Sensor data generation device

Abstract

Sensor data generation device (1) suitable for mounting on a vehicle, comprising: an input interface (11) that is configured to receive at least one sensor signal, which corresponds to information regarding the exterior of the vehicle, which is detected by at least one sensor (100); a processor (12) configured to generate, based on the sensor signal: initial data (D1) corresponding to initial information acquired in a first area (A1); and second data (D2) corresponding to a second piece of information captured in a second area (A2) that lies outside the first area (A1); and an output interface (13) which is configured to output the first data (D1) and the second data (D2) independently of each other, wherein the processor (12) is configured to generate the second data (D2) such that it contains information relating to a recognition processing, determination processing and / or analysis processing that is performed with respect to the second information, wherein the processor (12) is configured to monitor a change in the position of a reference (R) located in the second area over time; and where the second data (D2) contains offset information from the sensor (100) based on the change over time.

Description

Technical area

[0001] The present invention relates to a sensor data generating device suitable for being mounted on a vehicle. State of the art

[0002] Patent Document 1 discloses a camera suitable for mounting on a vehicle. The camera serves as an example of a sensor. An image of the vehicle's exterior captured by the camera is used for driving assistance technology.

[0003] In the configuration described in Patent Document 1, a part of an image captured by the camera is extracted and used to be displayed on a display device installed in a compartment of the vehicle. Prior Art DocumentPatent DocumentPatent Document 1: Japanese Patent Publication No. JP 2017-034615 A

[0004] JP 2017 - 210 102 A discloses a vehicle monitoring system capable of detecting the position of a following vehicle with respect to the own vehicle and simultaneously ensuring visibility of a rear and a following vehicle. Summary

[0005] The subject matter disclosed herein is intended to use information collected by a sensor mounted on a vehicle in a more efficient manner.

[0006] To meet the above-described requirement, an illustrative aspect of the presently disclosed subject matter provides a sensor data generating apparatus according to claim 1.

[0007] It can be said that the information acquired in the first area has a higher necessity for use in driving assistance than the second information acquired in the second area outside the first area. Not only the first data corresponding to such first information, but also the second data corresponding to the second information that can be acquired by the sensor but whose necessity is comparatively low, can be output when necessary, whereby the information acquired by the sensor mounted on the vehicle can be used more efficiently while suppressing a burden related to data communication.

[0008] To meet the above-described requirement, an illustrative aspect of the presently disclosed subject matter provides a sensor data generating apparatus according to claim 2.

[0009] It can be said that the first information acquired in the first area including the detection reference position of the sensor has a higher necessity as information used for driving assistance than the second information acquired in the second area not including the detection reference position of the sensor. Not only the first data corresponding to such first information, but also the second data corresponding to the second information that can be detected by the sensor but whose necessity is comparatively low, can be output when necessary, whereby the information acquired by the sensor mounted on the vehicle can be used more efficiently while preventing a burden related to data communication.

[0010] Each of the foregoing sensor data generating devices is configured such that the processor is configured to generate the second data to include information related to recognition processing, determination processing, and / or analysis processing performed on the second information.

[0011] That is, the sensor data generation device does not perform at least one of the detection processing, the determination processing, and the analysis processing on the first data, and prioritizes speed to a unit entrusted with processing based on the first data, which has a higher necessity. By limiting the object of the preceding processing to the second information, it is possible to provide information that can support the processing performed in this unit while preventing an increase in the processing load on the processor.

[0012] In this case, each of the foregoing sensor data generating devices may be configured so that the second data includes warning information based on the second information.

[0013] According to such a configuration, it is possible to cause a device that has received the second data to preferentially execute the danger avoidance processing based on the warning information.

[0014] In this case, each of the foregoing sensor data generating devices is configured to: the processor is configured to monitor a temporal change in a position of a reference arranged in the second region; and the second data contains offset information of the sensor based on the temporal change.

[0015] According to such a configuration, it is possible to cause a device that has received the second data to detect the positional deviation of the sensor. For example, if the amount of positional deviation of the sensor indicated by the offset information exceeds a predetermined value, the device can execute processing to notify the user of the need to correct the detection reference position of the sensor. The correction of the detection reference position of the sensor can be performed mechanically or electronically by the device.

[0016] Each of the foregoing sensor data generating devices may be configured such that the processor is configured to change a position of the first region based on the temporal change.

[0017] According to such a configuration, it is possible to automate the correction of the detection reference position of the sensor while preventing an increase in the processing load in the device for receiving the second data.

[0018] Each of the foregoing sensor data generating devices may be configured to: the at least one sensor comprises a first sensor and a second sensor; and the processor-connected one of the first sensor and the second sensor is configured to enlarge the first area of ​​the one sensor based on information indicating an abnormality of the other of the first sensor and the second sensor.

[0019] According to such a configuration, when any abnormality occurs in one sensor, it is possible to execute processing to compensate for the deficiency by the other sensor.

[0020] Furthermore, the present invention provides a sensor data generating device according to claims 6 and 7.

[0021] According to such a configuration, it is possible to insert weighting according to the priorities into at least one of the recognition processing, the determination processing, and the analysis processing executed in a device for receiving the first data and the second data.

[0022] Each of the foregoing sensor data generating devices may be configured such that a generation frequency of the second data is less than a generation frequency of the first data.

[0023] By reducing the generation frequency of the second data corresponding to the second information with a comparatively low requirement, the processing load on the processor can be reduced. Furthermore, the load associated with communicating the second data output from the output interface can be reduced.

[0024] Each of the foregoing sensor data generating devices may be configured such that the at least one sensor comprises a LiDAR sensor, a camera, and / or a millimeter wave sensor.

[0025] As used herein, the term "driving assistance" means control processing that at least partially performs at least one of a driving operation (steering, acceleration, deceleration), monitoring a driving environment, and securing the driving operation. That is, it includes not only partial driving assistance, such as a braking function for collision avoidance and lane keeping assistance functions, but also a fully autonomous driving operation. Short description of the drawings Fig. 1 illustrates an example of a sensor system including a sensor data generating device according to an embodiment. Fig. 2 shows a flowchart of the Fig. 1 shown sensor system. Fig. 3 represents an operation of the Fig. 1 shown sensor system. Fig. 4 represents an operation of the Fig. 1 shown sensor system. Fig. Figure 5 shows another example of a sensor system that uses the Fig. 1 illustrated sensor data generating device. Fig. 6 represents an operation of the Fig. 5 shows the sensor system. Fig. Figure 7 shows another example of a sensor system that uses the Fig. 1 illustrated sensor data generating device. Description of embodiments

[0026] Examples of embodiments will be described in detail below with reference to the accompanying drawings. In each of the drawings used in the following descriptions, the scale is adjusted accordingly to ensure that each element has a recognizable size.

[0027] Fig. Figure 1 schematically illustrates a functional structure of a sensor data generation device 1 according to an embodiment. The sensor data generation device 1 is mounted on a vehicle. The sensor data generation device 1 includes a sensor system including a camera 100 and a control device 200 mounted on the vehicle.

[0028] The camera 100 is a device for capturing an image of the exterior of the vehicle. The camera 100 can be arranged at a suitable location inside or outside a part of the vehicle. The camera 100 is configured to output a camera signal S corresponding to the captured image. An image outside the vehicle is an example of the information of the exterior of the vehicle. Capturing the image is an example of acquiring the information. The camera 100 is an example of the sensor. The camera signal S is an example of the sensor signal.

[0029] The sensor data generating device 1 comprises an input interface 11. The camera signal S output from the camera 100 is input to the input interface 11.

[0030] The sensor data generation device 1 further comprises a processor 12, an output interface 13 and a communication bus 14. The input interface 11, the processor 12 and the output interface 13 can exchange signals and data via the communication bus 14. The processor 12 is configured to Fig. 2 to carry out the processing shown.

[0031] First, the processor 12 acquires the camera signal S input to the input interface 11 (step 1). The term "acquiring the camera signal S" means that the camera signal S input to the input interface 11 is brought into a state such that a processing described later can be executed with the aid of a suitable circuit structure.

[0032] Then, the processor 12 generates first data D1 based on the camera signal S (step 2). As shown in Fig. As shown in Figure 3A, an image capture range A0 of the camera 100 includes a first range A1 and a second range A2. The first range A1 is a range including a position corresponding to an optical axis Ax of the camera 100. The second range A2 is a range outside the first range A1. The second range A2 is a range not including a position corresponding to the optical axis Ax of the camera 100. The first data D1 is data corresponding to the first image I1 included in the first range A1. The position corresponding to the optical axis Ax of the camera 100 is an example of the detection reference position of the sensor. The first image I1 is an example of the first information.

[0033] As in Fig. As shown in Figure 2, the processor 12 then causes the output interface 13 to output the first data D1 (step 3). The output first data D1 is transmitted to the control device 200.

[0034] The control device 200 is a device configured to be able to execute at least one of recognition processing, determination processing, and analysis processing with respect to at least the first data D1. For example, the control device 200 may Fig. 3A based on the first data D1 to detect the presence of an oncoming vehicle V or a pedestrian W.

[0035] The processor 12 then determines, as in Fig. 2, whether the generation of the second data D2 is necessary (step 4). The second data D2 is data corresponding to the second image I2 contained in the second area A2. The second image I2 is an example of the second information. If it is determined that the generation of the second data D2 is not necessary (N in step 4), processing ends.

[0036] If it is determined that the generation of the second data D2 is necessary (Y in step 4), the processor 12 generates the second data D2 based on the camera signal S (step 5).

[0037] The processor 12 then causes the output interface 13 to output the second data D2 (step 6). After the second data D2 is output, processing ends. The output second data D2 is transmitted to the control device 200. The second data D2 is subjected to predetermined processing in the control device 200.

[0038] That is, the output interface 13 is configured to be able to output the first data D1 and the second data D2 independently of each other.

[0039] It can be said that the first image I1 of the first area A1, which includes the position corresponding to the optical axis Ax of the camera 100, has a higher necessity as information used for driving assistance than the second image I2 of the second area A2 located outside the first area A1. Not only the first data D1 corresponding to the first image I1 but also the second data D2 corresponding to the second image I2, which the camera 100 can capture but whose necessity is comparatively low, can be output as needed, whereby the information captured by the camera 100 can be used more efficiently while preventing a burden related to data communication.

[0040] In the Fig. In step 5 shown in Figure 2, the processor 12 may generate the second data D2 by adding information related to at least one of the detection, determination and analysis with respect to the second image I2.

[0041] For example, if, as in Fig. 3B, the pedestrian W is located in the second area A2, the control device 200 cannot recognize the pedestrian W through the processing based on the first data D1 corresponding to the first image I1. However, if the processor 12 recognizes the pedestrian W based on the second image I2 and adds the information related to the recognition to the second data D2, the control device 200 receiving the second data D2 can recognize the pedestrian W.

[0042] That is, the sensor data generation device 1 does not perform at least one of the recognition processing, the determination processing, and the analysis processing with respect to the first data D1, and prioritizes the speed of the control device 200, which is entrusted with processing based on the first data D1, which has a higher necessity. By limiting the object of the above processing to the second image I2, it is possible to provide information that can supplement the processing executed in the control device 200 while preventing an increase in the processing load of the processor 12.

[0043] In this case, the processor 12 can be in the Fig. In step 5 shown in Figure 2, the processor 12 may append warning information based on the second image I2 to the second data D2. For example, if it is determined that the pedestrian W located in the second area A2 detected by the processing of the processor 12 is about to continue entering the road, the processor 12 may append warning information to the second data D2. That is, the second data D2 may include warning information based on the second image I2.

[0044] According to such a configuration, it is possible to cause the control device 200, which has received the second data D2, to execute the danger avoidance processing based on the true information.

[0045] As in Fig. As shown in Figure 4A, a reference R may be arranged in the second area A2. The reference R may be any object or marker that can be captured by the camera 100 and whose position does not change. A part of the vehicle body may serve as the reference R, for example. In this case, the processor 12 may be configured to monitor the position of the reference R through image recognition processing.

[0046] Over time, at least one of the position and attitude of the camera 100 relative to the vehicle body may change. This results, for example, in Fig. 4B, the recordable area A0 deviates in an upper right direction from the original position indicated by a dashed line, and the position of the reference R in the second area A2 deviates in a lower left direction. In this case, the processor 12 can Fig. 2, append offset information of the camera 100 to the second data D2 based on the temporary change in the position of the reference R. That is, the second data D2 may include the offset information of the camera 100 based on the temporary change in the position of the reference R.

[0047] According to such a configuration, it is possible to cause the control device 200, which has received the second data D2, to detect the positional deviation of the camera 100. For example, when the amount of positional deviation of the camera 100 indicated by the offset information exceeds a predetermined value, the control device 200 may execute processing to inform the user of the need to correct the shooting reference position of the camera 100. The shooting reference position of the camera 100 may be corrected mechanically.

[0048] If the position of the first area A1 that can be extracted from the recordable area A0 can be electronically changed, ie, so-called electronic alignment is possible, the control device 200 can change the position of the first area A1 in the recordable area A0 based on the offset information contained in the second data D2. In the case of the Fig. In the example shown in Figure 4B, the position of the current first area A1, indicated by solid lines, is changed to the original position of the first area A1, indicated by the dotted line. In this case, the correction of the shooting reference position of the camera 100 can be automated.

[0049] Alternatively, the processor 12 may change the position of the first area A1 within the recordable area A0.

[0050] In this case, it is possible to automate the correction of the shooting reference position of the camera 100 while preventing an increase in the processing load in the control device 200.

[0051] Fig. 5 illustrates another configuration of a sensor system using the sensor data generation device 1. In this example, the sensor data generation device 1 forms a sensor system together with a first camera 101, a second camera 102, and the control device 200 mounted on the vehicle.

[0052] The first camera 101 and the second camera 102 are devices for capturing images of the exterior of the vehicle. The first camera 101 and the second camera 102 can be arranged at suitable locations inside or outside a compartment of the vehicle.

[0053] The first camera 101 is configured to output a first camera signal S1 corresponding to the captured image. The second camera 102 is configured to output a second camera signal S2 corresponding to the captured image. The first camera 101 is an example of the first sensor. The second camera 102 is an example of the second sensor. Each of the first camera signal S1 and the second camera signal S2 is an example of the sensor signal.

[0054] As in Fig. 5 and Fig. 6A, a first area A1 and a second area A2 are provided for both the first camera 101 and the second camera 102. The first area A1 of the first camera 101, indicated by solid lines, includes a position corresponding to an optical axis Ax1 of the first camera 101. The second area A2 of the first camera 101, indicated by solid lines, is an area outside the first area A1 of the first camera 101. The second area A2 of the first camera 101 does not include a position corresponding to the optical axis Ax1 of the first camera 101. The first area A1 of the second camera 102, indicated by dotted lines, includes a position corresponding to an optical axis Ax2 of the second camera 102. The second area A2 of the second camera 102, indicated by dashed lines, is an area outside the first area A1 of the second camera 102.The second area A2 of the second camera 102 does not contain a position corresponding to the optical axis Ax2 of the second camera 102.

[0055] As in the case of Fig. In the example described in Figure 4A, the reference R may be arranged in every second area A2 of the first camera 101 and the second camera 102. The processor 12 may be configured to monitor a position of each reference R through image recognition processing.

[0056] The image in each recordable area A0 changes from moment to moment, but the position and appearance of the reference R do not fundamentally change. Therefore, whether each reference R is recorded normally or not can be used to determine whether the camera monitoring the reference R is operating normally. If the processor 12 determines that a reference R has not been recorded successfully, it determines that an error has occurred in a camera monitoring the reference R. In this case, the processor 12 enlarges the first area A1 of the other camera.

[0057] For example, if it is determined that the reference R recorded in the second area A2 of the first camera 101 as shown in Fig. 6A, cannot be normally recorded, the processor 12 enlarges the first area A1 of the second camera 102, which is indicated by the dotted lines, as shown in Fig. 6B. In the drawing, the magnification is performed until a perimeter of the first area A1 of the second camera 102 coincides with an original perimeter of the second area of ​​the second camera 102 indicated by the dashed lines.

[0058] According to such a configuration, if any abnormality occurs in one of the two cameras constituting the sensor system, it is possible to perform processing to compensate for the deficiency by the other camera.

[0059] In the Fig. In the example shown in Figure 5, both the first camera 101 and the second camera 102 are connected to a single sensor data generating device 1. This example is useful when the first camera 101 and the second camera 102 are mounted in a specific position in a vehicle as a single sensor module housed in a common housing.

[0060] Fig. 7 shows another embodiment in which a sensor system is formed by a first sensor data generating device 1A, a second sensor data generating device 1B, the first camera 101, the second camera 102, and the control device 200. The configuration of each of the first sensor data generating device 1A and the second sensor data generating device 1B is identical to the configuration of the sensor data generating device as described above. The first camera 101 is connected to the first sensor data generating device 1A. The second camera 102 is connected to the second sensor data generating device 1B. The first data D1 and the second data D2 output from the output interface 13 of each of the first sensor data generating device 1A and the second sensor data generating device 1B are transmitted to the common control device 200.This embodiment is useful when a first sensor module including the first camera 101 and the first sensor data generating device 1A and a second sensor module including the second camera 102 and the second sensor data generating device 1B are mounted at two remote locations in the vehicle.

[0061] In this example, when a fault of the first camera 101 is determined, the processor 12 of the first sensor data generation device 1A transmits the information indicating the fault to the second sensor data generation device 1B via the output interface 13. The information is input to the input interface 11 of the second sensor data generation device 1B. Similarly, when the fault of the second camera 101 is determined, the processor 12 of the second sensor data generation device 1B transmits the information indicating the fault to the first sensor data generation device 1A via the output interface 13. The information is input to the input interface 11 of the first sensor data generation device 1A.

[0062] When the processor 12 of the second sensor data generation device 1B receives the information indicating the abnormality of the first camera 101, the processor 12 executes processing to enlarge the first area A1 of the second camera 102. Similarly, when the processor 12 of the first sensor data generation device 1A receives the information indicating the abnormality of the second camera 102, the processor 12 executes processing to enlarge the first area A1 of the first camera 101.

[0063] In the Fig. In the example shown in Figure 5, the recordable area A0 of the first camera 101 partially overlaps with the recordable area A0 of the second camera 102. This defines an area A11, an area A12, and an area A22. The area A11 is an area in which the first area A1 of the first camera 101 and the first area A1 of the second camera 102 overlap. The area A12 is an area in which the first area A1 of one camera and the second area A2 of the other camera overlap. The area A22 is an area in which the second area A2 of the first camera 101 and the second area A2 of the second camera 102 overlap.

[0064] In this case, priorities may be assigned according to the positions of the first area A1 of the first camera 101, the second area A2 of the first camera 101, the first area A1 of the second camera 102, and the second area A2 of the second camera 102.

[0065] For example, priority S is assigned to the first area A11. Priority A is assigned to the first area A1 of each camera. Priority B is assigned to area A12. Priority C is assigned to the second area A22. Priority D is assigned to the second area A2 of each camera. Priority S is higher than priority A. Priority A is higher than priority B. Priority B is higher than priority C. Priority C is higher than priority D.

[0066] The processor 12 may be configured to generate the first data D1 and the second data D2 to include information indicating the priority. For example, information indicating the priority S is appended to the first data D1 corresponding to the image contained in the first area A11. Information indicating the priority D is appended to the second data set D2 corresponding to the image contained in the second area A2 of the second camera 102.

[0067] According to such a configuration, it is possible to incorporate weighting according to priorities into the recognition processing, the determination processing, and / or the analysis processing executed in the control device 200. For example, when data indicating conflicting information is input, data appended with information indicating a higher priority may be preferentially processed. As another example, it may be configured so that data with a lower priority requires multiple repeated data inputs to confirm the existence of a fact.

[0068] Such a configuration is also based on the Fig. 7 is applicable. That is, the processor 12 of the first sensor data generation device 1A can generate the first data D1 and the second data D2 to include the information indicating the priority assigned to the first camera 101 according to the position in the recordable range A0. Likewise, the processor 12 of the second sensor data generation device 1B can generate the first data D1 and the second data D2 to include the information indicating the priority assigned to the second camera 102 according to the position in the recordable range A0.

[0069] The step 5 of the second data D2, as in Fig. 2 may be executed each time the first data D1 is generated. However, it is preferable that the frequency at which the second data D2 is generated be less than the frequency at which the first data D1 is generated.

[0070] By reducing the generation frequency of the second data D2 corresponding to the second image I2, which has a comparatively low requirement, the processing load of the processor 12 can be reduced. Furthermore, the load associated with the communication of the second data D2 output from the output interface 13 can be reduced.

[0071] The functions of the above-described processor 12 can be implemented with a general-purpose microprocessor operating in conjunction with a general-purpose memory. A CPU, an MPU, and a GPU can be exemplified as a general-purpose microprocessor. The general-purpose microprocessor can include multiple processor cores. A ROM and a RAM can be exemplified as general-purpose memory. The ROM can store a program for executing the above-described processing. The program can include an artificial intelligence program. An example of the artificial intelligence program can be a trained neural network with deep learning. The general-purpose microprocessor can specify at least part of the program stored in the ROM, load the program into the RAM, and execute the above-described processing in conjunction with the RAM.Alternatively, the functions of the processor 12 described above may be implemented by a dedicated integrated circuit such as a microcontroller, an FPGA, and an ASIC.

[0072] The foregoing embodiments are merely examples to facilitate understanding of the gist of the subject matter disclosed herein. The configuration according to each of the foregoing embodiments may be appropriately modified or improved without deviating from the gist of the subject matter disclosed herein.

[0073] In each of the preceding examples, the entire first region A1 is surrounded by the second region A2, so that the second region A2 lies outside the first region A1. However, the second region A2 can be positioned to contact at least a portion of the perimeter of the first region A1, as long as the second region A2 has a portion that is closer to the perimeter of the recordable region A0 than the first region A1.

[0074] The generation of the second data D2 is not necessarily performed on the entire second area A2. That is, the second data D2 may be generated as data corresponding to the second image I2 contained in at least a part of the second area A2.

[0075] The camera 100, the first camera 101 and the second camera 102 as described above can each be replaced by a LiDAR (Light Detection and Ranging) sensor or a millimeter wave sensor.

[0076] The LiDAR sensor may have a configuration for emitting non-visible light and a configuration for detecting returned light as a result of reflection of non-visible light by at least one object located outside the vehicle. If necessary, the LiDAR sensor may include a scanning device that deflects the non-visible light to change the light emission direction (i.e., the detection direction). For example, infrared light, which has a wavelength of 905 nm, is used as non-visible light.

[0077] The LiDAR sensor can determine the distance to the object associated with the returned light, for example, based on the time period from the time the non-visible light is emitted in a specific direction until the time the returned light is detected. By aggregating such distance data in conjunction with the detected position, it is also possible to obtain information regarding the shape of the object associated with the returned light. Additionally or alternatively, information regarding a property, such as the material of the object associated with the returned light, can be determined based on the wavelength difference between the emitted light and the returned light.

[0078] The millimeter wave sensor may have a configuration for transmitting a millimeter wave and a configuration for receiving a reflected wave resulting from reflection of the millimeter wave by an object located outside the vehicle. Examples of millimeter wave frequencies include 24 GHz, 26 GHz, 76 GHz, 79 GHz, etc. The millimeter wave sensor may determine the distance to the object associated with the reflected wave, for example, based on the time period from the time the millimeter wave is transmitted in a specific direction to the time the reflected wave is received. Furthermore, by aggregating such distance data in conjunction with the sensing position, it is possible to obtain information regarding the shape of the object associated with the reflected wave.

[0079] This application is based on Japanese Patent Application No. 2018-095396 filed on May 17, 2018, the entire contents of which are incorporated herein by reference.

Claims

[1] A sensor data generating device (1) adapted to be mounted on a vehicle, comprising: an input interface (11) configured to receive at least one sensor signal, which corresponds to information regarding the exterior of the vehicle detected by at least one sensor (100); a processor (12) configured to generate, based on the sensor signal: first data (D1) corresponding to first information detected in a first area (A1); and second data (D2) corresponding to second information detected in a second area (A2) located outside the first area (A1); and an output interface (13) configured to output the first data (D1) and the second data (D2) independently of each other, wherein the processor (12) is configured to generate the second data (D2) to include information related to recognition processing, determination processing and / or analysis processing performed on the second information, wherein the processor (12) is configured to monitor a temporal change in a position of a reference (R) arranged in the second area; and wherein the second data (D2) contains offset information of the sensor (100) based on the temporal change. [2] A sensor data generating device (1) adapted to be mounted on a vehicle, comprising: an input interface (11) configured to receive at least one sensor signal, which corresponds to information regarding the exterior of the vehicle detected by at least one sensor (100); a processor (12) configured to generate, based on the sensor signal: first data (D1) corresponding to first information detected in a first area (A1) including a detection reference position of the sensor (100); and second data (D2) corresponding to second information detected in a second area (A2) not including the detection reference position of the sensor (100); and an output interface (13) configured to output the first data (D1) and the second data (D2) independently of each other, wherein the processor (12) is configured to generate the second data (D2) to include information related to recognition processing, determination processing and / or analysis processing performed on the second information, wherein the processor (12) is configured to monitor a temporal change in a position of a reference (R) arranged in the second area; and wherein the second data (D2) contains offset information of the sensor (100) based on the temporal change. [3] The sensor data generating device (1) according to claim 1 or 2, wherein the second data (D2) includes warning information based on the second information. [4] The sensor data generating device (1) according to claim 1 or 2, wherein the processor (12) is further configured to change a position of the first area (A1) based on the temporal change. [5] The sensor data generating device (1) according to any one of claims 1 to 4, wherein the at least one sensor (100) comprises a first sensor (101) and a second sensor (102); and wherein the processor-connected one of the first sensor (101) and the second sensor (102) is configured to enlarge the first area of ​​the one sensor based on information indicating an abnormality of the other of the first sensor (101) and the second sensor (102). [6] A sensor data generating device (1) adapted to be mounted on a vehicle, comprising: an input interface (11) configured to receive at least one sensor signal, which corresponds to information regarding the exterior of the vehicle detected by at least one sensor (100); a processor (12) configured to generate, based on the sensor signal: first data (D1) corresponding to first information detected in a first area (A1); and second data (D2) corresponding to second information detected in a second area (A2) located outside the first area (A1); and an output interface (13) configured to output the first data (D1) and the second data (D2) independently of each other, wherein the at least one sensor (100) comprises a first sensor (101) and a second sensor (102); wherein a priority is assigned in accordance with a position in a sensitive area of ​​the first sensor (101) and a position in a sensitive area of ​​the second sensor (102); and wherein the processor (12) is configured to generate the first data (D1) and the second data (D2) to include information indicating the priority. [7] A sensor data generating device (1) adapted to be mounted on a vehicle, comprising: an input interface (11) configured to receive at least one sensor signal, which corresponds to information regarding the exterior of the vehicle detected by at least one sensor (100); a processor (12) configured to generate, based on the sensor signal: first data (D1) corresponding to first information detected in a first area (A1) including a detection reference position of the sensor (100); and second data (D2) corresponding to second information detected in a second area (A2) not including the detection reference position of the sensor (100); and an output interface (13) configured to output the first data (D1) and the second data (D2) independently of each other, wherein the at least one sensor (100) comprises a first sensor (101) and a second sensor (102); wherein a priority is assigned in accordance with a position in a sensitive area of ​​the first sensor (101) and a position in a sensitive area of ​​the second sensor (102); and wherein the processor (12) is configured to generate the first data (D1) and the second data (D2) to include information indicating the priority. [8] The sensor data generating device (1) according to any one of claims 1 to 7, wherein a generation frequency of the second data is less than a generation frequency of the first data. [9] The sensor data generating device (1) according to one of claims 1 to 8, wherein the at least one sensor (100) comprises a LiDAR sensor, a camera and / or a millimeter wave sensor.

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