CN101782646B - All-round environment sensing system and method - Google Patents
All-round environment sensing system and method Download PDFInfo
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- CN101782646B CN101782646B CN200910001022A CN200910001022A CN101782646B CN 101782646 B CN101782646 B CN 101782646B CN 200910001022 A CN200910001022 A CN 200910001022A CN 200910001022 A CN200910001022 A CN 200910001022A CN 101782646 B CN101782646 B CN 101782646B
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Abstract
The invention discloses an all-round environment sensing system and an all-round environment sensing method. A master display unit and a slave display unit are arranged in a vehicle, and a plurality of different sensors are arranged at the periphery of the vehicle. The position of an obstacle around the vehicle relative to the sensor bodies is subsequently detected by the sensors, and the first sensor data is generated and output. A main control module receives the first sensor data, performs data fusion to generate the second sensor data, and generates and transmits master prompt information and slave prompt information to the master display unit and the slave display unit for display, wherein the master prompt information comprises the information of the relative position relationship between the center of the vehicle and the obstacle; and the slave prompt information comprises the position information of the obstacle. Therefore, the position of the obstacle is accurately detected by using the functional complementation among the different sensors, and a person in the vehicle is informed of the position of the obstacle through the master prompt information and the slave prompt information, so the safety in the using process of the vehicle is effectively improved.
Description
Technical field
The present invention relates to a kind of all-round environment sensing system and method, particularly relate to a kind of being applied on the vehicles, and use the all-round environment sensing system of main display unit, a plurality of secondary display unit and a plurality of multi-form sensor.
Background technology
In the field of sensor, be used for the sensing vehicles (referring to vehicle especially) all around the sensor of environment many kinds are arranged, for example image sensor, ultrasonic radar, laser radar, little/millimetre-wave radar and infrared radar.Ultrasonic radar is present most popular radar, mainly is to use when vehicles disengaging movement, as the crashproof detecting of short distance vehicles forward-and-rearward; And image sensor also has the trend of increase recently, and the kind of learning the context object and orientation that it can be clear and definite then are the radars of detecting furthest as for laser radar; Can draw the most accurate distance detecting result; In addition, little/millimetre-wave radar then is an application radar the most widely, and it can optionally adjust the distance of detecting; When high low speed, all can move simultaneously, infrared radar then is to obtain accurate angle measurement.
These sensors; Also have simultaneously different shortcomings, for example ultrasonic radar receives the influence of Doppler effect easily because its velocity of sound is less; Can only when the low-speed motion that for example stops, use; Laser radar then is the situation of influence as raining and hazing that is vulnerable to weather, and image sensor then is that the information that obtains need be passed through complicated computing, on fault rate, still remains to be improved.Therefore, in practical application, these sensors all have various restriction.
In addition; The position that these sensors are installed has also influenced the character of sensor detecting data; For example be installed in the sensor that vehicles the place ahead is used for the same object in sensing the place ahead equally; When being installed in vehicles central axis place and the position that is installed in the vehicles head lamp left and right sides, just can obtain data inequality, even if these sensors are to belong to utilization with a kind of congeniality sensor of detecting media and principle because they are different with the relative position of being detected object.As for when sensor being the heterogeneity sensors that belong to utilization different detecting media and principle; Infrared radar for example of different nature and little/millimetre-wave radar; Because the form of different its detecting datas that obtained of detecting media and principle is also different; For example infrared radar generally is to take two dimension (two-dimensional) target trajectory to measure mode; The target data that is measured is the 2-D data that only has orientation and luffing angle, and little/millimetre-wave radar then can obtain the objective motion trace data.
Because multi-form sensor has different application conditions, be difficult to each other combine, therefore in the sensor application of existing relevant vehicles safety, be mostly that the sensor with single form belongs to the detecting application of single kind.Prior art for example shown in Figure 1; Its radar reconnaissance range 12 that utilizes ultrasonic radar to contain provides information warning to remedy the deficiency of Back mirror scope 10; But to the described shortcoming of sensor, the detecting mode of this kind single kind can't provide and measure and deal with different travel situations accurately as previous.
Therefore; How to design a kind of all-round environment sensing system that can sensing data be done data fusion; Reach the purpose of accurate obstruction detection in the hope of the complementation that utilizes function between the various different sensors, really for this reason in the correlative technology field institute's urgency wait to research and develop the problem of solution.
Summary of the invention
A purpose of the present invention provides the mode of a kind of data fusion capable of using (data fusion) various sensing datas is integrated, thereby obtains a kind of all-round environment sensing system and method for practicable application multiple sensors.
Another object of the present invention provides a kind of all-round environment sensing system and method that improves the vehicle driving security; With with the sensing data of collecting with directly clearly mode inform the driver, make the driver direction and the position of identification vehicles barrier at short notice.
Another purpose of the present invention provides a kind of all-round environment sensing system and method; After the sensing data of collecting is processed; Calculate the vehicles trend of avoiding with the barrier collision; And according to this result of calculation control vehicles trend, thereby reach the purpose that driving safety is initiatively defendd.
For reaching aforementioned and other purpose, the present invention provides a kind of all-round environment sensing system, is applied on the vehicles, and this all-round environment sensing system comprises: main display unit is arranged in these vehicles; A plurality of secondary display units are disposed at that the place, orientation appears in corresponding barrier in these vehicles; A plurality of multi-form sensors are installed in around these vehicles, in order to detecting arround these vehicles barrier with respect to the position of said sensor itself, and produce and export the first sensor data according to this; Main control module; Electrically connect is to this main display unit, said secondary display unit and said sensor; In order to receive this first sensor data; And these first sensor data are carried out data fusion to produce second sensing data; And include the main information of this vehicles center and this barrier relative position relation information and the secondary information that includes the location information of this barrier according to this second sensing data generation; And should main information transfer to this main display unit and show, simultaneously according to the position of this barrier, transmit this pair information to corresponding secondary display unit and show; Wherein, this data fusion is to convert this barrier that is had in these first sensor data the location information of this barrier with respect to this vehicles center to respect to the location information of said sensor itself.
Corresponding above-mentioned all-round environment sensing system; All-round environment method for sensing provided by the present invention may further comprise the steps: barrier and produces and exports the first sensor data according to this with respect to the position of said sensor itself arround these vehicles of said sensor detecting; This main control module receives these first sensor data; And these first sensor data are carried out data fusion to produce second sensing data; Wherein, this data fusion is to convert this barrier that is had in these first sensor data the location information of this barrier with respect to this vehicles center to respect to the location information of said sensor itself; Include the main information of this vehicles center and this barrier relative position relation information and the secondary information that includes the location information of this barrier according to this second sensing data generation; And should main information transfer to this main display unit and show, simultaneously according to the position of this barrier, transmit this pair information to corresponding secondary display unit and show.
In a preferred embodiment of the present invention, this main information and this pair information are be selected from visual information or sound sensation information wherein a kind of.This main information is a radar map.This sensor is for comprising image sensor, ultrasonic radar, laser radar, little/millimetre-wave radar and infrared radar.
In a preferred embodiment of the present invention; Also comprise the dynamic controller that is linked to this main control module; The operation of these these vehicles of dynamic controller control; Wherein, this main control module determines the trend of these vehicles according to this second sensing data and exports control command according to this and give this dynamic controller to change the trend of these vehicles.Wherein, the method for the trend of these these vehicles of decision is type of taking neural model controlling models for the basis.When system-computed for example go out with front truck should keep suitably apart from the time, the operation that this system just gets involved the vehicles provides brake or quickens, and reduces driver's burden, makes the driver can keep enough spiritual long-time operation vehicles.
In a preferred embodiment of the present invention, this main control module can comprise: two groups of control net territory interfaces, and one is used to receive the data of said sensor, and another then is to transmit this control command to this dynamic controller.This main control module can comprise: the digital signal delivery interface of UART, I2C and I2S, and should pair information to secondary display unit in order to transmit.This main control module can comprise: the interior communication network of car that is used to transmit and receive these first sensor data; Wherein, Wherein, each this sensor has unique transmission identification number sign indicating number so that this this sensor of main control module identification is preferable; Communication network can be CAN bus in this car, and this transmission identification number sign indicating number is CAN ID.
In a preferred embodiment of the present invention, this sensor is a full-embedded type, and general non-full-embedded type sensor is to use host computer to operate, so switching on and shutting down are slow, and full-embedded type sensor of the present invention need not take the host computer operation therefore to be swift in response.
Therefore; All-round environment sensing system of the present invention has overcome prior art only to be taked single form sensor detecting barrier and can't have the problem that accuracy and sensor adapt to vehicles operating environment; The present invention simultaneously provide again one directly inform information warning display mode and the driver assistance of driver's barrier position the mode of vehicles control, the combination of these technical characterictics can promote the security that the vehicles go effectively.
Description of drawings
Fig. 1 is the mode of prior art obstruction detection;
Fig. 2 is the preferred embodiment synoptic diagram of all-round environment sensing system of the present invention;
Fig. 3 is arranged at the synoptic diagram of the preferred embodiment on the vehicles for all-round environment sensing system of the present invention;
Fig. 4 a is the radar map that main display unit shows;
Fig. 4 b is the radar map that main display unit shows;
Fig. 5 is system's operational flow diagram of the all-round environment sensing system of a wherein embodiment of the present invention.
The main element symbol description:
10 Back mirror scopes
12 radar reconnaissance ranges
100 all-round environment sensing systems
101 main control modules
103 dynamic controllers
105 secondary display units
107 multiple sensors
Communication network in 109 cars
Communication network in 111 cars
113 digital signal delivery interface
115 show output interface
The 101A decoder module
101B homogeneity Fusion Module
The heterogeneous Fusion Module of 101C
101D vehicles control module
101E warns decision-making module
101F master's display unit
107a, 107b, 107c, 107d, 107e, 107f sensor
300,310 radar maps
301,311 arrows
303,312 circles
2000 operational schemees
200,201,202,203,204,205,206 steps
207,208,209,210,211,212 steps
Embodiment
Below through particular specific embodiment embodiment of the present invention is described; Those skilled in the art can understand other advantage of the present invention and effect easily by the content that this instructions disclosed; The present invention also can implement or use through other different specific embodiment; Each item details in this instructions also can be based on different viewpoints and application, carries out various modifications and change under the spirit of the present invention not deviating from.
See also the preferred embodiment synoptic diagram of Fig. 2 for all-round environment sensing system 100 of the present invention; As shown in the figure; This all-round environment sensing system 100; Be to be applied to the vehicles (for example: vehicle), this all-round environment sensing system comprises: main display unit 101F, a plurality of secondary display unit 105, a plurality of multi-form sensor 107 and 101 compositions of main control module.Below the member of respectively forming of all-round environment sensing system 100 provided by the present invention is elaborated.
This main display unit 101F is arranged in these vehicles.
Said secondary display unit 105 is disposed at that the place, orientation appears in corresponding barrier in these vehicles.Particularly; This pair display unit 105 can be through for example being that the digital signal delivery interface 113 of UART, I2C and I2S is connected with this main control module 101; To receive secondary information; This pair display unit 105 can show should the pair information to the driver, this pair information is for example for the visual information of flash of light or for example be the sound sensation information of the warning sound.
Said sensor 107 is installed in around these vehicles, in order to detecting arround these vehicles barrier with respect to the position of said sensor itself, and produces and export the first sensor data according to this.Particularly, this sensor 107 is by comprising that for example a plurality of sensors of image sensor, ultrasonic radar, laser radar, little/millimetre-wave radar and infrared radar are formed.In addition; This sensor 107 is the full-embedded type sensor, and general non-full-embedded type sensor is to use host computer to operate, so switching on and shutting down are slow; Full-embedded type sensor of the present invention need not taked the host computer operation; Its need just can move with circuit (not shown) cooperation of collocation, do not need tediously long running program consuming time to be written into process, therefore are swift in response.
These main control module 101 electrically connects are to this main display unit 101F, said secondary display unit 105 and said sensor 107; In order to receive this first sensor data; And these first sensor data are carried out data fusion to produce second sensing data; And include the main information of this vehicles center and this barrier relative position relation information and the secondary information that includes the location information of this barrier according to this second sensing data generation; And should main information transfer to this main display unit 101F and show; While is according to the position of this barrier; Transmit this pair information to corresponding secondary display unit 105 and show, wherein, this data fusion is to convert this barrier that is had in these first sensor data the location information of this barrier with respect to this vehicles center to respect to the location information of said sensor itself.
In addition; Said sensor 107 can be connected through communication network 109 in the car of for example CAN bus with main control module 101; Each sensor in the said sensor 107 all has unique transmission identification number sign indicating number (for example CAN ID), makes each sensor in the said sensor 107 can be parallel to simultaneously in the car on the communication network and carries out communication with main control module 101.
Hold above-mentionedly, main control module 101 can comprise: decoder module 101A, homogeneity Fusion Module 101B, heterogeneous Fusion Module 101C, vehicles control module 101D and caution decision-making module 101E.Below the member of respectively forming of main control module 101 provided by the present invention is elaborated.
This decoder module 101A is the first sensor data that transmitted by said sensor 107 in order to receive; And classify respectively and data decode, and will be sent to this homogeneity Fusion Module 101B through classification and decoded these first sensor data according to indivedual transmission identification number sign indicating numbers of said sensor 107 (for example being CAN ID).
This homogeneity Fusion Module 101B does data fusion with connatural first sensor data; Wherein, This connatural sensing data is meant the sensing data that sensor was produced with same detecting media and principle; After making this homogeneity Fusion Module of process 101B that connatural sensing data is done data fusion; According to heterogeneity each sensing data is carried out group classification, for example being one type with ultrasonic radar is one type with little/millimetre-wave radar, these first sensor data after through congeniality data fusion all will with express with the same world coordinates of corresponding barrier relative position relation information with respect to preset vehicles center.
This heterogeneity Fusion Module 101C is in order to receive the first sensor data after homogeneity Fusion Module 101B merges; After the first sensor data of heterogeneity being done data fusion, produce second sensing data; Data fusion between the sensing data of this heterogeneity can correspond in the mikey of same description (being equal to the same world coordinates of driver position) except making various first sensor data of different nature; And it is complementary through the strong point of each sensor; Strengthen the reliability of sensing data, for example infrared radar has the detecting of accurate target thermal source and Angular Trackong but is inappropriate for the sensed object distance, and little/millimetre-wave radar then is to have launching electromagnetic wave and the ability that can obtain accurate target range; If it is these two kinds of effect different sensor are combined, just more effective for the detecting of barrier.In detail; Data fusion mode between the heterogeneity sensor includes interactive multi-mode and combines joint probability data association algorithm, extended pattern Kalman filter probability data association algorithm etc.; Because this algorithm is not a primary and foremost purpose of the present invention, does not explain separately to avoid confusion with regard to the algorithm details at this.
Second sensing data that this homogeneity Fusion Module 101B of process and heterogeneity Fusion Module 101C handled does further analysis with caution decision-making module 101E delivering to vehicles control module 101D respectively.
This caution decision-making module 101E is second sensing data of crossing through fusion treatment in order to receive; Maybe the barrier that vehicle threatens be proposed caution to the driver according to this second sensing data decision; Remind the driver to avert danger; The mode of this prompting has two kinds; A kind of is that this caution decision-making module 101E delivers to main display unit 101F through the demonstration output interface 115 that meets output of analog or digital video or digital signal output with main information; The radar map 300,310 or the audible alert (like voice) that show for example Fig. 4 a, 4b by main display unit 101F are to remind the approaching of driver's barrier, and this main display unit 101F is LCD for example.The mode of another kind of prompting is that this caution decision-making module 101E is through comprising the digital signal delivery interface 113 of UART, I2C and I2S; Secondary information is delivered to secondary display unit 105; This pair display unit 105 can show with flash of light or sound mode should the pair information, and warning the driver avert danger.
In addition; This main control module 101 also has a vehicle adaptive cruise CS (not shown); After this vehicles control module 101D receives second sensing data of this processing; If the driver selects to open vehicles adaptive cruise CS; Then this vehicles control module 101D begins to carry out the calculation of brake system steering logic; This brake system steering logic calculation meeting draws position best between the vehicles and barrier and concern information (for example distance) about information such as the speed of vehicle dynamic, direction and receive the sensing data of representing the barrier position and carry out interacting operation, and according to this decision for example the speed that is fit to of these vehicles in the hope of keeping the safe distance of the best with barrier; Give dynamic controller 103 through the 111 output control signals of communication network in this car more afterwards, this dynamic controller 103 is carried out functions such as brake or acceleration according to this control signal.Particularly; This dynamic controller 103 is connected with this main control module 101 through communication network 111 in the car of for example CAN bus; This dynamic controller 103 for example is brake controller and throttle control; The operation of the may command vehicles can change the trend of the vehicles through dynamic controller 103.Furthermore, this main control module 101 also has two groups of control net territory interface (not shown)s, and one is used to receive the data of said sensor 107, and another then is to transmit control command to this dynamic controller 103.
Simultaneously; This caution decision-making module 101E with the location information of barrier serve as consider to decide which secondary display unit 105 to show should the pair information; For example; When barrier is when appearing at the left side of the vehicles; Then this caution decision-making module 101E just can see this pair information off to the secondary display unit 105 that is disposed at the left side, because this pair display unit 105 that shows barrier and barrier are to be positioned at identical orientation with respect to the position of the vehicles itself, the driver is by the just direct direction of identification barrier of the indicated position of the secondary display unit of this pair information of demonstration 105; Useful especially during especially for vehicles changing Lane, the driver can not ignore because of the restriction on the visual angle near barrier.At this need benly be; Because all-round environment sensing system 100 of the present invention is to take multiple sensors to detect the barrier arround the vehicles simultaneously; The scope of sensing and the travel conditions of application are more extensive, and degree of accuracy that it is reached and fiduciary level compared with prior art have distinct performance performance.
See also Fig. 3 and be arranged at the preferred embodiment on the vehicles for all-round environment sensing system 100 of the present invention; As shown in the figure; Be that a plurality of multi-form sensor 107a, 107b, 107c, 107d, 107e, 107f are installed in respectively around these vehicles; In order to detecting arround these vehicles barrier, and produce and export the first sensor data according to this with respect to the position of said sensor itself.And secondary display unit 105 is disposed at the other driver's sight line of rearview mirror place in one's power; When this pair display unit 105 shows the secondary information of the flash of light or the sound; Driver's perception immediately should the pair information; Because this pair display unit 105 is configured separate both sides in pilothouse; Therefore it is indicative that this pair information that respectively should pair display unit 105 be shown also has direction simultaneously, for example detects barrier when being positioned at vehicles the right when sensor 107, and this pair display unit 105 on the right can send this pair information to warn the position of driver's barrier.This main control module 101 is disposed on the vehicle dashboard and has main display unit 101F towards driver's (not shown); Utilize main display unit 101F can show that for example the radar map 300,310 of Fig. 4 a, 4b gives the driver; Circle 303,312 is the scope of representative sensor detecting respectively; The direction of the relative vehicles of arrow 301,311 indication barriers comprises numeral to show the distance between the barrier and the vehicles, for example when the obstacle distance vehicles are 50 meters in the arrow 301; Can show 50m in the arrow 301; Obstacle distance in radar map 310 then is that the length by arrow 311 shows, this arrow 311 is longer when this distance is far away, and this arrow 311 shortens when distance is near; The color of this arrow 311 also can change along with the distance of obstacle distance simultaneously; This arrow 301,311 for example is green when this distance is far away, and this arrow 301,311 for example is red when distance is near, and the radar map 300,310 that utilizes main display unit 101F to be shown can provide the driver function of driver assistance when bad visibility.In like manner, the present invention also can aforementioned same way as make this pair display unit 105 on the left side send the position of this pair information with warning driver barrier, but operation logic is with aforementioned identical, so do not repeat them here.
Fig. 5 is system's operational flow diagram of the all-round environment sensing system 100 of a wherein embodiment of the present invention, and is as shown in the figure, and this process flow diagram is the operational scheme 2000 that shows all-round environment sensing system 100.With after system 100 brings into operation, this operational scheme 2000 is execution in step 200 at first.
In step 200, differentiate each sensor and whether detected the first sensor data.In this step, differentiate the whether barrier in its reconnaissance range of sensing of each sensor, if, then will be sent to the first sensor data that produced the decoder module 101A of main control module 101, if not, then continue detecting.
In step 201, when decoder module 101A received each first sensor data, decoder module 101A classified and data decode to this sensor 107 according to the transmission identification number sign indicating number of this individual sensor, then proceeds to step 202.
In step 202, homogeneity Fusion Module 101B carries out data fusion to connatural first sensor data, and the output result then proceeds to step 203 to heterogeneous Fusion Module 101C.
In step 203, heterogeneous Fusion Module 101C produces second sensing data after doing data fusion to the first sensor data of heterogeneity, then proceeds to step 204.
In step 204, main display unit 101 judges whether this adaptive cruise CS is opened, if, then proceed to step 205, if not, then proceed to step 207.
In step 205, vehicles control module 101D carries out the calculation of brake system steering logic according to second sensing data after merging and draws control signal, then proceeds to step 206.
In step 206, vehicles control module 101D delivers to dynamic controller 103 with this control signal through communication network in the car 111, controls with the trend to the vehicles, then proceeds to step 207.
In step 207; The second sensing data decision main control module 101 of caution decision-making module 101E after according to fusion treatment shows that the mode of information warnings is that main display unit 101F and/or specific secondary display unit 105 show information warning and figure that should show or sound, then proceeds to step 208.
In step 208, caution decision-making module 101E judges according to the result of step 207 whether the information warning of main display unit 101F should upgrade (showing new information warning), if, then proceed to step 209, if not, then proceed to step 210.
In step 209, caution decision-making module 101E see off main information to main display unit 101F with the warning of upgrading this main display unit 101F graphic and/or warning sound, then proceed to step 210.
In step 210, caution decision-making module 101E judges according to the result of step 207 whether the information warning of secondary display unit 105 should upgrade, if, then proceed to step 211, if not, then get back to step 200.
In step 211, caution decision-making module 101E can be sent to corresponding secondary display unit 105 (the secondary display unit 105 in barrier orientation relatively) with secondary information, then proceeds to step 212.
In step 212, secondary display unit 105 these pair informations of meeting demonstration are then got back to step 200 to upgrade the secondary information that previous secondary display unit 105 is shown.
In sum; All-round environment sensing system 100 of the present invention provides a kind of sensor of integrating various ways to be used for the method for barrier detection arround the vehicles; Not only solve prior art and can't use the problem of multiple sensors simultaneously; And combine the strong point of various different sensors to reach best sensing performance through practicable mode, therefore the security that the vehicles are exercised also has the possibility that significantly promotes.
Moreover; Native system will be installed in the collected sensing data of various sensors of diverse location; Utilize the data fusion mode that all sensing data is integrated the back and appear with the position that is same as this vehicles center, what the driver obtained is the barrier data with respect to vehicles center, and the driver can know that the position of learning barrier need not do other conversion Calculation; Improved the practicality of sensing data; Again owing to taked the sensor of various types, the result after many sensor functions are drawn on the strong points to offset the weaknesses can reach accurate detecting and adapt to the performance of various varying environments.
Simultaneously; When barrier during near the vehicles; Because the secondary display unit corresponding to the barrier orientation can show that visual information or sound sensation information are to warn the orientation of driver's barrier; The driver is the position of identification barrier directly, need not pass through the indirect mode that reads literal or image, significantly promotes driver's reaction time.Radar map then can provide driving assistance when bad visibility for example, improve the identification capability of driver to context.
The foregoing description is merely illustrative principle of the present invention and effect thereof, but not is used to limit the present invention.Any those skilled in the art all can be under spirit of the present invention and category, and the foregoing description is modified and changed.Therefore, rights protection scope of the present invention should be foundation with the scope of claims.
Claims (33)
1. all-round environment sensing system is applied to it is characterized in that on the vehicles that this all-round environment sensing system comprises:
Main display unit is arranged in these vehicles;
A plurality of secondary display units are disposed at that the place, orientation appears in corresponding barrier in these vehicles;
A plurality of multi-form sensors are installed in around these vehicles, in order to detecting arround these vehicles barrier with respect to the position of said sensor itself, and produce and export the first sensor data according to this; And
Main control module; Electrically connect is to this main display unit, said secondary display unit and said sensor; In order to receive this first sensor data; And these first sensor data are carried out data fusion to produce second sensing data; And include the main information of this vehicles center and this barrier relative position relation information and the secondary information that includes the location information of this barrier according to this second sensing data generation; And should main information transfer to this main display unit and show, simultaneously according to the position of this barrier, transmit this pair information to corresponding secondary display unit and show; Wherein, This data fusion is to convert this barrier that is had in these first sensor data the location information of this barrier with respect to this vehicles center to respect to the location information of said sensor itself, comprises that also these first sensor data that belong to identical detecting media and detecting principle in these first sensor data are done homogeneity to be merged, and these first sensor data that belong to different detecting media and detecting principle in these first sensor data are done heterogeneous fusion.
2. all-round environment sensing system according to claim 1 is characterized in that, this main information and this pair information are be selected from visual information or sound sensation information wherein a kind of.
3. all-round environment sensing system according to claim 1 is characterized in that, this main information is a radar map.
4. all-round environment sensing system according to claim 3 is characterized in that, this radar map utilizes the distance between this barrier of color showing and this vehicles.
5. all-round environment sensing system according to claim 3 is characterized in that, this radar map utilizes the distance between this barrier of numeral and this vehicles.
6. all-round environment sensing system according to claim 1; It is characterized in that; Also comprise: the dynamic controller that is linked to this main control module; This dynamic controller is in order to control the operation of these vehicles, and wherein, this main control module is also exported vehicles control signal according to this according to the trend of these these vehicles of second sensing data decision and given this dynamic controller to change the trend of these vehicles.
7. all-round environment sensing system according to claim 6 is characterized in that this dynamic controller is linked to this main control module through communication network in the car.
8. all-round environment sensing system according to claim 6 is characterized in that, the method that determines the trend of these vehicles is the controlling models of type of taking neural model for the basis.
9. all-round environment sensing system according to claim 1 is characterized in that, this sensor is for comprising image sensor, ultrasonic radar, laser radar, little/millimetre-wave radar and infrared radar.
10. according to the all-round environment sensing system of claim 6, it is characterized in that this main control module also comprises:
Two groups of control net territory interfaces, wherein one be used to receive said sensor data, another person transmits these vehicles to control signal to this dynamic controller.
11. the all-round environment sensing system according to claim 1 is characterized in that, this main control module also comprises: the digital signal delivery interface of UART, I2C and I2S, and should pair information to secondary display unit in order to transmit.
12. the all-round environment sensing system according to claim 1 is characterized in that, this main control module also comprises: the interior communication network of car that is used to transmit and receive these first sensor data.
13. the all-round environment sensing system according to claim 1 is characterized in that, this main display unit shows that the mode of main information is through meeting the demonstration output interface of output of analog or digital video or digital signal output.
14. the all-round environment sensing system according to claim 1 is characterized in that, this pair display unit shows that the mode of secondary information is through meeting the demonstration output interface of output of analog or digital video or digital signal output.
15. the all-round environment sensing system according to claim 12 is characterized in that, respectively this sensor has unique transmission identification number sign indicating number for this main control module identification this sensor respectively respectively.
16. the all-round environment sensing system according to claim 15 is characterized in that, communication network is CAN bus in this car, and this transmission identification number sign indicating number is CAN ID.
17. all-round environment sensing system according to claim 1 is characterized in that, the full-embedded type sensor of this sensor for not needing host computer to operate.
18. vehicles all-round environment method for sensing; Be applied to have the vehicles of main control module; And these vehicles are provided with a plurality of multi-form sensors, main display unit and a plurality of secondary display unit and electrically connect with this main control module respectively; Said secondary display unit is disposed at that the place, orientation appears in corresponding barrier in these vehicles, it is characterized in that this vehicles all-round environment method for sensing may further comprise the steps:
Barrier is with respect to the position of said sensor itself arround these vehicles of said sensor detecting, and produces and export the first sensor data according to this;
This main control module receives these first sensor data; And these first sensor data are carried out data fusion to produce second sensing data; Wherein, This data fusion is to convert this barrier that is had in these first sensor data the location information of this barrier with respect to this vehicles center to respect to the location information of said sensor itself; Comprise that also these first sensor data that belong to identical detecting media and detecting principle in these first sensor data are done homogeneity to be merged, and these first sensor data that belong to different detecting media and detecting principle in these first sensor data are done heterogeneous fusion;
Include the main information of this vehicles center and this barrier relative position relation information and the secondary information that includes the location information of this barrier according to this second sensing data generation; And
Should main information transfer to this main display unit and show,, transmit this pair information to corresponding secondary display unit and show simultaneously according to the position of this barrier.
19. all-round environment method for sensing according to claim 18 is characterized in that, this main information and this pair information are be selected from visual information or sound sensation information wherein a kind of.
20. all-round environment method for sensing according to claim 18 is characterized in that, this main information is a radar map.
21. all-round environment method for sensing according to claim 20 is characterized in that, this radar map utilizes the distance between this barrier of color showing and this vehicles.
22. all-round environment method for sensing according to claim 20 is characterized in that, this radar map utilizes the distance between this barrier of numeral and this vehicles.
23. all-round environment method for sensing according to claim 18; It is characterized in that; This main control module is according to the trend of these vehicles of this second sensing data decision, and exports vehicles control signal according to this and give dynamic controller with this main control module electrically connect to change the trend of these vehicles.
24. all-round environment method for sensing according to claim 23 is characterized in that, the method that determines the trend of these vehicles is the controlling models of type of taking neural model for the basis.
25. all-round environment method for sensing according to claim 18 is characterized in that, this sensor is for comprising image sensor, ultrasonic radar, laser radar, little/millimetre-wave radar and infrared radar.
26. the all-round environment method for sensing according to claim 23 is characterized in that, this main control module also comprises:
Two groups of control net territory interfaces, wherein one be used to receive said sensor data, another person transmits these vehicles to control signal to this dynamic controller.
27. the all-round environment method for sensing according to claim 18 is characterized in that, this main control module also comprises: the digital signal delivery interface of UART, I2C and I2S, and should pair information to secondary display unit in order to transmit.
28. the all-round environment method for sensing according to claim 18 is characterized in that, this main control module also comprises: the interior communication network of car that is used to transmit and receive these first sensor data.
29. the all-round environment method for sensing according to claim 18 is characterized in that, this main display unit shows that the mode of main information is through meeting the demonstration output interface of output of analog or digital video or digital signal output.
30. the all-round environment method for sensing according to claim 18 is characterized in that, this pair display unit shows that the mode of secondary information is through meeting the demonstration output interface of output of analog or digital video or digital signal output.
31. the all-round environment method for sensing according to claim 28 is characterized in that, respectively this sensor has unique transmission identification number sign indicating number for this main control module identification this sensor respectively.
32. the all-round environment method for sensing according to claim 31 is characterized in that, communication network is CAN bus in this car, and this transmission identification number sign indicating number is CAN ID.
33. all-round environment method for sensing according to claim 18 is characterized in that, the full-embedded type sensor of this sensor for not needing host computer to operate.
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