JP7154459B1 - sensor system - Google Patents

Abstract

A sensor system (SS) is a first sensor (12A) to detect a first physical quantity (BR1) and sets a first parameter (SP1) that defines the operation of the first sensor (12A). The first sensor (12A) to receive and the second sensor (12B) to detect the second physical quantity (BR2) that defines the operation of the second sensor (12B) By referring to a predetermined table (TB) based on the second sensor (12B) to receive setting of the parameter (SP2) and the detected second physical quantity (BR2), the first By setting the first parameter (SP1) to the sensor (12A) of and referring to the predetermined table (TB) based on the detected first physical quantity (BR1), the and a cooperation processing unit (14) for setting the second parameter (SP2) to the second sensor (12B).

Description

The present disclosure relates to sensor systems.

The moving object detection device described in Patent Document 1, which has a plurality of sensors in common with the sensor system according to the present disclosure, aims at accurately estimating the number, positions, and moving directions of moving objects. Ranging information measured by a sensor and image information captured by an image acquisition sensor are used.

Japanese Patent No. 6351917

However, in the moving object detection device described above, for example, setting the ranging sensor parameters that define the operation of the ranging sensor is performed based on the ranging information measured by the ranging sensor. However, when the ranging sensor cannot measure the ranging information, the parameters for the ranging sensor cannot be set.

SUMMARY OF THE INVENTION It is an object of the present disclosure to provide a sensor system in which parameters for defining the operation of the sensor can be set to the sensor even if the sensor cannot detect data.

In order to solve the above-described problems, a sensor system according to the present disclosure is a first sensor that should detect a first physical quantity and should receive setting of a first parameter that defines the operation of the first sensor. 1 sensor, a second sensor that is to detect a second physical quantity and is to receive the setting of a second parameter that defines the operation of the second sensor, and the detected second sensor By referring to a predetermined table based on the physical quantity, a first parameter is set in the first sensor, and based on the detected first physical quantity, by referring to a predetermined table , and a cooperative processing unit that sets the second parameter to the second sensor, and the determination unit calculates the amount of rainfall and the amount of snowfall by counting the number of water patterns in the puddle.

According to the sensor system according to the present disclosure, even if the first sensor cannot detect the first physical quantity under the condition of the road surface, the first sensor detects the first physical quantity. 1 parameter can be set, and similarly, the second parameter can be set for the second sensor even if the second sensor cannot detect the second physical quantity. can.

2 is a functional block diagram of the sensor system SS of Embodiment 1. FIG. 2 shows the hardware configuration of the sensor system SS of Embodiment 1. FIG. 4 is a flowchart (Part 1) showing the operation of the sensor system SS of Embodiment 1; 4 is a flowchart (part 2) showing the operation of the sensor system SS of Embodiment 1; 3 is a flowchart (part 3) showing the operation of the sensor system SS of Embodiment 1; FIG. 10 is a functional block diagram (learning phase) of the sensor system SS of Embodiment 2; FIG. 10 is a functional block diagram (inference phase) of the sensor system SS of Embodiment 2; 10 is a flow chart showing the operation in the learning phase of the sensor system SS of Embodiment 2. FIG. 10 is a flowchart (part 1) showing the operation in the inference phase of the sensor system SS of Embodiment 2; 9 is a flowchart (part 2) showing the operation in the inference phase of the sensor system SS of Embodiment 2; 10 is a flowchart (part 3) showing the operation in the inference phase of the sensor system SS of the second embodiment; FIG. 11 is a functional block diagram of a sensor system SS of Embodiment 3; 10 is a flow chart showing the operation of the sensor system SS of Embodiment 3. FIG.

An embodiment of a sensor system according to the present disclosure will be described.

Embodiment 1.
<Embodiment 1>
A sensor system according to Embodiment 1 will be described.

<Functions of Embodiment 1>
FIG. 1 is a functional block diagram of the sensor system SS of Embodiment 1. FIG. Functions of the sensor system SS of Embodiment 1 will be described with reference to the functional block diagram of FIG.

The sensor system SS of Embodiment 1 includes, for example, a first sensor parameter control section 11A, a second sensor parameter control section 11B, and a first sensor parameter control section 11B, as shown in FIG. A sensor 12A, a second sensor 12B, a first sensor processing unit 13A, a second sensor processing unit 13B, a cooperation processing unit 14, and a weather/environment determination unit 15 are included.

The first sensor 12A corresponds to the "first sensor", the second sensor 12B corresponds to the "second sensor", and the cooperation processing unit 14 corresponds to the "cooperation processing unit".

The first sensor parameter control unit 11A outputs a first sensor parameter SP1 to the first sensor 12A (for example, a camera) from the cooperation processing unit 14 and defines the operation of the first sensor 12A. (e.g. frame rate).

Similarly, the second sensor parameter control unit 11B outputs to the second sensor 12B (for example, a laser radar) from the cooperation processing unit 14 and defines the operation of the second sensor 12B. to set the sensor parameter SP2 (for example, reception sensitivity).

The first sensor parameter SP1 corresponds to the "first sensor parameter" and the second sensor parameter SP2 corresponds to the "second sensor parameter".

In the following, for ease of explanation and understanding, a single symbol may be used to collectively refer to a plurality of names. are collectively referred to as "sensor parameters".

The first sensor 12A acquires a first physical quantity BR1 (for example, an image) according to the first sensor parameter SP1 set by the first sensor parameter control section 11A. The first sensor 12A is, for example, a camera, as described above. Below, the term “physical quantity” is used synonymously with the term “measurement data”, for example.

The second sensor 12B acquires a second physical quantity BR2 (for example, distance, reflection intensity) according to the second sensor parameter SP2 set by the second sensor parameter control section 11B. The second sensor 12B is, for example, a laser radar, as described above.

The first sensor processing unit 13A transfers the first physical quantity BR1 detected by the first sensor 12A as it is, or converts the first physical quantity BR1 to another physical quantity br1 (for example, brightness) and Output.

Similarly, the second sensor processing unit 13B directly transfers the second physical quantity BR2 detected by the second sensor 12B, or converts the second physical quantity BR2 to another physical quantity br2 (for example, position). and then output.

The cooperation processing unit 14 generates a second sensor parameter SP2 having a magnitude corresponding to the magnitude of the first physical quantity BR1 (or another physical quantity br1) detected by the first sensor 12A. to the sensor parameter control section 11B.

Similarly, the cooperation processing unit 14 obtains a first sensor parameter SP1 having a size corresponding to the size of the second physical quantity BR2 (or another physical quantity br2) detected by the second sensor 12B. , to the first sensor parameter control unit 11A.

The weather/environment determination unit 15 detects or calculates weather and environmental conditions, such as road surface conditions (dry and wet, presence or absence of puddles, number of ripples, number of raindrops, amount of precipitation, amount of snowfall). .

The weather/environment determining unit 15 compares, for example, the brightness of the pixels representing the road surface and the brightness representing the sky in the image acquired by the first sensor 12A (camera). , it determines that the road surface is dry, and on the other hand, if the luminance ratio is low, it determines that the road surface is wet. Here, the "ratio of brightness" is the ratio of pixels on the road surface to pixels on the sky. This normalizes the incident sunlight level.

The weather/environment determining unit 15 determines, for example, the signal-to-noise ratio (hereinafter referred to as “SN ratio”) of the signal from the dry road surface acquired by the second sensor 12B (laser radar), that is, the reference and the SN ratio of the signal from the road surface, which decreases due to the decrease in the road surface reflectance when it rains (wet), it is possible to determine whether the road surface is dry or wet. To detect.

The weather/environment judgment unit 15 calculates the amount of rainfall and snowfall by counting the number of water ripples in a puddle and the number of raindrops bursting on the road surface from the image acquired by the first sensor 12A (camera). do.

The weather/environment determination unit 15 counts the intensity and number of reflection signals from raindrops that are discretely detected in space from the three-dimensional image data acquired by the second sensor 12B (laser radar). Calculate rainfall and snowfall by

The weather/environment determination unit 15 distinguishes between daytime and nighttime based on the brightness of the image acquired by the first sensor 12A (camera).

Instead of the above, the weather/environment determining unit 15 may measure precipitation using a rain gauge, measure raindrops using a visibility meter, and grasp the state of the road surface using a road surface sensor. .

FIG. 2 shows the hardware configuration of the sensor system SS of the first embodiment. A hardware configuration of the sensor system SS of Embodiment 1 will be described with reference to FIG.

The sensor system SS of Embodiment 1 includes a processor PC, a memory MM, and a storage medium KB, as shown in FIG. 2, in order to achieve the functions described above. and an output section SY.

A processor PC is the core of a familiar computer that runs hardware according to software. The memory MM is composed of, for example, a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory). The storage medium KB includes, for example, a hard disk drive (HDD), a solid state drive (SSD), and a ROM (Read Only Memory). A storage medium KB stores a program PR. The program PR is a group of instructions that define the content of processing to be executed by the processor PC.

The input unit NY is composed of, for example, a camera, a microphone, a keyboard, and a touch panel. The output unit SY is composed of, for example, a liquid crystal monitor and a touch panel.

Regarding the relationship between the functions and the hardware configuration in the sensor system SS, on the hardware, the processor PC executes the program PR stored in the storage medium KB on the memory MM, and if necessary, the input unit By controlling the operations of NY and the output unit SY, the functions of the first sensor parameter control unit 11A to the weather/environment determination unit 15 are realized.

<Operation of Embodiment 1>
FIG. 3 is a flowchart (Part 1) showing the operation of the sensor system SS of the first embodiment.

FIG. 4 is a flowchart (part 2) showing the operation of the sensor system SS of the first embodiment.

FIG. 5 is a flowchart (part 3) showing the operation of the sensor system SS of the first embodiment.

The operation of the sensor system SS of Embodiment 1 will be described with reference to the flow charts of FIGS. 3 to 5. FIG.

As a premise of the operation of the sensor system SS (predetermined table TB (not shown)), for example, when the weather is fine (dry) and nighttime, and when the weather is rainy (wet) and nighttime, the first sensor 12A The (camera) frame rate is lower than the frame rate (standard frame rate) of the first sensor 12A (camera) in sunny (dry) and daytime and in rainy (wet) and daytime, i.e., going down

In contrast to the above, the reception sensitivity of the second sensor 12B (laser radar) in fine weather (dry) and nighttime and in rainy weather (wet) and nighttime is And, it is higher than the reception sensitivity (standard reception sensitivity) of the second sensor 12B (laser radar) in rainy weather (wet) and daytime.

Step ST11: The weather/environment judging section 15 grasps the weather and environmental conditions described above.

Step ST12: The cooperative processing unit 14, under the weather and environmental conditions ascertained by the weather/environment determination unit 15, determines the size corresponding to the size of the second physical quantity BR2 acquired by the second sensor 12B. etc. to the first sensor parameter control unit 11A. Similarly, the cooperation processing unit 14 transfers a second sensor parameter SP2 having a size corresponding to the size of the first physical quantity BR1 acquired by the first sensor 12A to the second sensor parameter control unit 11B. output to

Correspondence relationship between the size of the acquired second physical quantity BR2 and the size of the first sensor parameter SP1, and the size of the acquired first physical quantity BR1 and the second sensor Correspondence relationships such as the magnitude of the parameter SP2 are stored in the table TB described above.

The first sensor parameter control unit 11A sets the above-described first sensor parameter SP1 to the first sensor 12A, and similarly, the second sensor parameter control unit 11B sets the above-described second sensor parameter SP2 to Set to the second sensor 12B.

An example of the first physical quantity BR1 and the second sensor parameter SP2 is a bright part of the black car captured by the first sensor 12A (camera) when the black car is running on a wet road surface. , tail lamps (or headlights; the same applies hereinafter), and based on the detection of the tail lamps (corresponding to the first physical quantity BR1), the scanning range of the second sensor 12B (laser radar) (second sensor parameter SP2.) is adjusted to the detected tail lamp, that is, by limiting the range to include the periphery and increasing the number of times of data acquisition and data averaging, the receiving sensitivity is improved.

As an example of the second physical quantity BR2 and the first sensor parameter SP1, when the background is white and the object, i.e., the target is white, the second sensor 12B (laser radar) detects the distance to the target. A distance (corresponding to the second physical quantity BR2) is detected, and with the detection of the distance, the camera starts tracking (corresponding to the first sensor parameter SP1).

Steps ST13, 14A, 14B, 15A, 15B: Easier based on whether it is sunny (dry) and night, rainy (wet) and night, sunny (dry) and day, or rainy (wet) and day , based on whether it is daytime or nighttime, the first sensor parameter control unit 11A sets the first sensor parameter SP1 (frame rate) to the first sensor 12A by referring to the table TB described above. (camera), and similarly, the second sensor parameter control unit 11B sets the second sensor parameter SP2 (receiving sensitivity) to the second sensor 12B (laser radar).

Step ST16: The weather/environment judging section 15, based on the first physical quantity BR1 and the like output from the first sensor processing section 13A and the second physical quantity BR2 output from the second sensor processing section 13B, is detected. When it is determined that the object has been detected, the process proceeds to step ST16. In contrast, when it is determined that no object is detected, the process returns to step ST15.

Step ST17: The first sensor 12A (camera) monitors the movement of the detected object.

Step ST18: The second sensor 12B (laser radar) measures the position of the detected object, and also calculates the velocity in the same manner as conventionally known.

When repeating steps ST11 to ST18, the process returns to step ST11.

<Effect of Embodiment 1>
As described above, in the sensor system SS of the first embodiment, the cooperation processing unit 14 detects the second physical quantity BR2 detected by the second sensor 12B. A sensor parameter SP1 is set to the first sensor 12A, and similarly, a second sensor parameter SP2 having a magnitude corresponding to the magnitude of the first physical quantity BR1 detected by the first sensor 12A is set. Set to the second sensor 12B. As a result, even if the first sensor 12A cannot detect the first physical quantity BR1 and the second sensor 12B cannot detect the second physical quantity BR2, the first sensor 12A can be set to the first sensor parameter SP1, and the second sensor 12B can be set to the second sensor parameter SP2.

Embodiment 2.
<Embodiment 2>
A sensor system according to the second embodiment will be described.

<Functions of Embodiment 2>
FIG. 6 is a functional block diagram (learning phase) of the sensor system SS of the second embodiment.

FIG. 7 is a functional block diagram (inference phase) of the sensor system SS of the second embodiment.

Functions of the sensor system SS of the second embodiment will be described with reference to functional block diagrams of FIGS. 6 and 7. FIG.

As shown in FIGS. 6 and 7, the sensor system SS of Embodiment 2 is basically the same as the sensor system SS of Embodiment 1 (shown in FIG. 1). , a second sensor parameter control unit 21B, a first sensor 22A, a second sensor 22B, a first sensor processing unit 23A, a second sensor processing unit 23B, a cooperation processing unit 24, and a weather/environment determination unit 25 .

The first sensor parameter control unit 21A, the second sensor parameter control unit 21B, the first sensor 22A, the second sensor 22B, the first sensor processing unit 23A, the second sensor processing unit 23B of the second embodiment, The functions of the cooperation processing unit 24 and the weather/environment determination unit 25 are the first sensor parameter control unit 11A, the second sensor parameter control unit 11B, the first sensor 12A, the second sensor 12B, The functions are the same as those of the first sensor processing unit 13A, the second sensor processing unit 13B, the cooperation processing unit 14, and the weather/environment judgment unit 15.

On the other hand, the sensor system SS of Embodiment 2 is different from the sensor system SS of Embodiment 1, and further includes an object detection rate calculator 26 and a learning section 27 as shown in FIG. In the second embodiment, instead of using the table TB in the first embodiment, the optimum solution of sensor parameters is derived by learning (in particular, reinforcement learning).

The object detection rate calculator 26 calculates the first physical quantity BR1 (or other physical quantity br1) detected by the first sensor 22A and the second physical quantity BR2 (or An object detection rate TK is calculated based on another physical quantity br2). The object detection rate calculation unit 26 outputs the calculated object detection rate TK to the learning unit 27 .

The “object detection rate TK” means the probability that the presence or absence of an object existing within a detectable area can be correctly detected.

In the learning phase, the learning unit 27 calculates the target calculated by the target object detection rate calculating unit 26 based on a model base (for example, a model base that simulates sensor performance, environmental conditions, the shape of a detection target, and reflection characteristics). Based on the object detection rate TK, the first sensor parameter control unit 21A causes the first sensor 22A to set the first sensor parameter SP1 in order to improve the object detection rate TK. The parameter control unit 21B sets the second sensor parameter SP2 to the second sensor 22B.

The learning unit 27 sets the first sensor parameter SP1 and the second sensor parameter SP2 to the first sensor 22A and the second sensor 22B under the model base described above, and the object detection rate By repeating feedback of the object detection rate TK from the calculation unit 26, the first sensor parameter SP1 and the second sensor parameter SP2 to be set in the first sensor 22A and the second sensor 22B are optimized. close to

In the inference phase, the learning unit 27 transfers a plurality of sensor parameters including the first sensor parameter SP1 and the second sensor parameter SP2, which are the optimal solutions that would have been obtained by learning in the learning phase, to the cooperative processing unit 24. Output to

<Hardware configuration of the second embodiment>
The hardware configuration of the sensor system SS of the second embodiment is the same as the hardware configuration of the sensor system SS of the first embodiment (illustrated in FIG. 2).

<Operation of Embodiment 2 (learning phase)>
FIG. 8 is a flow chart showing the operation in the learning phase of the sensor system SS of the second embodiment.

The operation of the sensor system SS of the second embodiment in the learning phase will be described with reference to the flowchart of FIG.

Step ST21: The learning section 27 receives input of environmental conditions KJ that define the environment in which the learning section 27 learns.

Step ST22: The learning unit 27 obtains the first sensor parameter SP1 and the second sensor parameter SP2 on the basis of the above model via the first sensor parameter control unit 21A and the second sensor parameter control unit 21B. are output to, or set by, the first sensor 22A and the second sensor 22B, respectively.

Step ST23: The first sensor 22A detects the first physical quantity BR1 (image) under the set first sensor parameter SP1, and similarly, the second sensor 22B detects the set second A second physical quantity BR2 (distance) is detected under the sensor parameter SP2 of .

Step ST24: The object detection rate calculator 26 calculates the object detection rate TK using the first physical quantity BR1 obtained by the first sensor 22A and the second physical quantity BR2 obtained by the second sensor 22B. Calculate

Step ST25: The object detection rate calculator 26 compares the calculated object detection rate TK with a predetermined threshold value TH.

Step ST26: When the object detection rate TK is less than the threshold TH, the object detection rate calculator 26 indicates that a plurality of sensor parameters including the first sensor parameter SP1 and the second sensor parameter SP2 should be changed. is notified to the learning unit 27 . In order to find a plurality of sensor parameters closer to the optimum solution, the learning unit 27 searches for a plurality of sensor parameters different from the above-described plurality of sensor parameters, in other words, changes the sensor parameters.

Step ST27: When the object detection rate TK is equal to or greater than the threshold TH, the object detection rate calculator 26 calculates the current first sensor parameter SP1 and the second sensor parameter corresponding to the above-described object detection rate TK. The learning unit 27 is notified that SP2 can be the optimum solution, that is, the learning unit 27 is made to store the current first sensor parameter SP1 and second sensor parameter SP2.

When steps ST21 to ST27 are repeated, the process returns to step ST21.

<Operation of Second Embodiment (Inference Phase)>
FIG. 9 is a flowchart (Part 1) showing the operation in the inference phase of the sensor system SS of the second embodiment.

FIG. 10 is a flowchart (Part 2) showing the operation in the inference phase of the sensor system SS of the second embodiment.

FIG. 11 is a flowchart (Part 3) showing the operation in the inference phase of the sensor system SS of the second embodiment.

Operations in the inference phase of the second embodiment will be described with reference to the flow charts of FIGS. 9 to 11. FIG.

Step ST31: As in step ST11 of the first embodiment, the weather/environment determining unit 25 grasps the weather and environmental conditions described above.

Step ST32: Unlike step ST12 of the first embodiment based on the table TB, based on the results of learning in the learning phase (shown in FIGS. 6 and 8), the cooperation processing unit 24 causes the weather/environment determination unit 25 to Under the ascertained weather and environmental conditions, a first sensor parameter SP1 having a magnitude etc. corresponding to a magnitude etc. of the second physical quantity BR2 acquired by the second sensor 22B is controlled by the first sensor parameter. Output to the section 21A. Similarly, the cooperation processing unit 24 transfers the second sensor parameter SP2 having a magnitude corresponding to the magnitude of the first physical quantity BR1 acquired by the first sensor 22A to the second sensor parameter control unit 21B. output to

The first sensor parameter control unit 21A sets the above-described first sensor parameter SP1 to the first sensor 22A, and similarly, the second sensor parameter control unit 21B sets the above-described second sensor parameter SP2 to Set to the second sensor 22B.

Steps ST33 to S38: The same operations as steps ST13 to ST18 of the first embodiment are performed. Specifically, it is as follows.

(1) Steps ST33, 34A, 34B, 35A, 35B: By referring to the table TB based on whether it is daytime or nighttime, the first sensor parameter control unit 21A sets the first sensor parameter SP1 ( frame rate) to the first sensor 22A (camera), and similarly, the second sensor parameter control unit 21B sets the second sensor parameter SP2 (reception sensitivity) to the second sensor 22B (laser radar) set.
(2) Step ST36: The weather/environment determination unit 25 determines the first physical quantity BR1 and the like output from the first sensor processing unit 23A and the second physical quantity BR2 output from the second sensor processing unit 23B. Based on this, it is determined whether an object has been detected.

(3) Step ST37: The first sensor 22A (camera) monitors the dynamics of the detected object.

(4) Step ST38: The second sensor 22B (laser radar) measures the position of the detected object and calculates the speed.

As described above, the sensor system SS of the second embodiment uses a learning function instead of the table TB of the first embodiment. Accordingly, even when it is necessary to set a large number of sensor parameters including the first sensor parameter SP1 and the second sensor parameter SP2 to the first sensor 22A and the second sensor 22B, the large number of sensor parameters It is possible to set the sensor parameters as being the optimal solution or as it would be close to the optimal solution.

Embodiment 3.
<Embodiment 3>
A sensor system according to Embodiment 3 will be described.

<Functions of Embodiment 3>
FIG. 12 is a functional block diagram of the sensor system SS of Embodiment 3. FIG.

Functions of the sensor system SS of Embodiment 3 will be described with reference to the functional block diagram of FIG. 12 .

As shown in FIG. 12, the sensor system SS of Embodiment 3 is basically similar to the sensor system SS of Embodiment 1 (shown in FIG. 1), and includes a first sensor parameter control section 31A and a 2 sensor parameter control unit 31B, a first sensor 32A, a second sensor 32B, a first sensor processing unit 33A, a second sensor processing unit 33B, and a cooperation processing unit 34.

First sensor parameter control unit 31A, second sensor parameter control unit 31B, first sensor 32A, second sensor 32B, first sensor processing unit 33A, second sensor processing unit 33B of Embodiment 3, and the functions of the cooperation processing unit 34 are the first sensor parameter control unit 11A, the second sensor parameter control unit 11B, the first sensor 12A, the second sensor 12B, and the first sensor processing unit 13A of the first embodiment. , the second sensor processing unit 13B, and the cooperation processing unit 14.

The sensor system SS of Embodiment 3 is different from the sensor system SS of Embodiment 1, and further includes an object discrimination section 38 and a tracking processing section 39, as shown in FIG.

The object discrimination unit 38 detects a first physical quantity BR1 detected by the first sensor 32A within a first region RY1 (not shown), which is a detectable range of the first sensor 32A (camera), and , an object ( vehicle, two-wheeled vehicle, person, animal, etc.), and in particular, the type of object.

The tracking processing unit 39 starts tracking the object when the object is discriminated by the object discriminating unit 38, and stops tracking the object depending on the situation.

<Hardware configuration of the third embodiment>
The hardware configuration of the sensor system SS of the third embodiment is the same as the hardware configuration of the sensor system SS of the first embodiment (illustrated in FIG. 2).

<Operation of Embodiment 3>
FIG. 13 is a flow chart showing the operation of the sensor system SS of the third embodiment.

The operation of the sensor system SS of Embodiment 3 will be described with reference to the flowchart of FIG.

In the following, the following assumptions are made for ease of explanation and understanding.
(1) The first area RY1 detectable by the first sensor 32A (camera) is different from the second area RY2 detectable by the second sensor 32B (laser radar).
(2) The object, that is, the object enters the first region RY1 after entering the second region RY2.

Step ST41: The object discrimination section 38 attempts to detect the object using, for example, the second sensor 32B (laser radar). When the object is detected, the process proceeds to step ST42, and when the object is not detected, the process returns to step ST41.

The object discriminating unit 38 uses a second sensor 32B (laser radar) mounted on the own vehicle to determine, for example, when another vehicle ahead traveling in the next lane (second region RY2) changes lanes. , the movement from the adjacent lane (second region RY2) to the same lane (first region RY1) is detected. The object discrimination unit 38 notifies the tracking processing unit 39 that the object has been detected.

Step ST42: The tracking processing unit 39 causes the first sensor 32A (camera) to detect, for example, the second sensor 32B (laser radar) of another vehicle ahead in the same lane (first region RY1). Start monitoring the dynamics, that is, start tracking other vehicles in front.

Step ST43: The tracking processing section 39 determines whether or not the first sensor 32A (camera) can continue to track another vehicle ahead. If it is determined that it is possible to continue tracking, the first sensor 32A (camera) continues tracking. cancel.

<Effect of Embodiment 3>
As described above, in the sensor system SS of Embodiment 3, after the second sensor 32B (laser radar) detects the movement of the target object in the second region RY2, the first sensor 32B responds to the detection. 32A (camera) starts tracking the object in the first area RY1. This makes it possible to achieve a combination of detection and tracking that cannot be achieved with a laser radar alone or a camera alone.

<Modification>
Even if the sensor system SS uses three or more sensors instead of the two sensors (the first sensor and the second sensor) in the above-described Embodiments 1 to 3, Embodiments 1 to 3 Similar effects can be obtained.

The above-described embodiments may be combined without departing from the gist of the present disclosure, and components in each embodiment may be deleted, changed, or added as appropriate. good.

The sensor system according to the present disclosure can be used to set parameters for defining the operation of the sensor in the sensor even if the sensor cannot detect data.

11A first sensor parameter control unit, 11B second sensor parameter control unit, 12A first sensor, 12B second sensor, 13A first sensor processing unit, 13B second sensor processing unit, 14 cooperation processing unit , 15 weather/environment determination unit, 21A first sensor parameter control unit, 21B second sensor parameter control unit, 22A first sensor, 22B second sensor, 23A first sensor processing unit, 23B second sensor processing unit 24 cooperation processing unit 25 weather/environment determination unit 26 object detection rate calculation unit 27 learning unit 31A first sensor parameter control unit 31B second sensor parameter control unit 32A first sensor, 32B second sensor, 33A first sensor processing unit, 33B second sensor processing unit, 34 cooperation processing unit, 38 object detection unit, 39 tracking processing unit, KB storage medium, KJ environmental condition, MM memory, NY input, PC processor, PR program, SP1 first sensor parameter, SP2 second sensor parameter, SS sensor system.

Claims (4)

a first sensor that is to detect a first physical quantity and that is to receive setting of a first parameter that defines the operation of the first sensor;
a second sensor that is to detect a second physical quantity and that is to receive setting of a second parameter that defines the operation of the second sensor;
a judgment unit for judging the condition of the road surface;
setting the first parameter to the first sensor by referring to a predetermined table based on the detected second physical quantity under the condition of the road surface determined by the determining unit; and a cooperation processing unit that sets the second parameter to the second sensor by referring to the predetermined table based on the detected first physical quantity;
including
The determination unit calculates the amount of rainfall and the amount of snowfall by counting the number of water patterns in the puddle.
sensor system. a first sensor that is to detect a first physical quantity and that is to receive setting of a first parameter that defines the operation of the first sensor;
a second sensor that is to detect a second physical quantity and that is to receive setting of a second parameter that defines the operation of the second sensor;
a judgment unit for judging the condition of the road surface;
setting the first parameter to the first sensor by referring to a predetermined table based on the detected second physical quantity under the condition of the road surface determined by the determining unit; and a cooperation processing unit that sets the second parameter to the second sensor by referring to the predetermined table based on the detected first physical quantity;
including
The determination unit calculates the amount of rainfall and the amount of snowfall by counting the number of reflected signals from raindrops that are discretely detected in space.
sensor system. a first sensor that is to detect a first physical quantity and that is to receive setting of a first parameter that defines the operation of the first sensor;
a second sensor that is to detect a second physical quantity and that is to receive setting of a second parameter that defines the operation of the second sensor;
a judgment unit for judging the condition of the road surface;
setting the first parameter to the first sensor by referring to a predetermined table based on the detected second physical quantity under the condition of the road surface determined by the determining unit; and a cooperation processing unit that sets the second parameter to the second sensor by referring to the predetermined table based on the detected first physical quantity;
including
When the black car is running on the wet road surface, a bright part of the black car is detected, and the range scanned by the first sensor or the second sensor is adjusted to the detected bright part. further comprising a sensor parameter control for
sensor system. a first sensor that is to detect a first physical quantity and that is to receive setting of a first parameter that defines the operation of the first sensor;
a second sensor that is to detect a second physical quantity and that is to receive setting of a second parameter that defines the operation of the second sensor;
a judgment unit for judging the condition of the road surface;
setting the first parameter to the first sensor by referring to a predetermined table based on the detected second physical quantity under the condition of the road surface determined by the determination unit; and a cooperation processing unit that sets the second parameter to the second sensor by referring to the predetermined table based on the detected first physical quantity;
including
When the background is white and the object is white, the distance to the object is detected, and the detection of the distance triggers the tracking by the first sensor or the second sensor. , further comprising a sensor parameter control,
sensor system.

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