Vehicle-mounted measuring device unit and integrated data generation method

Abstract

The vehicle-mounted measuring device unit (10) of the present invention comprises a data processing device (21). The data processing device (21) comprises: a plurality of detector input units (203) respectively connected to a plurality of detectors (30) each having a predetermined detection area; an output unit (204) connected to a vehicle control device (40) arranged in the vehicle; a repeated detection area setting unit (201) dynamically setting repeated detection areas between a plurality of arbitrary detectors among the plurality of detectors (30); and a comprehensive data generating unit (200) generating comprehensive data based on the set repeated detection area using detection data corresponding to the detection area input from the plurality of detectors (30) via the plurality of detector input units (203) and outputting the comprehensive data via the output unit (204).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority based on Japanese Patent Application No. 2020-024168 filed on February 17, 2020, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to a measuring device unit that is mounted on a vehicle for use. Background Art

[0004] A technology has been proposed for acquiring all-around environmental information of a vehicle using a plurality of cameras mounted on the vehicle (for example, Japanese Patent Application Laid-Open No. 2007-145327).

[0005] When many sensors are assembled as a measuring device unit and mounted on a vehicle, the amount of data sent from each sensor to a control device in the vehicle is large, and the overlap of the detection areas of each sensor exceeds the upper limit of the communication band and the upper limit of the communication processing capacity of the control device. On the other hand, the limitation of the overlap of the detection areas of each sensor leads to a problem of reduced accuracy of diagnosis and calibration of each sensor.

[0006] Therefore, it is required to achieve a balance between reducing the amount of detection data and improving the accuracy of diagnosis and calibration of the detector in the measurement device unit. Summary of the invention

[0007] The present disclosure can be implemented as the following aspects.

[0008] The first embodiment provides a vehicle-mounted measuring device unit. The vehicle-mounted measuring device unit of the first embodiment includes a data processing device, the data processing device including: a plurality of input units connected to a plurality of detectors each having a predetermined detection area; an output unit connected to a vehicle control device arranged in a vehicle; a repeated detection area setting unit that dynamically sets repeated detection areas between a plurality of arbitrary detectors among the plurality of detectors during measurement and non-measurement, or during normal and abnormal times; and a comprehensive data generating unit that generates comprehensive data based on the set repeated detection areas using detection data corresponding to the detection areas input from the plurality of detectors via the plurality of input units and outputs the comprehensive data via the output unit.

[0009] According to the vehicle-mounted measuring device unit of the first aspect, it is possible to achieve both reduction in the amount of detection data and improvement in the accuracy of diagnosis and calibration of the detector in the measuring device unit.

[0010] A second aspect provides a method for generating integrated data in a vehicle-mounted measuring device unit. The second aspect of the method comprises: receiving detection data from a plurality of detectors each having a predetermined detection area, dynamically setting overlapping detection areas between a plurality of arbitrary detectors among the plurality of detectors during measurement and non-measurement, or during normal and abnormal times, generating integrated data using the detection data from the plurality of detectors based on the set overlapping detection areas, and transmitting the integrated data to a control device disposed in the vehicle.

[0011] According to the second method of generating comprehensive data in a vehicle-mounted measuring device unit, it is possible to take into account both the suppression of the amount of detection data and the improvement of the accuracy of the diagnosis and correction of the detector in the measuring device unit. In addition, the present disclosure can also be implemented as a comprehensive data generation program or a computer-readable recording medium recording the program. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The above-mentioned purpose and other purposes, features and advantages of the present disclosure will become more apparent through the following detailed description with reference to the accompanying drawings. The accompanying drawings are:

[0013] Figure 1 is an explanatory diagram showing an example of a vehicle equipped with the measuring device unit according to the first embodiment,

[0014] Figure 2 is an explanatory diagram showing a connection method between a measuring device unit and a vehicle control device according to the first embodiment,

[0015] Figure 3 is a block diagram showing the functional structure of the data processing device according to the first embodiment.

[0016] Figure 4 is a flowchart showing the flow of the repeated detection region setting process and the integrated data generation process executed by the data processing device of the first embodiment.

[0017] Figure 5 is an explanatory diagram schematically showing the detection area of ​​the detector during measurement,

[0018] Figure 6 is an explanatory diagram schematically showing the detection area of ​​the detector during calibration or diagnosis.

[0019] Figure 7 is an explanatory diagram schematically showing data acquired by a detector,

[0020] Figure 8 is an explanatory diagram showing an example of communication band allocation in integrated data before and after a change in a duplicate detection area,

[0021] Fig. 9 is an explanatory diagram schematically showing the detection area of ​​the detector in normal conditions,

[0022] Fig.10 is an explanatory diagram schematically showing the detection area of ​​the detector in the event of a failure.

[0023] Fig.11 is a flowchart showing the flow of the repeated detection region setting process and the integrated data generation process executed by the data processing device of the second embodiment.

[0024] Fig.12 is an explanatory diagram schematically showing data acquired by a detector,

[0025] Fig.13 is an explanatory diagram showing an example of communication band allocation in integrated data before and after a change in a duplicate detection area,

[0026] Fig.14 is an explanatory diagram schematically showing the detection area of ​​the detector in the event of a failure.

[0027] Fig.15 is an explanatory diagram showing an example of communication band allocation in integrated data before and after a change in a duplicate detection area,

[0028] Fig.16 is an explanatory diagram showing a connection method of a measuring device unit according to another embodiment,

[0029] Fig.17 is an explanatory diagram showing an example in which a data processing device according to another embodiment is arranged inside a vehicle.

[0030] Fig.18 is an explanatory diagram showing an example of a plurality of measuring device units according to another embodiment.

[0031] Fig.19 is an explanatory diagram showing an example of a plurality of measuring device units and a vehicle control device according to another embodiment,

[0032] Fig. 20 It is an explanatory diagram schematically showing the detection area of ​​the detector when the vehicle is traveling at a low speed. DETAILED DESCRIPTION

[0033] Hereinafter, the vehicle-mounted measurement device unit and the integrated data generating method in the measurement device unit of the present disclosure will be described based on several embodiments.

[0034] First embodiment:

[0035] like Figure 1As shown, the vehicle-mounted measuring device unit 10 of the first embodiment is mounted on a vehicle 50 for use. The measuring device unit 10 only needs to include a data processing device 21. In this embodiment, it also includes a plurality of detectors 30 arranged around the main body 20, such as the front, back, left, right, and top. In this embodiment, the data processing device 21 is assembled on the outside of the vehicle 50, preferably enclosed in the main body 20. The main body 20 can be formed partially or entirely of a non-metallic material such as a resin, such as a reinforced resin, carbon fiber, or partially or entirely of a metal material such as an aluminum material, stainless steel, etc. The main body 20 can also be formed using both a metal material and a non-metallic material, for example, by combining a plurality of components such as an upper and lower shell, a box body, and a cover body in a manner that a sealing component made of resin or rubber is sandwiched. The measuring device unit 10 also includes a frame not shown in the figure and a fixing mechanism 12 for fixing the measuring device unit 10 to the vehicle 50. The fixing mechanism 12 may be, for example, a mounting mechanism for mounting on a roof rail provided on the roof 51 of the vehicle 50, or may be a mounting mechanism mounted between the roof 51 of the vehicle 50 and the upper part of the door. A data processing device 21 is provided inside the main body 20 provided with a waterproof structure. According to the measuring device unit 10 provided with such a structure, the detector 30 and the main body 20 can be easily mounted on the vehicle regardless of the shape of the vehicle 50. A vehicle control device 40 in the vehicle is installed inside the vehicle 50. As the vehicle control device 40, for example, a driving assistance control device for performing driving assistance such as braking assistance, steering assistance, and driving assistance using information related to objects around the vehicle 50 input from the measuring device unit 10 is provided. In the first embodiment, the measuring device unit 10 specifically connects the data processing device 21 and the vehicle control device 40 through a single wiring CV. In addition, the number of wirings CV may be sufficiently small relative to the number of detectors 30, for example, preferably less than 1 / 10 of the total number of detectors 30, and more preferably one.

[0036] like Figure 2 As shown, the measuring device unit 10 of the first embodiment includes a data processing device 21 in a main body 20, and a plurality of detectors 30 around the main body 20. In this embodiment, the detector is representatively marked with reference numeral 30 for description, and the plurality of detectors 30 may include a camera 30C, a laser radar 30L, and a millimeter wave radar 30M. The main body 20 covers the entirety of the data processing device 21 and covers at least a portion of the plurality of detectors 30. The data processing device 21 includes a comprehensive data generating unit 200, a plurality of detector input units 203, and an output unit 204.

[0037] The plurality of detector input units 203 of the data processing device 21 are connected to the plurality of detectors 30, respectively. Each detector input unit 203 and each detector 30 are connected via a wiring SCV, and each detector input unit 203 has a plurality of connection units C1, C2, and C3 having a shape corresponding to the shape of the connection terminal of the wiring SCV provided to each detector 30C, 30L, and 30M. Each detector input unit 203 is connected to the integrated data generating unit 200 via internal wiring. The detector input unit 203 is implemented by a dedicated integrated circuit for installing the physical layer of each communication protocol, that is, a PHY chip, and performs protocol conversion to convert the communication protocol adopted by each detector 30 into the communication protocol adopted by the integrated data generating unit 200. The communication between each detector 30 and the data processing device 21 uses, for example, Ethernet [registered trademark] (100M, 1G), Flat Panel DisplayLink (FPD-LINK), Gigabit Video Interface (GVIF), Gigabit Multimedia Serial Link (GMSL), Low voltage differential signaling (LVDS), HDBASE-T, and other communication protocols. Figure 2 In the example of FIG, a plurality of detector input units 203 each having connection units C1, C2, and C3 are shown, but a single detector input unit 203 having a plurality of connection units C1, C2, and C3 and connected to the integrated data generating unit 200 via an internal wiring may be used. In this case, the detector input unit 203 transmits the detection information detected by each detector 30 to the integrated data generating unit 200 through multiplexed communication such as frequency division multiplexing or time division multiplexing.

[0038] The camera 30C is a photographing device having a photographing element such as a CCD or a photographing element array, and is a sensor that outputs the appearance information or shape information of the object as the detection result, that is, image data, by receiving visible light. The laser radar 30L is a sensor that detects the distance, relative speed and angle of the object relative to the vehicle 50 by emitting infrared laser and receiving the reflected light reflected by the object. The millimeter wave radar 30M is a sensor that detects the distance, relative speed and angle of the object relative to the vehicle 50 by emitting millimeter waves and receiving the reflected waves reflected by the object. Each detector 30 can process the light intensity and receiving intensity obtained by detection and output the detection data composed of the detection point column and image to the integrated data generation unit 200, or can directly output the raw data such as the light intensity and receiving intensity obtained by detection to the integrated data generation unit 200. In the latter case, in the integrated data generation unit 200, various processes such as image correction, reversible or irreversible compression of the image, and de-mosaicing are performed. In addition, image correction, de-mosaicing and other processes can also be performed in the vehicle control device 40. In this case, the vehicle control device 40 may request the integrated data generating unit 200 for the detection data to be sent according to the driving state of the vehicle 50, and the integrated data generating unit 200 may generate integrated data by integrating the requested raw data, and send the integrated data to the vehicle control device 40. In addition, the detection data to be sent refers to the detection data from the detector 30 determined based on the mounting position of the detector 30 and the type of the detector 30. Alternatively, the integrated data generating unit 200 may select the detection data according to the driving state of the vehicle 50 or a predetermined condition, generate integrated data by integrating the corresponding raw data, and send the integrated data to the vehicle control device 40.

[0039] The output unit 204 of the data processing device 21 is connected to the vehicle control device 40 disposed in the vehicle 50 via the wiring CV. The output unit 204 is implemented by a dedicated integrated circuit for installing the physical layer of each communication protocol, that is, a PHY chip, and performs a protocol conversion process for converting the integrated data generated in the data processing device 21 into the communication protocol used in the vehicle control device 40, and sends it to the vehicle control device 40. The number of wirings for input to the data processing device 21 is the number of wirings corresponding to the number of detectors 30. In contrast, in the present embodiment, the number of wirings for output from the data processing device 21 is one, which can reduce the number of wirings between the data processing device 21 and the vehicle control device 40. For example, the communication between the data processing device 21 and the vehicle control device 40 uses a communication protocol such as Ethernet (10G or more), LVDS (FPD-LINK, GVIF, GMSL), HDBASE-T, etc. According to the data processing device 21 possessed by the measuring device unit 10 of the first embodiment, it is possible to absorb / correspond to differences in hardware aspects such as the shape of the connection terminals of the wiring of each detector 30 and in software aspects such as the communication protocol of each detector 30, thereby providing a virtual common input unit for the vehicle control device 40.

[0040] like Figure 3As shown, the data processing device 21 includes a comprehensive data generating unit 200, a repeated detection area setting unit 201, a memory 202, a detector input unit 203, an output unit 204, and an information input unit 205. The data processing device 21 is implemented in hardware by an integrated circuit. The comprehensive data generating unit 200 is implemented by a single integrated circuit or a plurality of integrated circuits pre-programmed by FPGA, ASIC, Soc, etc. The comprehensive data generating unit 200 performs a comprehensive data generating process for generating comprehensive data to be sent to the vehicle control device 40 using the detection data obtained from the detector 30. The comprehensive data is data for adjusting the data volume of the detection data from each detector 30 so as not to exceed the communication frequency band between the data processing device 21 and the vehicle control device 40, including each detection data of the data volume allocated to each detector 30 according to the condition. The data volume not exceeding the communication frequency band refers to at least one of not exceeding the communication volume that can be transmitted by the wiring CV and not exceeding the data volume that can be processed by the vehicle control device 40. In addition, in the present embodiment, the condition refers to the state of the detector 30, such as when measuring, when calibrating, when diagnosing, or when a fault occurs. The repeated detection area setting unit 201 dynamically sets the repeated detection area between multiple arbitrary detectors 30 among the multiple detectors 30. More specifically, the repeated detection area during measurement is set, and the repeated detection area during non-measurement that is larger than the repeated detection area during measurement is set during diagnosis or calibration. The data processing device 21 and the vehicle control device 40 are connected by a wire, and the communication band, that is, the upper limit of the amount of transmitted data is limited. The repeated detection area refers to the duplication of the detection areas of each detector 30, that is, the redundancy of the detection data, and a large repeated detection area means an increase in the amount of detection data. Therefore, during measurement, the repeated detection area considering the regulation of the communication band, that is, the upper limit, is set, and during non-measurement such as diagnosis or calibration, the repeated detection area formed by the detector 30 that is the object of calibration processing is expanded to achieve an improvement in calibration accuracy. In addition, the communication band, for example, is the same as the terms such as transmission rate and transmission speed, and refers to the amount of data that can be sent per unit time. Generally speaking, it is determined based on the amount of data that can be processed per unit time on the receiving side without buffer overwriting or data discarding.

[0041] The plurality of arbitrary detectors 30 among the plurality of detectors 30 are not limited to the following, and may be, for example, two adjacent detectors 30 among three adjacent detectors 30. In addition, the term "at the time of measurement" refers to the time when the measuring device unit 10 performs object detection such as distance measurement to the object around the vehicle 50 and object type determination, and refers to the state in which the state of the detector 30 itself is not determined. The term "at the time of diagnosis" or "at the time of calibration" refers to the time when the diagnostic process of the operating state of the detector 30 is executed, and the time when the calibration process of detecting the offset of the optical axis of the detector 30 is executed, and refers to the state in which object detection is not executed. When each detector 30 does not have a scanning function, that is, when the detection area cannot be physically changed, the integrated data generating unit 200 generates integrated data by reducing the detection data corresponding to at least a part of the repeated detection area from the detection data of at least any one of the plurality of arbitrary detectors 30 according to the repeated detection area set by the repeated detection area setting unit 201 to realize the repeated detection area at the time of measurement, and by maintaining the detection data corresponding to the repeated detection area in the detection data of the plurality of arbitrary detectors 30 respectively. In addition, the comprehensive data generating unit 200 may also realize the repeated detection area during measurement and the repeated detection area during non-measurement by instructing the scanning control actuator of each detector 30 to increase or decrease the scanning angle range when each detector 30 has a scanning function. The memory 202 stores the repeated detection area setting information ASI for setting the repeated detection area in a non-volatile and read-only manner. The repeated detection area setting information ASI is information that establishes a correspondence between the object detector whose detection area should be changed and the area expansion amount of the object detector relative to the reference detection area. The object detector may be a predetermined detector 30 included in the adjacent plurality of detectors 30, or may be all of the adjacent plurality of detectors 30. In addition, the expansion amount of the detection area may be predetermined according to the position of the detector 30, or the same expansion amount may be predetermined for all detectors 30. The repeated detection area setting unit 201 refers to the repeated detection area setting information ASI in the memory 202, obtains the object detector and the area expansion amount in the object detector, and outputs them to the comprehensive data generating unit 200. In addition, the repeated detection area setting information ASI may be provided in the repeated detection area setting unit 201.

[0042] A plurality of detectors 30 are connected to the detector input unit 203 via a detection signal line as wiring. Detection data is input from the detector 30. A vehicle control device 40 is connected to the output unit 204 via a comprehensive data signal line as wiring. Comprehensive data is output to the vehicle control device 40. A vehicle CAN 55 is connected to the information input unit 205 via wiring. Driving information and environmental information are input from the vehicle CAN 55.

[0043] The vehicle control device 40 controls the output of the internal combustion engine and the motor according to the driver's accelerator pedal operation or independently of the driver's accelerator pedal operation via a driving assistance device not shown in the figure, implements braking based on the braking device independently of the driver's brake pedal operation, or implements steering operation based on the steering control device independently of the driver's steering wheel operation.

[0044] The repeated detection area setting process and the integrated data generation process performed by the data processing device 21 of the first embodiment will be described. For example, when the vehicle control system is started or the start switch is turned on, the process starts. Figure 4 Alternatively, the step S100 may be replaced by the generation of a calibration request as a trigger to start the execution. Figure 4 In addition, Figure 4 When the execution of the processing program shown is started, the measurement overlap detection area DOA is set as a default overlap detection area.

[0045] The repeated detection area setting unit 201 determines whether a correction request, i.e., a calibration request, is generated (step S100). The calibration request is sent from the vehicle CAN55 to the repeated detection area setting unit 201 via the information input unit 205. The calibration request can be output from the vehicle control device 40 to the vehicle CAN55 at a predetermined interval, such as every 200 km, every 30 days, or every 30 times of driving, or it can be output from the vehicle control device 40 to the vehicle CAN55 when it is determined that a position offset occurs between two different detectors 30 or no detection data is obtained based on the result of the fusion processing using the detection data. In the case of using a communication protocol that enables bidirectional communication between the vehicle control device 40 and the data processing device 21, the calibration request can also be output from the vehicle control device 40 to the data processing device 21 via the wiring CV. In addition to the above conditions, the vehicle control device 40 issues a calibration request when the vehicle 50 stops, such as a signal stop, a congestion stop, or when the vehicle 50 is an autonomous driving vehicle, the vehicle 50 is waiting to avoid the roadside. In addition, the calibration request may be issued from the integrated data generating unit 200 instead of the vehicle control device 40 .

[0046] The repeated detection area setting unit 201 waits until a calibration request is generated (step S100: No). If the repeated detection area setting unit 201 determines that a calibration request is generated (step S100: Yes), the repeated detection area setting unit 201 uses the repeated detection area setting information ASI to set the repeated detection area during non-measurement (step S102). The setting of the repeated detection area during non-measurement is performed by determining the object detector whose detection area should be expanded and the amount of expansion of the detection area of ​​the object detector, i.e., the expanded detection area, using the repeated detection area setting information ASI. The repeated detection area is realized by repeating the detection areas of multiple adjacent detectors 30. Therefore, by expanding the detection area of ​​at least one of the multiple adjacent detectors 30, a repeated detection area during non-measurement that is expanded compared to the repeated detection area during measurement DOA is set. Below, as three detectors 30 arranged on the left side of the vehicle 50, the front detector 30f, the middle detector 30c, and the rear detector 30r are used as examples for explanation. The repeated detection area during measurement DOA has, for example, Figure 5 Size shown. Figure 5 In the example, the front detector 30f, the middle detector 30c, and the rear detector 30r have detection areas DA1, DA2, and DA3, respectively. The detection areas DA1, DA2, and DA3 during measurement correspond to the reference detection areas. It is set that the front detector 30f and the middle detector 30c have overlapping detection areas DOA during measurement, and the middle detector 30c and the rear detector 30r have overlapping detection areas DOA during measurement. In contrast, during calibration, as Figure 6 As shown, for example, the front detector 30f is determined as the target detector, the extension amount of the detection area DA1 of the front detector 30f, that is, the extended detection area DA1e is determined, and the non-measurement overlapping detection area DOAe is set.

[0047] The set non-measurement repeated detection area DOAe can be realized as follows. When the camera 30C is used as the detector 30, and the camera 30C has a mechanism that can physically scan, the non-measurement repeated detection area DOAe can be realized by controlling the scanning of the front detector 30f so that the detection area of ​​the front detector 30f is expanded toward the middle detector 30c. On the other hand, when the camera 30C does not have a mechanism that can physically scan, the detection area of ​​the camera 30C can be substantially expanded in software, that is, in data, as follows. Figure 7The image data acquired by the camera 30C is schematically shown in correspondence with the viewing angle. In the present embodiment, in order to set the data volume of the comprehensive data to be below the upper limit of the bandwidth, the additional data used during calibration is limited during measurement, and only the data used during measurement is used as the detection data acquired by the detector 30. The additional data used during calibration refers to detection data corresponding to at least a portion of the repeated detection area DOA during measurement, that is, detection data corresponding to repeated detection areas DOA during measurement of any size from the largest repeated detection area DOA during measurement that can be acquired by the detector 30 to the smallest repeated detection area DOA during measurement. That is, during measurement, repeated detection areas DOA also exist, and the detection data corresponding to the repeated detection areas DOA during measurement are included in the data used during measurement. As a result of the limiting process, the viewing angle of the camera 30C, that is, the detection area, is limited to the range shown as the data used during measurement, thereby achieving Figure 5 On the other hand, during calibration, the additional calibration data originally acquired is maintained as valid detection data without limitation, thereby expanding the viewing angle of the camera 30C, achieving Figure 6 The detection area DA1 in the image is combined with the extended detection area DA1e, and as a result, the repeated detection area DOAe during non-measurement is realized. In addition, for the sake of convenience, the case where all the additional data used during calibration is used is described, but it is also possible to not set the limit amount to 0, that is, not all the additional data used during calibration is used, and the limit amount is appropriately set to partially use the additional data used during calibration, based on the extension amount of the detection area determined by the repeated detection area setting unit 201. In this case, the viewing angle of the camera 30C is set to an arbitrary viewing angle, and the extended detection area DA1e can be set to an arbitrary size.

[0048] The integrated data generation unit 200 acquires detection data from each detector 30 (step S104). The detection data acquired from each detector 30 includes Figure 7 The integrated data generation unit 200 generates integrated data including the additional data used during calibration and outputs it to the vehicle control device 40 (step S106). The integrated data generation unit 200 dynamically changes the proportion of each detection data from a plurality of arbitrary detectors 30 in the integrated data to generate the integrated data. Specifically, the detection data from the object detector determined by the repeated detection area setting unit 201 and the detection data from the object detector 30 are maintained as they are. Figure 6 The detection data of the front side detector 30f is not subjected to the limit processing with respect to the detection data, and the detection data from the detector other than the object detector and the Figure 6The detection data of the middle detector 30c and the rear detector 30r are subjected to a limiting process. The integrated data generating unit 200 further reduces the detection data of the detectors 30 other than the front detector 30f and the middle detector 30c which are the objects of calibration. The detector 30 whose detection data amount is reduced is, for example, a detector 30 located on the right side of the vehicle opposite to the left side of the vehicle where the front detector 30f and the middle detector 30c which are the objects of calibration are located, and is a camera 30C of the same type as the front detector 30f, the middle detector 30c, and the rear detector 30r. As a result, as Figure 8 As shown, comprehensive data is generated in which the amount of detection data of camera 1 representing the front detector 30f is increased, the amount of detection data of camera 2 and camera 3 representing the middle detector 30c and the rear detector 30r is maintained, and the amount of detection data of other cameras is reduced. In addition, the amount of detection data of the rear detector 30r that does not share the extended repeated detection area DOAe can also be reduced. The comprehensive data sent to the vehicle control device 40, that is, the comprehensive data for calibration, is used in the vehicle control device 40 for calibration processing of the front detector 30f and the middle detector 30c. The calibration processing can be performed, for example, by extracting the offset of the coordinate position of the same object in the extended repeated detection area DOAe, and determining the axis offset detector that causes the optical axis offset. In addition, the determination of the axis offset detector can be performed by extracting the offset relative to the repeated detection area between adjacent detectors 30. The offset of the axis offset detector is applied as a correction amount relative to the detection data obtained from the axis offset detector during measurement to eliminate or reduce the axis offset.

[0049] The repeated detection area setting unit 201 sets the repeated detection area for measurement using the repeated detection area setting information ASI (step S108), and ends the processing procedure. The repeated detection area for measurement is set by using the repeated detection area setting information ASI to determine the object detector that has expanded the detection area, and setting the expansion amount of the detection area of ​​the object detector to 0. As a result, the measurement is realized. Figure 5 The detection area DOA is repeatedly detected during the measurement shown, and the vehicle control device 40 can execute object detection processing using the detector 30, that is, distance measurement processing and driving assistance control processing.

[0050] According to the measurement device unit 10 of the first embodiment described above, the overlapping detection area between multiple arbitrary detectors 30 among the multiple detectors 30 is dynamically set, and the detection data corresponding to the detection area input from the multiple detectors 30 is used to generate comprehensive data based on the set overlapping detection area, so that it is possible to achieve both the suppression of the data amount of the detection data and the improvement of the accuracy of the diagnosis and calibration of the detector. More specifically, the overlapping detection area setting unit 201 provided in the measurement device unit 10 dynamically sets the overlapping detection area between multiple arbitrary detectors 30 among the multiple detectors 30, that is, the measurement overlapping detection area is set during measurement, and the non-measurement overlapping detection area DOAe larger than the measurement overlapping detection area DOA is set during diagnosis or calibration. As a result, when measuring with a small overlapping detection area, the detection area of ​​each detector 30 becomes smaller, so the amount of detection data of each detector 30 is reduced, and it is possible to generate comprehensive data containing the detection data from each detector 30 at a desired ratio, thereby improving the detection accuracy of the object. On the other hand, when diagnosing or calibrating, the overlapping detection area is expanded and a larger overlapping detection area is set than when measuring, so that the accuracy of diagnosis or calibration can be improved. During diagnosis or correction, the detection areas of multiple detectors 30 related to the diagnosis or correction become larger, so the amount of detection data increases, but the amount of detection data of multiple unrelated detectors 30 is reduced, thereby generating comprehensive data that includes the detection data from each detector 30 in a desired proportion.

[0051] In the first embodiment, the calibration is described as an example, but the same can be applied to the diagnosis of the detector 30. That is, instead of the calibration request, the vehicle control device 40 can be triggered by the input of the diagnosis request to the data processing device 21 to execute the calibration. Figure 4 The repeated detection area setting process and the comprehensive data generation process shown are shown. The detector 30 generally has a self-diagnosis function, but the diagnostic processing load using image data with high diagnostic accuracy is high and is not suitable for self-diagnosis of each detector 30. In addition, objective diagnosis using repeated detection areas cannot be performed by the self-diagnosis function of each detector 30. Therefore, as described in the first embodiment, diagnosis is performed using repeated detection areas in the vehicle control device 40, thereby improving diagnostic accuracy. In addition, the issuance of the diagnostic request can be the same condition as the correction request, or it can accept the result of the self-diagnosis of each detector 30, accept the request from each detector 30, and be issued by the vehicle control device 40 or the repeated detection area setting unit 201 itself.

[0052] In the first embodiment, the camera 30C is used as an example for explanation, but the same can be applied to the laser radar 30L and the millimeter wave radar 30M. The laser radar 30L and the millimeter wave radar 30M generally have a scanning function, and the scanning range can be arbitrarily set within the allowed scanning range in the structure of the device. However, when comprehensive data of a large repeated detection area is also generated during measurement, it is possible to exceed the upper limit of the communication frequency band. Therefore, the repeated detection area is dynamically switched during measurement and non-measurement, so that the amount of detection data can be suppressed and the correction or diagnosis accuracy can be improved.

[0053] In the first embodiment, an example of expanding the detection area of ​​the front detector 30f is described, but in addition to the front detector 30f, the detection area of ​​the middle detector 30c may be expanded. That is, when the detector to be corrected is at least one of the front detector 30f and the middle detector 30c, the detection areas DA1 and DA2 of both the front detector 30f and the middle detector 30c related to the correction process may be expanded. In this case, compared with the case of expanding the detection area of ​​any one detector, the expansion amount of the detection area of ​​each detector 30f and 30c can be reduced, and the degree of freedom of setting the overlapping detection area is increased.

[0054] In the first embodiment, the calibration process or the diagnostic process is performed in the vehicle control device 40, but the calibration process or the diagnostic process may be performed in the data processing device 21. In this case, during the calibration process or the diagnostic process in the data processing device 21, the calibration additional use data, that is, the non-measurement repeated detection area DOAe is used to perform the process, and the comprehensive data can be generated using the detection data from which the calibration additional use data is deleted. In this method, it is also possible to reduce the amount of detection data and improve the accuracy of correction or diagnosis.

[0055] Second implementation method:

[0056] In the second embodiment, the setting of the repeated detection area in the case where the detector 30 fails is described. In the second embodiment, when any one of the multiple arbitrary detectors fails, the repeated detection area setting unit 201 expands the detection area of ​​the other detectors of the multiple arbitrary detectors and sets the repeated detection area in the case of failure to supplement the detection area of ​​the detector determined to have failed. In addition, the structure of the measuring device unit in the second embodiment is the same as the structure of the measuring device unit 10 in the first embodiment, so the same figure marks are marked and the description of each structure is omitted. Fig. 9As shown, the following description is made by taking a plurality of detectors 30, namely the front detector 30f, the middle detector 30c and the rear detector 30r, which are arranged on the left side of the vehicle 50. When the detectors 30f, 30c and 30r are working normally, the detectors 30f, 30c and 30r have Fig. 9 The detection areas DA1, DA2, and DA3 shown in the figure result in that a repeated detection area DOA during measurement is formed between the front detector 30f and the middle detector 30c, and between the middle detector 30c and the rear detector 30r, respectively, and no repeated detection area DOA during measurement is formed between the front detector 30f and the rear detector 30r.

[0057] On the other hand, when one of the plurality of detectors 30 fails, the overlapping detection area between the plurality of arbitrary detectors 30 that have not failed is dynamically set. The plurality of arbitrary detectors 30 among the plurality of detectors 30 are not limited to the following, and may be, for example, two detectors 30 except the middle detector among three adjacent detectors 30, or may be the other three detectors 30 except one detector 30 among four adjacent detectors 30. More specifically, as Fig.10 As shown, when a fault occurs in the middle detector 30c, the detection areas DA1 and DA3 of the front detector 30f and the rear detector 30r are expanded by the amount of the expanded detection areas DA1e and DA3e, respectively, forming a fault-time repeated detection area DOA13 between the front detector 30f and the rear detector 30r.

[0058] The repeated detection area setting process and the integrated data generation process performed by the data processing device 21 of the second embodiment will be described. For example, when the vehicle control system is started or the start switch is turned on, the execution starts. Fig.11 In addition, the processing procedure shown in the figure can also be replaced by step S200, and the occurrence of a fault detection can be used as a trigger to start the execution. Fig.11 In addition, Fig.11 When the execution of the processing program shown is started, the measurement overlap detection area DOA is set as the default overlap detection area.

[0059] The repeated detection area setting unit 201 determines whether the detector has a fault (step S200). The determination of whether the detector has a fault is performed using the notification of the fault occurrence. The notification of the fault occurrence is determined in the vehicle control device 40 and can be sent from the vehicle CAN55 to the repeated detection area setting unit 201 via the information input unit 205. When the detector 30 performs a fault determination by self-diagnosis, the repeated detection area setting unit 201 can also be notified of the fault occurrence from the detector 30. The detection of the fault occurrence in the vehicle control device 40 can be determined based on, for example, the execution result of the diagnostic processing using the repeated detection area DOAe during non-measurement described in the first embodiment, or the lack of data or the reduction of signal strength during measurement. The detection of the fault occurrence can also be determined in the data processing device 21, such as the comprehensive data generation unit 200, based on the lack of data or the reduction of signal strength when generating comprehensive data. In addition, these determination results can also be used in combination to make a final determination in the vehicle control device 40. The final determination can be, for example, a majority decision based on the number of fault determinations. In addition, each determination result can be weighted and the final determination of the fault occurrence can be performed when it exceeds a predetermined threshold.

[0060] When the detector fails normally (step S200: No), the repeated detection area setting unit 201 sets the repeated detection area DOA during measurement (step S210) and ends the processing procedure. If the repeated detection area setting unit 201 determines that a detector failure has occurred (step S200: Yes), the detector that has failed is determined to be the failed detector, and the detection area of ​​the failed detector is determined using the repeated detection area setting information ASI (step S202). In the repeated detection area setting information ASI, the configuration information of each detector and the detection area of ​​each detector are correspondingly stored, and the detection area of ​​the determined failed detector can be determined by determining the failed detector. The detection area is equivalent to the scanning range or the viewing angle range that each detector is responsible for detecting or monitoring. The repeated detection area setting unit 201 sets the repeated detection area DOA13 during failure to supplement the detection area of ​​the determined failed detector (step S204). The setting of the fault-time repeated detection area DOA13 is performed by using the repeated detection area setting information ASI to determine the object detector whose detection area should be expanded and the expansion amount of the detection area of ​​the object detector, that is, the expanded detection area. Fig.10Specifically, the front detector 30f and the rear detector 30r adjacent to the middle detector 30c as the fault detector determined using the repeated detection area setting information ASI are determined, and the detection areas of the front detector 30f and the rear detector 30r are set in a manner to supplement the detection area DA2 of the fault detector 30c, that is, the repeated detection area of ​​the front detector 30f and the rear detector 30r, that is, the repeated detection area DOA13 at the time of the fault is set. Fig. 9 It can be seen that, normally, there is no overlapping detection area between the front detector 30f and the rear detector 30r, and in the event of a fault, there is a fault-time overlapping detection area DOA13. That is, an overlapping area equivalent to the overlapping detection area set between adjacent detectors 30 is generally formed. The fault-time overlapping detection area DOA13 is realized by setting the detection area of ​​the front detector 30f to the detection area DA1+extended detection area DA1e and the detection area of ​​the rear detector 30r to the detection area DA3+extended detection area DA3e.

[0061] The set fault-time repeated detection area DOA13 can be realized as follows. When the camera 30C is used as the detector 30, that is, when the camera 30C has a mechanism that can physically scan, the fault-time repeated detection area DOA13 can be realized by controlling the scanning of the front detector 30f and the rear detector 30r so that the detection areas of the front detector 30f and the rear detector 30r are respectively expanded toward the middle detector 30c. On the other hand, when the camera 30C does not have a mechanism that can physically scan, the detection area of ​​the camera 30C can be substantially expanded in software, that is, in data, as follows. Fig.12 The image data acquired by the camera 30C is schematically shown. In this embodiment, in order to set the data volume of the comprehensive data to be below the upper limit of the bandwidth, the normal time limit data is limited during measurement, and only the normal time data is used as the detection data acquired by the detector 30. As a result of the limit processing, the viewing angle of the camera 30C, that is, the detection area is limited to the range shown as the data used during measurement, so as to achieve Fig. 9The detection areas DA1~DA3 in the normal state and the repeated detection areas DOA during each measurement. The normal time data is the data corresponding to the detection areas of each detector 30 during normal state, including the data corresponding to the detection areas that can form the repeated detection areas DOA during measurement. The normal time limited data is the data deleted in order to maintain the upper limit of the frequency band of the comprehensive data during normal state, and is the data other than the normal time data in the data that can be obtained by the detector 30. In the event of a fault, the repeated detection area DOA13 during the fault is realized by maintaining the normal time limited data in the detection data of the detector that supplements the faulty detector. By not performing the limiting processing, the originally acquired normal time limited data is maintained as valid detection data, and the viewing angle of the camera 30C is expanded to achieve Fig.10 The detection area DA1+extended detection area DA1e and the detection area DA3+extended detection area DA3e are used to realize repeated detection of area DOA13 in case of failure.

[0062] The integrated data generation unit 200 acquires detection data from each detector 30 (step S206). The detection data acquired from each detector 30 includes Fig.12 The integrated data generation unit 200 generates integrated data including the normal time limiting data, and outputs the integrated data to the vehicle control device 40 (step S208), thereby terminating the present processing procedure. The integrated data generation unit 200 deletes the normal time limiting data from the detection data of multiple arbitrary detectors, thereby realizing the measurement-time repeated detection area DOA set by the repeated detection area setting unit 201, and realizes the fault-time repeated detection area DOA13 set by the repeated detection area setting unit 201 by maintaining the normal time limiting detection data in the detection data of detectors other than the fault detector among multiple arbitrary detectors. Specifically, the integrated data generation unit 200 maintains the fault object detector determined by the repeated detection area setting unit 201, Fig.10 The detection data of the front detector 30f and the rear detector 30r adjacent to the middle detector 30c are not subjected to the limiting processing with respect to the detection data, and the detection data from the detectors other than the front detector 30f and the rear detector 30r and the detection data of the rear detector 30r are not subjected to the limiting processing with respect to the detection data. Fig.10 The detection data of the detectors 30 located in front, right, and rear of the vehicle 50 are limited, and even if the detection data from the middle detector 30c as a failure detector is obtained, it is not used. As a result, Fig.13As shown, the amount of data allocated to the camera 2 representing the middle detector 30c is redistributed to the camera 1 representing the front detector 30f and the camera 3 representing the rear detector 30r, generating comprehensive data in which the amount of detection data of the camera 1 and the camera 3 is increased. The comprehensive data sent to the vehicle control device 40 can be used to perform object detection processing, that is, distance measurement processing, and driving assistance control processing in the vehicle control device 40. In addition, in the case of a failure of the detector 30, the accuracy of the processing using the detection data from each detector 30 in the vehicle control device 40 is reduced, so it is preferable to perform a notification, display or sound to urge the driver to repair, or a notification to the vehicle management center using the vehicle-mounted wireless.

[0063] As described above, according to the measuring device unit 10 of the second embodiment, when any one of the plurality of arbitrary detectors 30 fails, the detection area of ​​the detector 30 without the failure among the plurality of arbitrary detectors 30 is expanded, and the failure-time repeated detection area DOA13 is set to supplement the detection area of ​​the failed detector, so that the amount of detection data can be suppressed, and the reduction of the object detection accuracy when the detector fails can be suppressed or prevented. More specifically, the repeated detection area setting unit 201 provided in the measuring device unit 10 dynamically sets the repeated detection area between the plurality of arbitrary detectors 30 among the plurality of detectors 30, that is, the measurement-time repeated detection area DOA is set in normal state, and the failure-time repeated detection area DOA13 to supplement the detection area of ​​the failed detector is set in failure. As a result, in normal state, the detection area of ​​each detector 30 becomes smaller, so the amount of detection data of each detector 30 is reduced, and comprehensive data containing the detection data from each detector 30 in a desired ratio can be generated, and the object detection accuracy is improved. On the other hand, in the event of a failure, the overlapping detection area is expanded and an overlapping detection area that supplements the detection area of ​​the failed detector is set, thereby being able to suppress or prevent a decrease in the detection accuracy of the object.

[0064] Third embodiment:

[0065] In the second embodiment, the case of using a plurality of detectors 30 of the same type, that is, cameras 30C, is described, but the detection area of ​​the faulty detector may be supplemented by detectors 30 of different types. In addition, the measuring device unit in the third embodiment has the same structure as the measuring device unit 10 of the first embodiment except for the additional type of detector, and therefore the same reference numerals as those in the first embodiment are marked, and the description of each structure is omitted. In the measuring device unit 10, in order to ensure the redundancy of the detector 30, as shown in FIG. Fig.14As shown, the detectors 30f, 30c, 30r, laser radar 31 and millimeter-wave radar (not shown) serving as cameras are configured to cover the same area. In the configuration of the detectors, in the event that the intermediate detector 30c fails, the information of the detection area DA2 that is not obtained by the intermediate detector 30c that has failed can be supplemented by a laser radar 31 that is configured near the intermediate detector 30c and whose detection area DA4 at least partially overlaps with the intermediate detector 30c. More specifically, the resolution or resolving power of the laser radar 31 is increased to supplement the detection data obtained by the intermediate detector 30c serving as the camera 30C. The camera 30C and the laser radar 31 can output pixel image data together and can supplement pixel information with each other. The resolution or resolving power of the laser radar 31 is increased, and as a result, the amount of detection data output by the laser radar 31 increases, such as Fig.15 As shown, the amount of data allocated to the camera 2 as the intermediate detector 30c is redistributed to the laser radar 31, thereby generating integrated data below the upper limit of the frequency band.

[0066] In the above description, the failure of the camera 30C is supplemented by the laser radar 31, but the failure of the laser radar 31 can also be supplemented by the camera 30C, and further, the complementary processing can also be performed on the millimeter wave radar in the same manner. In addition, the complementary processing is not limited to the release of the limit, the expansion of the detection area or the scanning range, for example, it can also be achieved by increasing the frame rate of the detection data output from the detector 30 without the failure.

[0067] Other implementations:

[0068] (1) In the above embodiment, the front detector 30f, the middle detector 30c, and the rear detector 30r located on the left side of the vehicle 50 are described as an example, but the same can be applied to multiple detectors 30 located in the front, right, or rear of the vehicle 50. In addition, in the combination of the front + left, front + right, rear + left, rear + right, etc. of the vehicle 50, it is also possible to set an overlapping detection area.

[0069] (2) In the above embodiment, the measurement device unit 10 is described as an example in which the vehicle control device 40 is connected to the driving assistance control device in the vehicle 50, but the vehicle control device 40 is not limited to the driving assistance control device, and may be a vehicle control device, a communication gateway control device in the vehicle network, or other various control devices. In any case, the advantage of being able to reduce the number of wirings from the outside of the vehicle 50 to the inside of the vehicle 50 can be obtained.

[0070] (3) In the above embodiment, the measuring device unit 10 includes the data processing device 21 and the plurality of detectors 30, and the data processing device 21 is mounted outside the vehicle 50. In the case where the measuring device unit 10 includes only the data processing device 21, as Fig.16 and Fig.17 As shown, the data processing device 21 can also be installed inside the vehicle 50. Fig.17 In the example, each detector 30 is directly connected to the data processing device 21 disposed inside the vehicle 50 via the wiring SCV. In this embodiment, the technical effects obtained by the above-mentioned embodiments can also be obtained in the same manner. That is, the above-mentioned comprehensive data generation processing and repeated detection area setting processing can be performed regardless of the physical mounting position of the data processing device 21. In addition, the physical distance between the data processing device 21 and the vehicle control device 40 is relatively close, and the wiring CV is disposed inside the vehicle 50, so that the noise resistance is improved compared to the case where the data processing device 21 is mounted outside the vehicle 50. In addition, as Fig.18 and Fig.19 As shown in FIG. 1 , a plurality of measuring device units 10 each including a data processing device 21 and a detector 30 may be disposed in a vehicle 50. Fig.18 In the example of FIG. 1 , a vehicle control device 40 is mounted on each measuring device unit 10. The plurality of vehicle control devices 40 are connected to each other via wiring ECV so as to be communicable with each other. Fig.19 In the example of , one vehicle control device 40 is mounted on each measuring device unit 10. In these embodiments, the technical effects obtained by the above-mentioned embodiments can also be obtained in the same manner.

[0071] (4) In the above-mentioned embodiments, when the detector 30 is calibrated or fails, the amount of data of the detector 30 to be targeted in the comprehensive data is changed, that is, increased or decreased. The amount of data in the comprehensive data may also be reduced according to the driving state of the vehicle 50. For example, when the vehicle 50 is caught in a traffic jam and is traveling at a low speed, Fig. 20As shown, the data volume of the camera 30C can also be reduced. Generally, the data volume of the captured data is large, and when driving at a low speed, even if the data volume of the captured data is small, that is, even if sparseness is performed, the detection results of the laser radar 30L and the millimeter-wave radar 30M can be used to perform control of the vehicle 50, such as driving assistance to follow the vehicle in front. The reduction in data volume can be achieved, for example, by lowering the frame rate, or expanding the limited area in the detection area, or reducing the scanning range, or increasing the data sparseness in the data processing device 21. By reducing the data volume of the comprehensive data, the data processing load in the subsequent processing device, such as the vehicle control device 40, is reduced, and power consumption can be suppressed. In addition, the detector 30 whose data volume is reduced in the comprehensive data is not limited to the camera 30C, depending on the type of detection data obtained by the driving state of the vehicle 50, and the data volume of the detection data of the laser radar 30L and the millimeter-wave radar 30M can also be reduced.

[0072] (5) In each of the above embodiments, the generation process of the comprehensive data is implemented by a pre-programmed integrated circuit such as an FPGA, ASIC, or Soc, but the generation process of the comprehensive data can also be implemented in software by having a CPU execute a comprehensive data generation program that includes a process for dynamically setting a repeated detection area, or it can also be implemented in hardware by a discrete circuit. That is, the control unit and the method thereof in each of the above embodiments can also be implemented by a dedicated computer provided by a processor and a memory that are programmed to execute one or more functions concretized by a computer program. Alternatively, the control unit and the method thereof described in the present disclosure can also be implemented by a dedicated computer provided by a processor that is composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and the method thereof described in the present disclosure can also be implemented by one or more dedicated computers that are composed of a combination of a processor that is programmed to execute one or more functions and a memory and a processor that is composed of one or more hardware logic circuits. In addition, the computer program can also be stored as an instruction executed by a computer in a non-transient tangible recording medium that can be read by a computer.

[0073] The present disclosure has been described above based on the embodiments and variations, but the embodiments of the invention described above are embodiments for facilitating the understanding of the present disclosure and do not limit the present disclosure. The present disclosure can be changed and improved without departing from the scope of the main purpose and claims, and the present disclosure includes its equivalents. For example, the technical features in the embodiments and variations corresponding to the technical features in each mode described in the content of the invention column can be appropriately replaced or combined in order to solve part or all of the above-mentioned problems, or to achieve part or all of the above-mentioned effects. In addition, if the technical feature is not described as a necessary feature in this specification, it can be appropriately deleted.

Claims

1. A vehicle-mounted measuring device unit, wherein: The vehicle-mounted measuring device unit includes a data processing device, and the data processing device includes: A plurality of detector input parts are respectively connected to a plurality of detectors each having a predetermined detection area; An output unit connected to a vehicle control device disposed in the vehicle; An overlapping detection region setting unit dynamically sets an overlapping detection region between a plurality of arbitrary detectors among the plurality of detectors; as well as a comprehensive data generating unit that generates comprehensive data based on the set repeated detection area using the detection data corresponding to the detection area input from the multiple detectors via the multiple detector input units and outputs the comprehensive data via the output unit, The repeated detection region setting unit sets a repeated detection region during measurement, and sets a non-measurement repeated detection region larger than the repeated detection region during measurement during diagnosis or calibration. The comprehensive data generating unit realizes repeated detection areas during measurement by deleting detection data corresponding to at least a part of the repeated detection areas from detection data of at least any one of the plurality of arbitrary detectors that are adjacent to each other, and realizes repeated detection areas during non-measurement by maintaining detection data corresponding to the repeated detection areas in detection data of the plurality of arbitrary detectors.

2. The measuring device unit according to claim 1, wherein: The size of the repeated detection area is determined by the communication frequency band between the comprehensive data generating unit and the control device. The comprehensive data generating unit dynamically changes the proportion of each detection data from the multiple arbitrary detectors in the comprehensive data according to the dynamically changed repeated detection area.

3. The measuring device unit according to claim 1, wherein: The detection data corresponding to the non-measurement repeated detection region among the detection data from the arbitrary detector is used for execution of diagnosis or calibration.

4. The measuring device unit according to any one of claims 1 to 3, wherein: The device further includes the plurality of detectors, each of which has a predetermined detection area.

5. A vehicle-mounted measuring device unit, wherein: The vehicle-mounted measuring device unit includes a data processing device, and the data processing device includes: A plurality of detector input parts are respectively connected to a plurality of detectors each having a predetermined detection area; An output unit connected to a vehicle control device disposed in the vehicle; An overlapping detection region setting unit dynamically sets an overlapping detection region between a plurality of arbitrary detectors among the plurality of detectors; as well as a comprehensive data generating unit that generates comprehensive data based on the set repeated detection area using the detection data corresponding to the detection area input from the multiple detectors via the multiple detector input units and outputs the comprehensive data via the output unit, The repeated detection region setting unit sets a repeated detection region during measurement, and sets a non-measurement repeated detection region larger than the repeated detection region during measurement during diagnosis or calibration. The integrated data generating unit realizes the non-measurement overlapping detection region by expanding the physical detection region of at least any one of the plurality of arbitrary detectors compared to the detection region during measurement during diagnosis or calibration.

6. The measuring device unit according to claim 5, wherein: The size of the repeated detection area is determined by the communication frequency band between the comprehensive data generating unit and the control device. The comprehensive data generating unit dynamically changes the proportion of each detection data from the multiple arbitrary detectors in the comprehensive data according to the dynamically changed repeated detection area.

7. The measuring device unit according to claim 5, wherein: The detection data corresponding to the non-measurement repeated detection region among the detection data from the arbitrary detector is used for execution of diagnosis or calibration.

8. The measuring device unit according to any one of claims 5 to 7, wherein: The device further includes the plurality of detectors, each of which has a predetermined detection area.

9. A vehicle-mounted measuring device unit, wherein: The vehicle-mounted measuring device unit includes a data processing device, and the data processing device includes: A plurality of detector input parts are respectively connected to a plurality of detectors each having a predetermined detection area; An output unit connected to a vehicle control device disposed in the vehicle; An overlapping detection region setting unit dynamically sets an overlapping detection region between a plurality of arbitrary detectors among the plurality of detectors; as well as a comprehensive data generating unit that generates comprehensive data based on the set repeated detection area using the detection data corresponding to the detection area input from the multiple detectors via the multiple detector input units and outputs the comprehensive data via the output unit, The repeated detection area setting unit sets the repeated detection area during measurement in normal conditions, and sets the repeated detection area during failure to expand the detection areas of other detectors among the plurality of arbitrary detectors to supplement the detection area of ​​the detector determined to be faulty when any one of the plurality of arbitrary detectors fails. The integrated data generating unit realizes the repeated detection region during measurement by deleting the normal time slice data from the detection data of the plurality of arbitrary detectors, and realizes the repeated detection region during failure by maintaining the normal time slice data in the detection data of the plurality of arbitrary detectors.

10. The measuring device unit according to claim 9, wherein: The device further includes the plurality of detectors, each of which has a predetermined detection area.

11. A method for generating integrated data in a vehicle-mounted measuring device unit, wherein: receiving detection data from a plurality of detectors each having a predetermined detection area, During measurement, a measurement repeated detection region is set, and during diagnosis or calibration, a non-measurement repeated detection region that is larger than the measurement repeated detection region is set as a repeated detection region between a plurality of arbitrary detectors among the plurality of detectors. The repeated detection area during measurement is realized by deleting the detection data corresponding to at least a part of the repeated detection area from the detection data of at least any one of the plurality of arbitrary detectors adjacent to each other, the repeated detection area during non-measurement is realized by maintaining the detection data corresponding to the repeated detection area in the detection data of the plurality of arbitrary detectors, and based on the set repeated detection area, the detection data from the plurality of detectors are used to generate integrated data, The integrated data is sent to a control device disposed in the vehicle.

12. A method for generating integrated data in a vehicle-mounted measuring device unit, wherein: receiving detection data from a plurality of detectors each having a predetermined detection area, During measurement, a measurement repeated detection region is set, and during diagnosis or calibration, a non-measurement repeated detection region that is larger than the measurement repeated detection region is set as a repeated detection region between a plurality of arbitrary detectors among the plurality of detectors. During diagnosis or calibration, the repeated detection area during non-measurement is realized by enlarging the physical detection area of ​​at least any one of the plurality of arbitrary detectors compared to the detection area during measurement, and based on the set repeated detection area, integrated data is generated using detection data from the plurality of detectors, The integrated data is sent to a control device disposed in the vehicle.

13. A method for generating integrated data in a vehicle-mounted measuring device unit, wherein: receiving detection data from a plurality of detectors each having a predetermined detection area, In normal conditions, a repeated detection area is set during measurement, and when a fault occurs in any one of the plurality of arbitrary detectors, a repeated detection area during failure is set to expand the detection areas of other detectors among the plurality of arbitrary detectors to supplement the detection area of ​​the detector judged to be faulty, as a repeated detection area between the plurality of arbitrary detectors among the plurality of detectors, The method comprises: realizing a repeated detection region during measurement by deleting the normal time clipping data from the detection data of the plurality of arbitrary detectors, realizing a repeated detection region during failure by maintaining the normal time clipping data in the detection data of the plurality of arbitrary detectors, and generating integrated data using the detection data from the plurality of detectors according to the set repeated detection region, The integrated data is sent to a control device disposed in the vehicle.

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