JP2020042846A5

JP2020042846A5 -

Info

Publication number: JP2020042846A5
Application number: JP2019212815A
Authority: JP
Filing date: 2019-11-26
Publication date: 2020-06-11

Claims

A plurality of sensors including a front monitoring sensor that monitors the front of the vehicle,
A plurality of buses connected to each of the plurality of sensors,
An arbitration unit that arbitrates the plurality of buses,
A priority determination unit that determines the priority of each of the plurality of sensors,
With a dedicated bus that does not share data with other buses,
The arbitration unit arbitrates the plurality of buses according to the determination result of the priority determination unit, and further, the plurality of buses does not include the dedicated bus,
The dedicated bus connects the front monitoring sensor and the arbitration unit, transmits data of the front monitoring sensor ,
The information processing system , wherein the arbitration unit updates the priority based on data of the front monitoring sensor .

The information processing system according to claim 1, wherein
Further, a diagnostic unit for diagnosing whether or not the sensor is abnormal,
The information processing system, wherein the arbitration unit arbitrates so as to give priority to a sensor other than a sensor diagnosed as having an abnormality by the diagnosis unit.

The information processing system according to claim 1 or 2, wherein
An information processing system comprising at least a periphery monitoring sensor for monitoring the periphery of the vehicle as the plurality of sensors.

The information processing system according to claim 3,
The arbitration unit is
If the host vehicle is traveling at a speed equal to or higher than a predetermined vehicle speed, arbitration is performed to prioritize the bus to which the front monitoring sensor is connected,
An information processing system, wherein when the own vehicle is traveling at a speed lower than a predetermined speed, arbitration is performed so as to give priority to a bus to which the peripheral monitoring sensor is connected.

The information processing system according to claim 2, wherein
When the diagnosis unit diagnoses that the front monitoring sensor has an abnormality, the arbitration unit performs arbitration so that the bus to which the peripheral monitoring sensor is connected has priority regardless of the vehicle speed. system.

The information processing system according to any one of claims 1 to 5,
Furthermore, a communication means for receiving information including road conditions around the vehicle is provided,
Based on the information received by the communication means, the priority determination unit prioritizes the bus of the sensor that detects the direction of an obstacle that may collide with the traveling path of the vehicle, among the plurality of sensors. Judge,
The information processing system, wherein the arbitration unit arbitrates so that the bus of the sensor determined to be prioritized by the priority determination unit is prioritized.

The information processing system according to claim 3, wherein
The front monitoring sensor is a monocular camera,
Furthermore, an image processing unit capable of processing an image from the monocular camera to detect an obstacle and measuring a distance between the obstacle and the vehicle,
When it is determined that the obstacle distance is short based on the measurement result by the image processing unit, the arbitration unit gives priority to the bus of the memory in which the image data of the monocular camera and the detection result of the obstacle are stored. An information processing system characterized by performing arbitration as described above.

The information processing system according to claim 7,
Furthermore, it has a display unit for displaying images,
When it is determined that the distance of the obstacle is short based on the measurement result by the image processing unit, the image data of the monocular camera is read from the memory of the bus arbitrated by the arbitration unit so as to give priority, and the display unit An information processing system characterized by being displayed on.

The information processing system according to claim 3, wherein
The front monitoring sensor is a stereo camera,
Furthermore, a distance image generation unit that obtains a distance for each pixel from the left and right images acquired by the stereo camera,
A histogram peak detection processing unit that obtains a histogram of distances in the vertical direction with respect to the road of the distance image generated by the distance image generation unit and calculates a peak value thereof;
When the histogram peak detection result by the histogram peak detection processing unit has a peak of a distance close to the vehicle traveling path, the arbitration unit uses the bus of the memory in which the image data of the stereo camera and the distance image are stored. An information processing system characterized by arbitrating so as to give priority to.

The information processing system according to claim 9,
Furthermore, it has a display unit for displaying images,
When it is determined that the distance of the obstacle is short based on the measurement result by the image processing unit, the image data of the stereo camera is read from the memory of the bus arbitrated by the arbitration unit to give priority to the display unit. An information processing system characterized by displaying.