined period P elapses. It

Therefore, the ultrasonic Doppler intrusion detection device according to the present invention operates intermittently at every operation time T within the predetermined period P, and the power consumption of the battery B required for such operation is the intrusion. The power consumption of the battery B required for continuous operation of the detection device can be significantly reduced. In this case, even under the above-described intermittent operation, the operating time T is extended by ΔM for each determination of NO in step 150A after the determination of YES in step 130, so that this extended operating time T is When the time t has reached the predetermined continuous time Mo after being determined to be the intrusion, step 150
A determination of YES is made in A. This means that the presence or absence of trespassing by a person can be correctly made without erroneous determination. Other functions and effects are the same as those of the above embodiment.

In the above embodiment, step 12
The Doppler shift period D is calculated in step 1, and step 130
The determination is made based on whether the Doppler shift cycle D is within the predetermined cycle range ΔDo. However, instead of this, a predetermined frequency range (corresponding to the predetermined cycle range ΔDo) based on the frequency of the Doppler shift signal. Even if it is determined whether or not it is within, it is possible to achieve the same effect as the above-described embodiment.

In the above embodiment, an example in which the ultrasonic transmission / reception sensor S is arranged at the center of the upper edge of the front windshield in the vehicle compartment has been described.
As shown in (b), the ultrasonic transmission / reception sensor S may be provided on the upper portion of the pillar of the seat belt. In implementing the present invention, various switch elements such as semiconductor switching elements may be adopted instead of the analog switch 80.

In the practice of the present invention, instead of the battery B, a DC voltage generating circuit is adopted, and the generation of the output voltage of this DC voltage generating circuit is stopped in step 152 or 152A. The switch 80 may be eliminated. Also, in implementing the present invention,
A battery for at least one of the ultrasonic transmitter 10a, the drive circuit 20, the oscillator circuit 30, the ultrasonic receiver 10b, the amplifier circuit 40, the comparator circuit 50, the phase difference output circuit 60, and the BPF 70, but not all of them. Even if the power is supplied from B intermittently, the power consumption of the battery B can be reduced to this extent.

Further, in implementing the present invention, if the above-mentioned predetermined period P is set to be sufficiently short as compared with the time during which the movement due to the intrusion of the person in the vehicle continues, the intrusion of the person is surely detected. it can. Further, in carrying out the present invention,
Each step in the flowcharts of the above-described embodiment and its modification may be realized by a hardware logic configuration as a function executing means. Also,
On the contrary, the functions of the comparison circuit 50, the trigger circuit 90, and the Doppler detection unit may be realized in each step in the flowchart.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

2 (a) and 2 (b) are diagrams respectively showing a mounting position of the ultrasonic transmission / reception sensor of FIG. 1 in a vehicle compartment and a mounting position of a modification thereof.

FIG. 3 is a flowchart showing an operation of the microcomputer of FIG. 1;

FIG. 4A is a timing chart showing an intermittent operation of the intrusion detection device in the above embodiment, and FIG.
6 is a timing chart showing an enlarged one operation time portion thereof.

FIG. 5 is a flowchart showing a modification of the above embodiment.

6 (a) and 6 (b) are timing charts showing the intermittent operation of the intrusion detection device in the modified example, with and without an alarm.

[Explanation of symbols]

S ... Ultrasonic wave transmission / reception sensor, 10a ... Ultrasonic wave transmitter, 10b ... Ultrasonic wave receiver, 30 ... Oscillation circuit,
40 ... Amplifier circuit, 50 ... Comparison circuit, 51 ...
Reference power source, 60 ... Phase difference output circuit, 70 ... BP
F, 80 ... Analog switch, 90 ... Trigger circuit, 100 ... Microcomputer.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ikuo Hayashi 14 Iwatani, Shimohakaku-cho, Nishio-shi, Aichi Japan Auto Parts Research Institute (72) Inventor Takeo Tsuzuki 1-1-chome, Showa-cho, Kariya city, Aichi Japan Denso Co., Ltd.

Claims (5)

[Claims] 1. An ultrasonic wave transmitting means (10a, 20, 30) provided in a vehicle compartment of a vehicle for transmitting an ultrasonic wave so as to be reflected in the vehicle compartment according to an operation, and provided in the vehicle compartment for operation. Ultrasonic wave receiving means (10b, 40, 50, 51) for receiving the reflected ultrasonic wave, and Doppler shift amount output means (6) for receiving the reflected ultrasonic wave and the received ultrasonic wave and outputting a Doppler shift amount according to the operation.
0, 70, 121) and determination means (130, 14) for determining the presence or absence of illegal entry of a person into the vehicle compartment according to the operation based on the Doppler shift amount.
0, 150, 150A, 151, 151A), and a control means (80, for controlling at least one of the ultrasonic wave transmission means, the ultrasonic wave reception means, and the Doppler shift amount output means to operate intermittently. 90, 11
1, 152, 152A), and an ultrasonic Doppler type intrusion detection device for a vehicle. 2. The control means performs the control every predetermined time period when the operation of at least one of the ultrasonic wave transmitting means, the ultrasonic wave receiving means, and the Doppler shift amount output means can reduce the power consumption amount. The ultrasonic Doppler type intrusion detection device for a vehicle according to claim 1, wherein the ultrasonic doppler intrusion detection device is performed intermittently. 3. A first determining means (13) for determining whether or not the Doppler shift amount is within a set range representing illegal entry of a person into a vehicle.
0), and a second judgment for judging whether or not the number of judgments that the first judgment means is within the set range has reached a predetermined number of times capable of specifying illegal entry of a person into the vehicle interior regardless of disturbance. Means (150, 151) for determining whether or not a person has illegally entered the vehicle interior based on the determination of the second determination means. Ultrasonic Doppler intrusion detection device. 4. The first determining means (13) for determining whether or not the Doppler shift amount is within a set range representing illegal entry of a person into a vehicle.
0), extension means (151A) for extending the predetermined time based on the determination by the first determination means that the predetermined range is present, and the extension range (151A) for extending the predetermined time within the setting range by the first determination means. A second determination means (150A) for determining whether or not the presence determination is continued, and determining whether or not a person has illegally entered the vehicle interior based on the determination by the second determination means. The ultrasonic Doppler type intrusion detection device for a vehicle according to claim 1 or 2. 5. The control means includes a connection / disconnection means (80) for connecting / disconnecting at least one of the ultrasonic wave transmitting means, the ultrasonic wave receiving means and the Doppler shift amount output means to a power source. The at least one of the ultrasonic wave transmitting means, the ultrasonic wave receiving means, and the Doppler shift amount output means is intermittently operated by controlling the intermittent operation of the intermittent connection means. Item 5. The ultrasonic Doppler type intrusion detection device for vehicle according to any one of items 1 to 4.