JP2010218329A - Determination system and determination method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a determination system for improving a detection rate and for decreasing an error detection rate. <P>SOLUTION: The determination system includes five or more determination elements configured to respectively make one determination for detection data, and the determination elements consist of five determination modules 131A to 131E configured to independently or serially connected or connected in parallel to respectively make one determination. The five determination modules includes a first determination system 132 for making one determination by serially connecting the first determination module to the second determination module; a second determination system 133 for making one determination by serially connecting the first determination module and the third determination module and the fifth determination module; a third determination system 134 for making one determination by serially connecting the second determination module and the third determination module and the fourth determination module; and a fourth determination system 135 for making one determination by serially connecting the fourth module and the fifth determination module, and the determination systems are connected in parallel 136 to make one total determination. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a determination system and a determination method.

  In recent years, it has become common to mount sensors on a moving body such as a robot or an automobile to detect and record data on the surrounding environment of the moving body for post-mortem verification of an accident.

  Conventionally, in order to extract the data before and after the accident from the enormous amount of recorded data with high certainty, only two judgments, namely, judgment by the acceleration sensor and judgment by the microphone are made redundant, and both are judged as dangerous. The data was transferred to a non-volatile memory (Patent Document 1).

JP 2006-199204 A

  However, in an in-vehicle determination system, higher certainty is required. If the risk judgment by a plurality of sensors is simply combined by a series system (AND) and made redundant as in the prior art, there is a problem that the false detection rate is lowered but the detection rate is also lowered. On the other hand, if accident judgments are simply combined by a parallel system (OR) and made redundant, there is a problem that the detection rate increases but the false detection rate also increases.

  Further, the redundancy by simple multiplexing of the determination elements has a problem that the cost increases, the weight and volume of the system increase, the reliability of the entire system decreases, the complexity increases, and the turnaround time increases.

  In order to solve the above-described problem, the determination system according to the present invention has five or more determination elements that make one determination for data acquired by one or more detectors. The judgment elements form five judgment modules that make one judgment each alone or by coupling to one or both of the series system and the parallel system. The five determination modules include a first determination system that makes one determination by coupling the first determination module and the second determination module in a series system, a first determination module, a third determination module, and a fifth determination module. A second judgment system for making a judgment by coupling to a series system, a third judgment system for making a judgment by coupling the second judgment module, the third judgment module, and the fourth judgment module to the series system; And a fourth determination system that makes a single determination by coupling the fourth determination module and the fifth determination module in a series system. The first judgment system, the second judgment system, the third judgment system, and the fourth judgment system are combined into a parallel system to make one comprehensive judgment.

  In addition, the determination method according to the present invention includes a data acquisition stage in which data is acquired by one or more detectors, respectively, and a first determination stage in which five or more determination elements each make one determination for data. A second judgment stage in which one judgment element is used alone, or five judgment modules each coupled to either one or both of a series system and a parallel system, and the first of the five judgment modules. A first determination system formed by combining a determination module and a second determination module in a series system; a second determination system formed by combining a first determination module, a third determination module, and a fifth determination module in a series system; A third judgment system in which the 2 judgment module, the third judgment module, and the fourth judgment module are coupled in series; and a fourth judgment module in which the fourth judgment module and the fifth judgment module are coupled in series. A comprehensive judgment in which the third judgment stage in which the disconnection system makes one judgment and the first judgment system, the second judgment system, the third judgment system, and the fourth judgment system are combined in a parallel system to make one judgment. Stages.

  According to the determination system and the determination method according to the present invention, the risk of the moving object is obtained by combining the determination by five or more determination elements in a complementary manner so as to exhibit the advantages of the series system and the parallel system combination. The detection rate can be improved and the false detection rate can be reduced.

  In addition, by reducing the number of judgment elements for redundancy to at least five, the cost is increased by multiplexing the judgment elements, the weight and volume of the system are increased, the reliability of the entire system is lowered, the complexity is increased, and the turnaround is performed. An increase in time can be prevented.

It is a functional block diagram which shows the judgment system which concerns on 1st embodiment of this invention. It is a figure which shows the flowchart which shows the function of the two judgment elements which make one judgment, respectively about the data detected with one detector, and the example. It is a figure which shows the function of one judgment element which makes one judgment about the data detected with one detector, and the figure which shows the specific example. It is explanatory drawing for demonstrating the logical operation which comprises four judgment systems and the comprehensive judgment part of the judgment system which concerns on 1st embodiment of this invention. It is a figure which shows the calculation result of the judgment element single unit detection rate dependence of the whole system detection rate of the judgment system which concerns on 1st embodiment of this invention. It is a figure which shows the determination factor single element detection rate dependence of the detection rate and malfunction rate when two determination signals are each couple | bonded by the serial redundant system and the parallel redundant system. It is explanatory drawing for demonstrating the characteristic of an ideal judgment system. It is a figure which shows the calculation result of the judgment element single-piece | unit detection rate dependence of the two-dimensional, three-dimensional, five-dimensional, and seven-dimensional system whole detection rate. It is a figure which shows the flowchart of the judgment method which concerns on 1st embodiment of this invention. It is explanatory drawing for demonstrating the principle of calculation of the distance of an obstruction and a mobile body by a stereo camera. It is explanatory drawing for demonstrating the back matching of the distance of an obstruction and a mobile body by a stereo camera. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a second embodiment of the present invention. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a third embodiment of the present invention. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a 4th embodiment of the present invention. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a fifth embodiment of the present invention. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a 6th embodiment of the present invention. It is a logical operation conceptual diagram of four judgment systems and a comprehensive judgment part of the judgment system concerning a 7th embodiment of the present invention. It is a figure which shows a part of flowchart of the judgment method which concerns on 8th embodiment of this invention. It is a figure which shows the relative relationship of the output speed of the judgment signal output from each judgment module.

  Hereinafter, a determination system and a determination method according to an embodiment of the present invention will be described in detail with reference to the drawings.

  In the following embodiments, a determination system and a determination method according to the present invention will be described as applications for determining the risk of a moving object, but the present invention is not limited to this. In other words, the present invention is installed as one of the facilities and can be applied to abnormality determination regarding security. It can also be applied to the determination of an emergency stop of a moving body.

[First embodiment]
FIG. 1 is a functional block diagram showing a determination system according to the first embodiment of the present invention.

  First, the configuration and function of the determination system according to the present embodiment will be described with reference to FIG.

  The determination system 10 according to the present embodiment can be configured by a stereo camera 100, an acceleration sensor 110, a brake operation switch sensor 120, a computer, and a computer program (hereinafter referred to as “computer”) 130.

  These components can be mounted on a mobile object. However, some of these components do not have to be mounted on the moving body. Here, as the moving body, any moving body such as a robot in addition to a vehicle can be considered.

  The stereo camera 100 is configured to include two cameras, that is, a base camera 101 and a reference camera 102. Each of the reference camera 101 and the reference camera 102 can be configured by an imaging device such as a CCD device and other optical systems, and the configuration is the same as that of a general stereo camera.

  The stereo camera 100 has a function of acquiring image data (including video data) including an object (for example, an obstacle) by the reference camera 101 and the reference camera 102, respectively. An obstacle can be recognized from the image data acquired by the stereo camera 100, and the distance between the obstacle and the stereo camera 100 can be calculated.

  Furthermore, the stereo camera 100 can acquire image data including an object by reversing the roles of the base camera 101 and the reference camera 102. As a result, it is possible to determine whether the distance between the stereo camera 100 and the obstacle is the same when the roles of the base camera 101 and the reference camera 102 are normal and when the roles are reversed. That is, the back matching can be determined.

  The acceleration sensor 110 is a device that measures acceleration. By mounting the acceleration sensor 110 on a moving body, the acceleration of the moving body can be measured. The acceleration sensor 110 may be, for example, a semiconductor acceleration sensor using MEMS (Micro Electro Mechanical Systems) technology, or a mechanical or optical acceleration sensor.

  The brake operation switch sensor 120 detects that the moving body has been braked. The brake operation switch sensor 120 can be configured, for example, by providing a pedal pressing detector that detects pressing of the brake pedal in the pedal portion of the brake pedal of the moving body. Further, the brake operation switch sensor 120 may be configured to detect that the brake pedal has been depressed by monitoring an output signal of the brake pedal.

  The computer 130 may be composed of computer hardware such as a CPU, RAM, ROM, hard disk, and input / output device, and software (computer program). However, the computer 130 may be configured partially or entirely by hardware other than a computer (for example, an IC chip).

  The computer 130 includes a first determination module 131A, a second determination module 131B, a third determination module 131C, a fourth determination module 131D, a fifth determination module 131E, a first determination system 132, a second determination system 133, and a third determination system. Functional blocks such as 134, a fourth determination system 135, and a comprehensive determination system 136 are configured.

  The first determination module 131A includes an obstacle recognition processing unit and a first determination unit. The obstacle recognition processing unit receives and processes image data from the reference camera 101. The first determination unit receives the image data processed by the obstacle recognition processing unit, determines the presence or absence of an obstacle based on the received image data, and outputs the determination result as a first determination signal. In the present embodiment, since the determination in the first determination module 131A is only the determination of the first determination unit, the number of determination elements constituting the first determination module 131A is one (that is, the failure recognition processing unit and the first determination unit). This is a determination element by the determination unit). Here, the determination element is a minimum unit of determination in which one determination is made for data detected by one or more detectors.

  The second determination module 131B includes a distance calculation unit for an obstacle and a second determination unit. The obstacle distance calculation unit receives and processes image data from the base camera 101 and the reference camera 102, and calculates the distance to the obstacle. The second determination unit receives the calculation result of the distance calculation unit from the obstacle, determines the distance of the obstacle based on the calculation result, and outputs the determination result as a second determination signal. In the present embodiment, since the determination in the second determination module 131B is only the determination of the second determination unit, the number of determination elements constituting the second determination module 131B is one (that is, the distance calculation unit for the obstacle). And a determination element by the second determination unit).

  The third determination module 131C includes a back matching calculation unit for distance to an obstacle and a third determination unit. The back matching calculation unit for the distance to the obstacle receives and processes the image data from the base camera 101 and the reference camera 102, and calculates the back matching for the distance to the obstacle. The third determination unit receives the calculation result of the back matching calculation unit for the distance to the obstacle, determines the back matching based on the calculation result, and outputs the determination result as a third determination signal. In the present embodiment, since the determination in the third determination module 131C is only the determination of the third determination unit, the number of determination elements constituting the third determination module 131C is one (that is, the back of the distance to the obstacle). This is a determination element by the matching calculation unit and the third determination unit).

  Here, the determination element will be described in more detail. The first to third determination modules 131 </ b> A to 131 </ b> C make one determination with respect to data detected by one detector (stereo camera) in the first to third determination units, respectively. In this way, even if based on data detected by a single common detector, if the independent determination is made, each of the independent determinations corresponds to a determination element.

  FIG. 2A is a flowchart showing the functions of two determination elements that make one determination for data detected by one detector, and FIG. 2B is a specific example thereof. As shown in FIGS. 2A and 2B, even if it is based on data detected by one detector, what is determined independently corresponds to a determination element. That is, A and B in FIG. 2 each include two determination elements. Since the flowchart of FIG. 2B is included in the flowchart (FIG. 9) of the determination method according to the present embodiment, description thereof is omitted here.

  FIG. 3A is a flowchart showing the function of one determination element that makes one determination on data detected by one detector, and FIG. 3B is a specific example thereof. The determination elements shown in FIGS. 3A and 3B are typical examples of the determination elements because the number of detectors matches the number of determination elements. That is, each of A and B in FIG. 3 includes one determination element. The determination elements constituting the fourth and fifth determination modules described below are such typical determination elements. The flowchart in FIG. 3B is included in the flowchart (FIG. 9) of the determination method according to the present embodiment, so the description thereof is omitted here.

  The fourth determination module 131D includes an acceleration calculation unit and a fourth determination unit. The acceleration calculation unit receives acceleration data from the acceleration sensor 110 and calculates acceleration. The fourth determination unit receives the calculation result of the acceleration calculation unit, determines the magnitude of the acceleration of the moving body based on the calculation result, and outputs the determination result as a fourth determination signal. In the present embodiment, since the determination in the fourth determination module 131D is only the determination of the fourth determination unit, the number of determination elements constituting the fourth determination module 131D is one (that is, the acceleration calculation unit and the fourth determination unit). (Determining element by part).

  The fifth determination module 131E includes a brake operation recognition processing unit and a fifth determination unit. The brake operation recognition processing unit receives and processes brake operation data from the brake operation switch sensor 120. The fifth determination unit receives the data processed by the brake operation recognition processing unit, determines the presence or absence of the brake operation of the moving body based on the data, and outputs the determination result as a fifth determination signal. In the present embodiment, since the determination in the fifth determination module 131E is only the determination of the fifth determination unit, the number of determination elements constituting the fifth determination module 131E is one (that is, the brake operation recognition processing unit and the first determination unit). 5 is a determination element by the determination unit).

  The first determination system 132 combines the first determination module 131A and the second determination module 131B in a serial system (that is, connected by AND) to make one determination (that is, determination by AND operation), and the determination result Is output as the first signal.

  The second determination system 133 combines the first determination module 131A, the third determination module 131C, and the fifth module 131E in a series system (that is, connected by AND), and makes one determination (that is, determination by AND operation). And the determination result is output as the second signal.

  The third determination system 134 combines the second determination module 131B, the third determination module 131C, and the fourth determination module 131D in series (that is, connected by AND), and makes one determination (that is, determination by AND operation). ) And output the determination result as a third signal.

  The fourth determination system 135 combines the fourth determination module 131D and the fifth determination module 131E in series (that is, connected by AND) to make one determination (that is, determination by AND operation), and the determination result Is output as the fourth signal.

  The overall determination unit 136 combines the first to fourth signals received from the first to fourth determination systems 132 to 135 into the parallel system (that is, combines with OR), and makes one determination (that is, determination based on the OR operation). The determination result is output as a trigger signal 136A. The trigger signal 136A is a comprehensive determination as a determination of the danger of the moving object. In addition, the trigger signal 136A can be used to extract data before and after the occurrence of the accident from the image data from the stereo camera 100 that is always recorded in the storage device of the computer 130.

  The determination system according to the present embodiment includes five determination modules (that is, first to fifth determination modules) as constituent elements, and the number of determination elements (first to fifth determination units) included in each determination module. 1 is assumed. Therefore, the number of determination elements included in the system is 5, and this configuration is a basic form of the embodiment of the determination system according to the present invention and corresponds to the case where the number of determination elements is the smallest. A determination system having five determination elements as in the present embodiment is referred to as a five-dimensional determination system.

  FIG. 4 is an explanatory diagram for explaining logical operations constituting the four determination systems (that is, the first to fourth determination systems) and the comprehensive determination unit of the determination system according to the present embodiment.

4A is a logical operation conceptual diagram of the four determination systems and the comprehensive determination unit of the determination system according to the present embodiment. 4B is a logical operation circuit diagram equivalent to A of FIG. In FIG. 4, R _{1 to} R ₅ indicate first to fifth determination signals, respectively. That is, R _{1 to} R ₅ indicate output signals of the first to fifth determination modules 131A to 131E, respectively.

The logical operation conceptual diagram of A of FIG. 4 means the following contents. That constitutes the first determination signal R ₁ and the second determination signal R ₂ is one determination system is coupled in series system (first determination system). A first determination signal R ₁ and the third determination signal R ₃ and the fifth judgment signal R ₅ is coupled in series system forms one of the determination system (second determination system). A second determination signal R ₂ and the third determination signal R ₃ and fourth determination signal R ₄ are coupled in series system forms one of the determination system (third determination system). A fourth determination signal R ₄ and the fifth judgment signal R ₅ is coupled in series system forms one of the determination system (fourth determination system). These four judgment systems (first to fourth judgment systems) are connected to a parallel system to make one comprehensive judgment.

The logical operation circuit diagram of B in FIG. 4 corresponds to the logical operation concept diagram of A and has equivalent contents. That is, the first determination signal R ₁ and the bond at the second determination signal R ₂ and the AND circuit 200 (i.e., coupled in series system) is, forms one of the determination system (first determination system). A first determination signal R ₁ and the third determination signal R ₃ bond in the fifth judgment signal R ₅ and an AND circuit 201 (i.e., coupled in series system) is, forms one of the determination system (second determination system) . Coupling that is, the second determination signal R ₂ and the third determination signal R ₃ and fourth determination signal R ₄ is an AND circuit 202, coupled in series system) is, forms one of the determination system (third determination system). Coupling i.e. the fourth determination signal R ₄ and the fifth judgment signal R ₅ and an AND circuit 203, coupled in series system) is, forms one of the determination system (fourth determination system). These four judgment systems (first to fourth judgment systems) are coupled by the OR circuit 204 (that is, coupled to a parallel system) to make one comprehensive judgment.

  FIG. 5 is a diagram showing a calculation result of the dependency of the entire system detection rate on the determination element single detection rate of the determination system according to the present embodiment. As shown in FIG. 5, the characteristic of the determination system according to the present embodiment is that the detection rate of the entire system becomes higher when the determination factor single unit detection rate exceeds 50%. Further, as will be described later, when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower. Such characteristics are ideal as a judgment system. This is because, when the detection factor single unit detection rate exceeds 50%, it is highly possible that the moving body is in a dangerous state or the like, and thus it is desirable that the detection rate of the entire system be high. In addition, when the determination factor single unit detection rate is less than 50%, there is a high possibility that the moving body is not in a dangerous state or the like.

  Such characteristics, that is, the characteristic that the whole system detection rate becomes higher when the detection factor single unit detection rate exceeds 50%, and the whole system detection rate becomes lower when it falls below 50%. This can be achieved by performing logical operations shown in A and B of FIG. That is, as shown in FIG. 4, five determination signals are combined into four series systems to form four signals, and further combined into one parallel system as one comprehensive determination signal (hereinafter referred to as “trigger signal”). This can be achieved.

  Here, it is shown that the characteristics of an ideal determination system as shown in FIG. 5 can be achieved by calculating five determination signals by the logical operation shown in FIG.

  FIG. 6 is a diagram showing the dependency of the detection rate and the malfunction rate on the determination element unit detection rate when two determination signals are coupled in the serial redundancy system and the parallel redundancy system, respectively.

  As shown in FIG. 6, when two judgment signals are simply combined in a series system and made redundant, it is ideal because the erroneous detection rate is relatively small when the judgment element single unit detection rate is 50% or less. There is a problem that the single element detection rate is 50% or more and the detection rate is relatively small. On the other hand, when two decision signals are simply combined into a parallel system and made redundant, it is ideal because the detection rate is relatively large when the determination factor single unit detection rate is 50% or more, but the determination element single unit detection rate is 50%. There is a problem that the false detection rate is relatively large at less than or equal to%.

  FIG. 7 is an explanatory diagram for explaining the characteristics of an ideal determination system.

  FIG. 7A shows a case where the determination signal is coupled to the serial system for redundancy (a), a case where the determination signal is coupled to the parallel system for redundancy (b), and a case where the determination signal is not redundant (c). It is a figure which shows the calculation result of the judgment element single unit detection rate dependence of the whole system detection rate. The characteristic of an ideal judgment system is a characteristic having the characteristics of two portions surrounded by a dotted line in FIG. That is, when the determination factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher. When the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower (at this time, the detection rate of the entire system becomes lower (see FIG. 6)).

  FIG. 7B shows the characteristics of such an ideal system. The characteristic of B in FIG. 7 is presumed from the curvature that the detection rate of the entire system can be expressed by a fifth-order expression of the determination factor single unit detection rate.

Here, the determination system according to the present embodiment is a five-dimensional determination system, and each of the five determination modules includes one determination element. Then, each determination signal in the logical operation shown in FIG. 4 can be replaced with the determination element single detection rate R, and the comprehensive determination signal can be replaced with the detection rate R _{sys of the} entire system.

Therefore, the entire system detection rate R _sys of the determination system according to the present embodiment is expressed by the following equation (1) by the determination element single detection rate R. Here, the following points are considered in the calculation. That is, when three of the determination elements detect danger, the detected system is R ₁ , R ₃ , R _{4 in} FIG. 4 and R ₂ , R ₃ , R ₅ , the entire system. Not as dangerous. When two of the determination elements detect danger, the entire system is determined to be dangerous only when the detected determination elements are R ₁ and R ₂ and R ₄ and R ₅ in FIG. It is done. Further, when only one of the determination elements detects a danger, the entire system is not judged as dangerous.

  As shown in Expression (1), the determination system according to the present embodiment can express the detection rate of the entire system as a fifth-order expression of the determination element single detection rate.

  When Expression (1) is graphed, the graph of FIG. 5 is obtained. That is, the determination system according to the present embodiment has characteristics of an ideal determination system.

  Therefore, according to the determination system according to the present embodiment, the determination by the five determination elements is complementarily combined so as to exhibit the advantages of the series system and the parallel system combination, thereby detecting the risk of the moving object. It is possible to improve the rate and reduce the false detection rate.

  FIG. 8 is a diagram showing a calculation result of the dependency of the detection factor on the whole detection rate of the two-dimensional, three-dimensional, five-dimensional, and seven-dimensional systems. As shown in FIG. 8, in order to obtain characteristics of an ideal determination system, the number of determination elements constituting the system needs to be five or more (that is, five dimensions or more). Further, in order to obtain a more ideal determination system characteristic, it is desirable that the number of determination elements constituting the system is an odd number.

  Therefore, according to the determination system according to the present embodiment, the number of determination elements for redundancy can be reduced to five. Thereby, it is possible to prevent an increase in cost due to multiplexing of decision elements, an increase in the weight and volume of the system, a decrease in reliability of the entire system, a complication, and an increase in turnaround time.

  Next, the determination method according to the present embodiment will be described with reference to FIGS. 1 and 9.

  FIG. 9 is a diagram illustrating a flowchart of the determination method according to the present embodiment. Hereinafter, step numbers are shown, and each step number will be described.

[S900]
Receive image data from a stereo camera.

  The obstacle determination processing unit of the first determination module 131A, the distance calculation unit of the second determination module 131B, and the back-matching calculation unit of the distance to the obstacle of the third determination module 131C receive image data from the stereo camera 100. Receive.

[S901]
Obstacle recognition processing.

  The obstacle recognition processing unit of the first determination module 131A processes the image data received from the stereo camera 100 so that the first determination unit can determine whether there is an obstacle, and transmits the processed image data to the first determination unit.

[S902]
Determine if the obstacle was recognized.

  The first determination unit of the first determination module 131A receives the image data processed by the obstacle recognition processing unit, and determines the presence or absence of an obstacle based on the received image data. If an obstacle is recognized, the process proceeds to step S904, and if no obstacle is recognized, the process proceeds to S905.

[S903]
“ON” is output as the first determination signal.

  When the first determination unit recognizes an obstacle in the previous step S902, the first determination unit outputs “ON” as the first determination signal. Here, “ON” is a concept opposite to “OFF”. For example, in the case of logical data, “ON” is “1” or “Hi”, and “OFF” is “0” or “Lo”. "Means.

[S904]
“OFF” is output as the first determination signal.

  If no obstacle is recognized in the previous step S902, the first determination unit outputs “OFF” as the first determination signal.

[S906]
Calculate the distance between the obstacle and the moving object.

  In parallel with step S901, the distance calculation unit of the second determination module 131B receives and processes the image data from the stereo camera 100, and the obstacle and the moving body (specifically, the obstacle and the stereo camera). And the distance A is calculated. The calculated value is transmitted to the second determination unit.

[S907]
It is determined whether the distance A between the obstacle and the moving body is less than 10 [m].

  The second determination unit of the second determination module 131B receives the result calculated by the distance calculation unit from the obstacle, and determines whether the distance A between the obstacle and the moving body is less than 10 [m] based on the result. To do. If it is determined that the distance A is less than 10 [m], the process proceeds to step S908, and the second determination unit outputs “ON” as the second determination signal. When it is determined that the distance A is 10 [m] or more, the process proceeds to step S909, and the second determination unit outputs “OFF” as the second determination signal.

[S910]
The back matching of the distance between the obstacle and the moving object is determined.

  In parallel with steps S901 and S906, the back matching calculation unit for the distance to the obstacle of the third determination module 131C receives and processes the image data from the stereo camera 100, and the obstacle and the moving object (in detail, the obstacle The distance A between the object and the stereo camera is calculated. Here, the calculation of the distance A may be replaced with the calculation by the distance calculation unit with the obstacle.

  Furthermore, the stereo camera 100 obtains image data including an object by reversing the roles of the base camera 101 and the reference camera 102. The back matching calculation unit for the distance to the obstacle receives and processes the image data from the stereo camera 100 at this time, and calculates the distance B between the obstacle and the moving body (specifically, the obstacle and the stereo camera). .

  The back matching calculation unit for the distance to the obstacle calculates the difference between the distance A and the distance B, and transmits the calculated value to the third determination unit.

[S911]
The back matching of the distance between the obstacle and the moving object is determined.

  The third determination unit of the third determination module 131C receives the calculation result of the difference between the distance A and the distance B calculated by the back matching calculation unit of the distance to the obstacle, and the difference exceeds a predetermined threshold range. Determine whether or not. When the difference exceeds the threshold range, it is determined that the back matching does not match, the process proceeds to step S912, and the third determination unit outputs “ON” as the third determination signal. When the difference does not exceed the threshold range, it is determined that the back matching is matched, the process proceeds to step S913, and the third determination unit outputs “OFF” as the third determination signal.

  Here, the principle of calculating the distance between the obstacle and the moving object by the stereo camera and the back matching of the distance between the obstacle and the moving object will be briefly described.

  FIG. 10 is an explanatory diagram for explaining the principle of calculating the distance between the obstacle and the moving object by the stereo camera.

As shown in FIG. 10, the base camera 101 and the reference camera 102 constituting the stereo camera 100 are installed in the traveling direction of the moving body, thereby capturing an image including the obstacle 1000 on the road surface. The image of the obstacle 1000 is displayed on the virtual screens 101A and 102A as coordinates x ₁ and x ₂ , respectively. The distance z from the stereo camera to the obstacle can be obtained by the following formula (2) based on the principle of triangulation.

  Here, B represents the base line length of the stereo camera 100, and F represents the distance to the virtual screen of the base camera 101 and the reference camera 102 of the stereo camera 100. These parameters can use design values of a stereo camera.

  FIG. 11 is an explanatory diagram for explaining back matching of the distance between the obstacle and the moving object by the stereo camera.

  As shown in FIG. 11, depending on the relative positional relationship between the obstacle 1100 and the stereo camera 100, an occlusion phenomenon in which one of the base camera 101 and the reference camera 102 is hidden may occur. At this time, the stereo camera 100 can recognize that the position of the obstacle 1100 is in the wrong position 1100E. In such a case, there is a possibility of seriously affecting the risk judgment of the moving body. Therefore, in the present embodiment, image data including an object is acquired for both the case where the roles of the base camera 101 and the reference camera 102 are normal and the case where the roles are reversed. Then, whether the distance between the stereo camera 100 and the obstacle is the same, that is, back matching, is determined depending on whether the roles of the base camera 101 and the reference camera 102 are normal. The determination system is configured by regarding the determination of back matching as a single determination element.

[S914]
Receive acceleration data from the acceleration sensor.

  In parallel with step S900, the acceleration calculation unit of the fourth determination module 131D receives acceleration data from the acceleration sensor 110.

[S915]
Acceleration C is calculated.

  The acceleration calculation unit calculates the acceleration C based on the acceleration data received from the acceleration sensor 110, and transmits the acceleration C to the fourth determination unit.

[S916]
It is determined whether the acceleration C exceeds 0.4 [G].

  The fourth determination unit of the fourth determination module 131D determines whether the acceleration C exceeds 0.4 [G]. When the acceleration C exceeds 0.4 [G], it is determined that the acceleration exceeds the reference, the process proceeds to step S917, and the fourth determination unit outputs “ON” as the fourth determination signal. When the acceleration C does not exceed 0.4 [G], it is determined that the acceleration does not exceed the reference, the process proceeds to step S918, and the fourth determination unit outputs “OFF” as the fourth determination signal.

[S919]
Brake operation data is received from the brake operation switch sensor.

  In parallel with steps S900 and S914, the brake operation recognition processing unit of the fifth determination module 131E receives the brake operation data from the brake operation switch sensor 120.

[S920]
Perform brake operation recognition processing.

  The brake operation recognition processing unit processes the brake operation data received from the brake operation switch sensor 120 so that the fifth determination unit can determine the presence / absence of the brake operation data, and transmits the brake operation data to the fifth determination unit.

[S921]
It is determined whether the brake operation is recognized.

  The fifth determination unit of the fifth determination module 131E determines whether a brake operation has been recognized. When the brake operation is recognized, the process proceeds to step S922, and the fifth determination unit outputs “ON” as the fifth determination signal. When the brake operation is not recognized, the process proceeds to step S923, and the fifth determination unit outputs “OFF” as the fifth determination signal.

[S924]
It is determined whether or not the first determination signal and the second determination signal are “ON”.

  The first determination system 132 determines whether or not the first determination signal and the second determination signal are “ON” by coupling the first determination signal and the second determination signal in series. When it is determined that the first determination signal and the second determination signal are “ON”, the process proceeds to step S925, and the first determination system outputs “ON” as the first signal. When it is determined that the first determination signal and the second determination signal are not “ON”, the process proceeds to step S925, and the first determination system outputs “OFF” as the first signal.

[S927]
It is determined whether the first determination signal, the third determination signal, and the fifth determination signal are “ON”.

  The second determination system 133 combines the first determination signal, the third determination signal, and the fifth determination signal in series, so that the first determination signal, the third determination signal, and the fifth determination signal are “ON”. Determine if there is. When it is determined that the first determination signal, the third determination signal, and the fifth determination signal are “ON”, the process proceeds to step S928, and the second determination system outputs “ON” as the second signal. When it is determined that the first determination signal, the third determination signal, and the fifth determination signal are not “ON”, the process proceeds to step S929, and the first determination system outputs “OFF” as the first signal.

[S930]
It is determined whether the second determination signal, the third determination signal, and the fourth determination signal are “ON”.

  The third determination system 134 combines the first determination signal, the third determination signal, and the fifth determination signal in series, so that the second determination signal, the third determination signal, and the fourth determination signal are “ON”. Determine if there is. When it is determined that the second determination signal, the third determination signal, and the fourth determination signal are “ON”, the process proceeds to step S931, and the third determination system outputs “ON” as the third signal. When it is determined that the second determination signal, the third determination signal, and the fourth determination signal are not “ON”, the process proceeds to step S932, and the third determination system outputs “OFF” as the third signal.

[S933]
It is determined whether the fourth determination signal and the fifth determination signal are “ON”.

  The fourth determination system 135 determines whether the fourth determination signal and the fifth determination signal are “ON” by coupling the fourth determination signal and the fifth determination signal in series. When it is determined that the fourth determination signal and the fifth determination signal are “ON”, the process proceeds to step S934, and the fourth determination system outputs “ON” as the fourth signal. When it is determined that the fourth determination signal and the fifth determination signal are not “ON”, the process proceeds to step S935, and the fourth determination system outputs “OFF” as the fourth signal.

[S936]
It is determined whether any of the first to fourth signals is “ON”.

  The overall determination unit 136 determines whether any of the first to fourth signals is “ON” by combining the first signal, the second signal, the third signal, and the fourth signal in a parallel system. To do. When it is determined that any of the first to fourth signals is “ON”, the process proceeds to step S937, and the comprehensive determination unit 136 outputs “ON” as a trigger signal. When it is determined that none of the first to fourth signals is “ON”, the process proceeds to step S938, and the overall determination unit 136 outputs “OFF” as a trigger signal.

  As described above, the determination system and the determination method according to the first embodiment of the present invention have been described. However, according to the determination system and the determination method according to the present embodiment, the determination based on the five determination elements can be performed using a series system and a parallel system. Complementary coupling is performed so that each advantage is exhibited, so that the detection rate of a moving object can be improved and the false detection rate can be reduced. In addition, since the judgment factors for redundancy can be reduced, the cost is increased by multiplexing judgment factors, the weight and volume of the system are increased, the reliability of the entire system is lowered, the complexity is increased, and the turnaround time is reduced. An increase can be prevented.

[Second Embodiment]
12A and 12B are conceptual diagrams of logical operations of the four determination systems and the comprehensive determination unit of the determination system according to the second embodiment of the present invention. The difference from the first embodiment is that the number of judgment elements constituting the judgment system according to the first embodiment is five, whereas the number of judgment elements constituting the judgment system according to the present embodiment is seven. It is a point. That is, this embodiment is a 7-dimensional determination system. Since other points are the same as those in the first embodiment, description thereof is omitted.

  As this embodiment, for example, two embodiments shown in FIG. 12A and FIG. 12B can be considered.

In FIG. 12A, the portion where R and R ₁ are coupled in series represents the first determination signal, that is, the output signal of the first determination module 131A. That is, R and R ₁ are output signals of the determination elements constituting the first determination module 131A, respectively, and R and R ₁ are coupled in series to output signals of the first determination module 131A (first determination signal). ). Therefore, the first determination module 131A has two determination elements.

Likewise, moiety attached to R and R ₄ in series system, the fourth decision signal, that is, the output signal of the fourth determination module 131D. That is, R and R ₄ are output signals of the determination elements constituting the fourth determination module 131D, respectively, and R and R ₄ are coupled in series to output signals of the fourth determination module 131D (fourth determination signal). ). Accordingly, the fourth determination module 131D has two determination elements.

In FIG. 12B, the portion where R ₂ and R are coupled in series represents the second determination signal, that is, the output signal of the second determination module 131B. That, R ₂ and R is the output signal of the decision element constituting the second determination module 131B, respectively, second determining module 131B of the output signal by combining R ₂ and R in series system (second judgment signal ). Therefore, the second determination module 131B has two determination elements.

Similarly, the portion in which R ₅ and R are coupled in series indicates the fifth determination signal, that is, the output signal of the fifth determination module 131E. That, R ₅ and R is an output signal of the decision element constituting a fifth determining module 131E respectively, the fifth determining module 131E of the output signal by combining R ₅ and R in series system (Fifth determination signal ). Therefore, the fifth determination module 131E has two determination elements.

  C of FIG. 12 is a diagram illustrating the dependency of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b. In addition, the characteristic when A of FIG. 12 is implemented is the same as the characteristic when B of FIG. 12 is implemented.

  As shown in FIG. 12C, in the present embodiment, the false detection rate can be further reduced as compared with the first embodiment, but the detection rate is also reduced. However, basically, as in the first embodiment, it has ideal characteristics as a determination system. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

  In addition, this embodiment can cope with a case where the number of detectors needs to be increased.

[Third embodiment]
13A and 13B are conceptual diagrams of logical operations of the four determination systems and the comprehensive determination unit of the determination system according to the third embodiment of the present invention. The difference from the second embodiment is as follows. That is, the two judgment elements constituting the first judgment module and the fourth judgment module (or the second judgment module and the fifth judgment module) constituting the judgment system according to the second embodiment are coupled in series. Yes. On the other hand, the two judgment elements constituting the first judgment module and the fourth judgment module (or the second judgment module and the fifth judgment module) constituting the judgment system according to the present embodiment are combined in a parallel system. ing. Since other points are the same as those in the second embodiment, description thereof is omitted.

  As this embodiment, for example, two embodiments shown in FIG. 13A and FIG. 13B can be considered.

In A of FIG. 13, the portion that combines the R and R ₁ in parallel system, the first decision signal, that is, the output signal of the first determination module 131A. That is, R and R ₁ are output signals of the determination elements constituting the first determination module 131A, respectively, and R and R ₁ are coupled in a parallel system to output the first determination module 131A (first determination signal). ). Therefore, the first determination module 131A has two determination elements.

Likewise, moiety attached to R and R ₄ in parallel system, the fourth decision signal, that is, the output signal of the fourth determination module 131D. That is, R and R ₄ are output signals of the determination elements constituting the fourth determination module 131D, respectively, and R and R ₄ are combined in a parallel system to output signals of the fourth determination module 131D (fourth determination signal). ). Accordingly, the fourth determination module 131D has two determination elements.

In B of FIG. 13, the portion coupled with the R ₂ and R in parallel system, the second determination signal, that is, the output signal of the second determination module 131B. That, R ₂ and R is the output signal of the decision element constituting the second determination module 131B, respectively, second determining module 131B of the output signal by combining R ₂ and R in parallel system (second judgment signal ). Therefore, the second determination module 131B has two determination elements.

Likewise, moiety attached to R ₅ and R in parallel system, the fifth judgment signal, that is, the output signal of the fifth determining module 131E. That, R ₅ and R is an output signal of the decision element constituting a fifth determining module 131E respectively, the fifth determining module 131E of the output signal by combining R ₅ and R in parallel system (Fifth determination signal ). Therefore, the fifth determination module 131E has two determination elements.

  FIG. 13C is a diagram illustrating the dependency of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b. The characteristics when A in FIG. 13 is implemented are the same as the characteristics when B in FIG. 13 is implemented.

  As shown in C of FIG. 13, the present embodiment can further increase the detection rate as compared with the first embodiment, but the false detection rate also increases. However, basically, as in the first embodiment, it has ideal characteristics as a determination system. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

In addition, this embodiment can cope with a case where the number of detectors needs to be increased. [Fourth embodiment]
14A and 14B are conceptual diagrams of logical operations of the four determination systems and the comprehensive determination unit of the determination system according to the fourth embodiment of the present invention. The difference from the first embodiment is the following point. In other words, each of the five determination modules configuring the determination system according to the first embodiment has one determination element. On the other hand, two of the five judgment modules constituting the judgment system according to the present embodiment are composed of two judgment elements, and one of the two judgment modules is coupled with the two judgment elements in a series system. The other is coupled to a parallel system. Since other points are the same as those in the first embodiment, description thereof is omitted.

  As this embodiment, for example, two embodiments shown in FIG. 14A and FIG. 14B can be considered.

In FIG. 14A, the portion where R and R ₁ are coupled in a parallel system indicates the first determination signal, that is, the output signal of the first determination module 131A. That is, R and R ₁ are output signals of the determination elements constituting the first determination module 131A, respectively, and R and R ₁ are coupled in a parallel system to output the first determination module 131A (first determination signal). ). Therefore, the first determination module 131A has two determination elements.

Likewise, moiety attached to the R and R ₅ in parallel system, the fifth judgment signal, that is, the output signal of the fifth determining module 131E. That is, R and R ₅ are output signals of the determination elements constituting the fifth determination module 131E, respectively, and R and R ₅ are coupled in a parallel system to output signals of the fifth determination module 131E (fifth determination signal). ). Therefore, the fifth determination module 131E has two determination elements.

In B of FIG. 14, the portion that combines the R ₄ and R in series system, the fourth decision signal, that is, the output signal of the fourth determination module 131D. That, R ₄ and R is the output signal of the decision element constituting the fourth determination module 131D, respectively, the fourth determination module 131D of the output signal by combining R ₄ and R in series system (fourth determination signal ). Accordingly, the fourth determination module 131D has two determination elements.

Likewise, moiety attached to R ₅ and R in parallel system, the fifth judgment signal, that is, the output signal of the fifth determining module 131E. That, R ₅ and R is an output signal of the decision element constituting a fifth determining module 131E respectively, the fifth determining module 131E of the output signal by combining R ₅ and R in parallel system (Fifth determination signal ). Therefore, the fifth determination module 131E has two determination elements.

  C of FIG. 14 is a diagram illustrating the dependency of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b. The characteristics when A in FIG. 14 is implemented are the same as the characteristics when B in FIG. 14 is implemented.

  As shown in FIG. 14C, the present embodiment has ideal characteristics as a determination system as in the first embodiment. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

  This embodiment can cope with a case where the number of detectors needs to be increased.

[Fifth embodiment]
FIG. 15A is a logical operation conceptual diagram of the four determination systems and the comprehensive determination unit of the determination system according to the fifth embodiment of the present invention. The difference from the first embodiment is the following point. In other words, each of the five determination modules configuring the determination system according to the first embodiment has one determination element. On the other hand, among the five determination modules constituting the determination system according to the present embodiment, the third determination module is configured by three determination elements, and the three determination elements are coupled in series. Since other points are the same as those in the first embodiment, description thereof is omitted.

  As this embodiment, for example, an embodiment shown in FIG.

In FIG. 15A, the part where R ₃ and two Rs are connected in series represents the third determination signal, that is, the output signal of the third determination module 131C. That, R ₁ and two R is the output signal of the decision element constituting the third determination module 131C respectively, by combining R ₃ and two R in series based third determining module 131C of the output signal ( A third determination signal). Therefore, the third determination module 131C has three determination elements.

  FIG. 15B is a diagram illustrating the dependence of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b.

  As shown in FIG. 15B, the present embodiment has ideal characteristics as a determination system as in the first embodiment. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

  This embodiment can cope with a case where the number of detectors needs to be increased.

[Sixth embodiment]
FIG. 16A is a conceptual diagram of logical operations of the four determination systems and the comprehensive determination unit of the determination system according to the sixth embodiment of the present invention. The difference from the first embodiment is the following point. In other words, each of the five determination modules configuring the determination system according to the first embodiment has one determination element. On the other hand, among the five determination modules constituting the determination system according to the present embodiment, the third determination module is configured by three determination elements, and the three determination elements are coupled in a parallel system. Since other points are the same as those in the first embodiment, description thereof is omitted.

  As this embodiment, for example, an embodiment shown in FIG.

In A of FIG. 16, a portion where R ₃ and two Rs are coupled in a parallel system indicates a third determination signal, that is, an output signal of the third determination module 131C. That, R ₁ and two R is the output signal of the decision element constituting the third determination module 131C respectively, R ₃ and two third determination module 131C of the output signal by combining the R in parallel system ( A third determination signal). Therefore, the third determination module 131C has three determination elements.

  FIG. 16B is a diagram illustrating the dependency of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b.

  As shown in FIG. 16B, the present embodiment has ideal characteristics as a determination system as in the first embodiment. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

  This embodiment can cope with a case where the number of detectors needs to be increased.

[Seventh embodiment]
FIG. 17A is a logical operation conceptual diagram of the four judgment systems and the overall judgment unit of the judgment system according to the seventh embodiment of the present invention. The difference from the first embodiment is the following point. In other words, each of the five determination modules configuring the determination system according to the first embodiment has one determination element. On the other hand, among the five determination modules constituting the determination system according to the present embodiment, the third determination module is configured by three determination elements, and two of the three determination elements are coupled in a series system, Two decision elements coupled to the system and the remaining one decision element are coupled to the parallel system. Since other points are the same as those in the first embodiment, description thereof is omitted.

  As this embodiment, for example, an embodiment shown in FIG.

In FIG. 17A, R ₃ and one R are coupled in a series system, and two judgment elements coupled to the series system and another judgment element R are further coupled in a parallel system. The signal, that is, the output signal of the third determination module 131C is shown. That, R ₁ and two R is the output signal of the decision element constituting the third determination module 131C respectively, R ₃ and one combines the R series system, two determinations bound to the series system The element and the other determination element R are further coupled in a parallel system to form an output signal (third determination signal) of the third determination module 131C. Therefore, the third determination module 131C has three determination elements.

  FIG. 17B is a diagram illustrating the dependence of the overall system detection rate on the determination element single detection rate in the first embodiment and this embodiment. Here, the characteristic of the first embodiment is indicated by a, and the characteristic of the present embodiment is indicated by b.

  As shown in FIG. 17B, the present embodiment has ideal characteristics as a determination system as in the first embodiment. That is, when the detection factor single unit detection rate exceeds 50%, the detection rate of the entire system becomes higher, and when the determination factor single unit detection rate falls below 50%, the false detection rate of the entire system becomes lower.

  This embodiment can cope with a case where the number of detectors needs to be increased.

[Eighth embodiment]
FIG. 18 is a diagram showing a part of a flowchart of the determination method according to the eighth embodiment of the present invention. The flowchart shown in FIG. 18 is implemented following steps S900 to S923 in the flowchart (see FIG. 9) of the determination method according to the first embodiment. Since description about step S900-S923 is made in description of 1st embodiment, it abbreviate | omits here.

  The difference between this embodiment and the first embodiment is as follows. That is, in the first embodiment, the comprehensive determination unit does not output a trigger signal as a comprehensive determination until the determination results by all the determination systems of the first to fourth determination systems are output. On the other hand, in the present embodiment, priority is given to determination based on data from a physical sensor (an acceleration sensor and a brake operation switch sensor correspond) having a relatively fast detection speed. When a danger is determined based on data from the physical sensor, a trigger signal is output without waiting for a determination based on data from another sensor.

  In the following, the flowchart shown in FIG. 18 will be described with step numbers. Note that the determination system shown in FIG. 1 can also serve as a system for carrying out this embodiment.

[S1800]
It is determined whether the fourth determination signal and the fifth determination signal are “ON”.

  The fourth determination system 135 determines whether or not the fourth determination signal and the fifth determination signal output earlier than the first to third determination signals are “ON”.

  The fourth determination system 135 determines whether the fourth determination signal and the fifth determination signal are “ON” by coupling the fourth determination signal and the fifth determination signal in series. When it is determined that the fourth determination signal and the fifth determination signal are “ON”, the process proceeds to step S1613, and the comprehensive determination unit 136 immediately outputs “ON” as a trigger signal. Also, the process proceeds to step S1801, and the first to third determination signal processing is stopped.

  This makes it possible to output “ON” as a trigger signal that is a comprehensive determination without depending on the first to third determination signals having a long response time, thereby shortening the processing time of the determination system and the determination method as a whole. be able to. Further, when the fourth determination signal and the fifth determination signal are “ON”, the first to third determination signal processing is stopped, so that the determination system can save power.

  Here, the relative relationship between the output speeds of the five determination signals will be described.

  FIG. 19 is a diagram illustrating a relative relationship between output speeds of determination signals output from the determination modules.

  As shown in FIG. 19, the output speeds of the fourth determination signal determined based on the detection data from the acceleration sensor 110 and the fifth determination signal determined based on the detection data from the brake operation switch sensor 120 are different from each other. It is faster than the output speed of the judgment signal. This is because the first to third determination signals require time to process the image detected by the stereo camera 100, whereas the fourth determination signal and the fifth determination signal are used for such image processing. This is because time is unnecessary.

  When it is determined that the fourth determination signal and the fifth determination signal are not “ON”, the process proceeds to steps S1802, S1805, and S1808, and the first signal is determined by the first determination system, the second determination system, and the third determination system, respectively. The second signal and third signal “ON” or “OFF” output is determined. The description of these steps and the subsequent steps is the same as in the first embodiment, and will be omitted.

  Although the determination system and the determination method according to the eighth embodiment of the present invention have been described above, this embodiment has the following effects in addition to the effects exhibited by the first to seventh embodiments. That is, it is possible to output a trigger signal that gives a comprehensive judgment by giving priority to a judgment signal with a short response time without depending on a judgment signal with a long response time, thereby shortening the processing time of the judgment system and the judgment method as a whole. be able to. When a danger or the like is determined based on a determination signal with a short response time, the processing of the determination signal with a long response time is stopped, so that the power of the determination system can be saved.

  As mentioned above, although this invention has been demonstrated based on embodiment, the scope of the present invention is not limited to embodiment.

  For example, in the above-described embodiment, a stereo camera is used as the compound eye image system, but the compound eye image system may be configured by two single cameras. Further, although a stereo camera, an acceleration sensor, and a brake operation switch sensor are used as detectors, other detectors may be used.

10 Judgment system,
100 stereo camera,
101 reference camera,
102 reference camera,
110 Accelerometer,
120 brake operation switch sensor,
130 calculator,
131A first determination module;
131B second determination module;
131C third determination module;
131D fourth determination module;
131E fifth determination module;
132 First judgment system,
133 Second judgment system,
134 Third judgment system,
135 Fourth judgment system,
136 General Judgment Department,
136A Trigger signal.

Claims (12)

With respect to data acquired by one or more detectors, each has five or more determination elements that make one determination.
The determination element is composed of five determination modules that each perform one determination by combining with a single system or one or both of a series system and a parallel system,
The five determination modules include a first determination system in which the first determination module and the second determination module are coupled in series to make one determination, the first determination module, the third determination module, and the fifth determination module. Is coupled to the series system, and the second judgment system, the second judgment module, the third judgment module, and the fourth judgment module are coupled to the series system to make one judgment. A determination system, and a fourth determination system in which the fourth determination module and the fifth determination module are coupled in series to make one determination,
The determination system, wherein the first determination system, the second determination system, the third determination system, and the fourth determination system are combined in a parallel system to make one comprehensive determination. A storage unit for storing the acquired data;
The determination system according to claim 1, wherein the determination element makes the determination on the stored data.   The determination system according to claim 1, wherein the number of the determination elements is five, and each of the five determination modules includes the single determination element.   The determination system according to claim 1, wherein the determination elements included in at least three of the five determination modules respectively determine data acquired by the compound-eye image system. .   5. The determination according to claim 1, wherein the five determination modules configure the determination element such that at least one determination system makes one determination earlier than other determination systems. system.   The determination system according to claim 1, wherein the determination system determines an emergency stop of a moving body or a risk perception. A data acquisition stage for acquiring data respectively with one or more detectors;
A first determination step in which five or more determination elements each make one determination for the data;
A second determination stage in which each of the determination elements is a single determination, or one determination is made by five determination modules each coupled to either or both of a series system and a parallel system;
Of the five determination modules, a first determination system in which a first determination module and a second determination module are coupled in series, and the first determination module, third determination module, and fifth determination module are in series. A second judgment system coupled to the third judgment system, the second judgment module, the third judgment module, and the fourth judgment module coupled in series. The fourth judgment module and the fifth judgment A fourth judgment system in which modules are connected in series, and a third judgment stage in which one judgment is made,
A comprehensive judgment stage in which the first judgment system, the second judgment system, the third judgment system, and the fourth judgment system are combined in a parallel system to make one judgment;
The determination method characterized by having. A storage step of storing the data acquired in the data acquisition step;
The determination method according to claim 7, wherein in the first determination step, the determination is performed on the stored data.   9. The determination method according to claim 7, wherein the number of the determination elements is five, and each of the five determination modules includes the single determination element.   The determination method according to claim 7, wherein the determination elements included in at least three of the five determination modules respectively determine data acquired by the compound-eye image system. .   11. The determination according to claim 7, wherein the five determination modules configure the determination element such that at least one determination system makes one determination earlier than other determination systems. Method.   The determination method according to any one of claims 7 to 11, wherein the determination method includes determination of emergency stop of a moving body or determination of danger recognition.