Sensor controller

Abstract

Disclosed is a sensor controller for a vehicle, the sensor controller comprising: a sensor configuration module, which is configured to determine a sensor combination from multiple sensors, and a sensor drive module, which is configured to determine a program for an assisted driving function for the sensor combination to execute the assisted driving function. The sensor controller according to the present disclosure can quickly provide an ADAS function required by a vehicle OEM. The sensor controller according to the present disclosure can automatically provide a program for an assisted driving function corresponding to a corresponding ADAS function according to a vehicle OEM requirement or an actual connected sensor. Moreover, the sensor controller structure according to the present disclosure has low structural complexity and is easy to implement, and development costs for the ADAS functions are low.

Description

[0001] Description

[0002] Sensor controller

[0003] Technical Field

[0004] The present invention relates to an electronic circuit, in particular a sensor controller.

[0005] Background Art

[0006] An advanced driver-assistance system (ADAS) may be a system that integrally comprises a camera, a millimetre wave radar, an ultrasonic radar and various other sensors, and is intended to improve the comfort and safety of driving. By means of sensing a surrounding environment of a vehicle in real time, ADAS can collect sensing data that represents the surrounding environment of the vehicle, and perform detection and tracking of static and dynamic objects. By means of using ADAS, the vehicle can perform system computation and analysis with reference to map data of a navigation device, so as to provide an early warning to a driver of a dangerous situation that may be encountered, and to intervene when necessary.

[0007] ADAS can use various sensors to collect sensing data that represents a surrounding environment of a vehicle, to enable the vehicle to make intelligent decisions, improving driving safety. Normally, different ADAS functions require different sensor combinations, and programs for assisted driving functions to satisfy specific functional demands thereof. However, normally a vehicle original equipment manufacturer (OEM) requires an ADAS provider to develop an ADAS function in a very short time, which presents a major challenge for developing ADAS functions.

[0008] Therefore, a solution that can quickly provide an ADAS function is desirable.

[0009] Summary

[0010] The present disclosure provides a sensor controller for a vehicle, wherein multiple sensors are mounted in the vehicle, and the sensor controller comprises: a sensor configuration module, which is configured to determine a sensor combination from the multiple sensors, and a sensor drive module, which is configured to determine a program for an assisted driving function for the sensor combination to execute the assisted driving function.

[0011] The sensor controller according an embodiment of the present disclosure, wherein the sensor drive module is further configured to: store a program group, the program group comprising programs for assisted driving functions for different sensor combinations; for the sensor combination, determine a program for an assisted driving function; and by means of the determined program for an assisted driving function, drive a sensor to execute the assisted driving function.

[0012] The sensor controller according to an embodiment of the present disclosure, wherein the assisted driving function comprises a function related to parking and / or a function related to driving, and the program for an assisted driving function comprises a program for the function related to parking and / or a program for the function related to driving.

[0013] The sensor controller according to an embodiment of the present disclosure, wherein the sensor controller is arranged in a sensor that can use the most computational resources among the multiple sensors.

[0014] The sensor controller according to an embodiment of the present disclosure, wherein the sensor controller is arranged in a camera sensor.

[0015] The sensor controller according to an embodiment of the present disclosure, wherein the step of determining a sensor combination from the multiple sensors comprises: determining actually fitted sensors of the vehicle, and determining the sensor combination from the actually fitted sensors.

[0016] The sensor controller according to an embodiment of the present disclosure, wherein the actually fitted sensor of the vehicle is determined according to a vehicle model.

[0017] The sensor controller according to an embodiment of the present disclosure, wherein the step of determining a program for an assisted driving function comprises adjusting a drive parameter in the program for an assisted driving function according to a user requirement or the sensor combination.

[0018] The sensor controller according to an embodiment of the present disclosure, wherein the assisted driving function comprises one or more of the following: automatic emergency braking, forward collision warning, lane keeping assist, lane departure warning, blind spot detection, traffic sign recognition, adaptive cruise control, automatic parking assist, valet parking assist, remote parking assist, panoramic surround-view video, highway navigation on pilot, pedestrian collision warning, headway monitoring warning and high beam assist.

[0019] The sensor controller according to an embodiment of the present disclosure, wherein the multiple sensors comprise a camera sensor, a millimetre wave radar sensor, an ultrasonic radar sensor, a lidar sensor, a driving recorder, an external electronic control unit ECU and a surround- view camera system.

[0020] The present disclosure provides a method for a sensor controller, the method comprising determining a sensor combination from multiple sensors by means of a sensor configuration module, and determining a program for an assisted driving function for the sensor combination by means of a sensor drive module to execute the assisted driving function.

[0021] The present disclosure provides a front-view camera, comprising the sensor controller as described above. For detailed features of the front-view camera according to the present disclosure, see the description above of the sensor controller; these features are not described again here for brevity.

[0022] The present disclosure further provides a vehicle, comprising the sensor controller as described above. For detailed features of the vehicle according to the present disclosure, see the description above of the sensor controller; these features are not described again here for brevity.

[0023] According to the sensor controller and the vehicle comprising a sensor controller of the present disclosure, in a situation in which a vehicle OEM requires a shorter time for developing an ADAS function and a situation in which the vehicle OEM requires a larger number of both ADAS functions and ADAS function variants, ADAS functions required by the vehicle OEM can be quickly provided. The sensor controller according to the present disclosure can automatically provide a program for an assisted driving function corresponding to a corresponding ADAS function according to a vehicle OEM requirement or an actual connected sensor. Moreover, the sensor controller structure according to the present disclosure has low structural complexity and is easy to implement, and development costs for the ADAS functions are low.

[0024] Brief Description of the Drawings

[0025] The above description of specific embodiments and other aspects, features and advantages of the present disclosure will become clearer from the following description in conjunction with the drawings, wherein:

[0026] Fig. 1A is an example of an ADAS function development flowchart.

[0027] Fig. 1B is another example of an ADAS function development flowchart. Fig. 2 is a schematic drawing of a sensor controller according to an embodiment of the present disclosure.

[0028] Fig. 3 is a schematic drawing of a sensor controller according to another embodiment of the present disclosure.

[0029] Fig. 4 is a schematic drawing of an application scenario of a sensor controller in a vehicle according to an embodiment of the present disclosure.

[0030] Fig. 5 is a flowchart of a method for a sensor controller according to an embodiment of the present disclosure.

[0031] Fig. 6 is a front- view camera according to an embodiment of the present disclosure.

[0032] Fig. 7 is a vehicle according to an embodiment of the present disclosure.

[0033] Particular Embodiments

[0034] It may be advantageous to set forth definitions of certain words and phrases used throughout the present disclosure before providing the detailed description below. The terms “comprise” and “include” and derivatives thereof mean including but not limited to. The phrase “at least one”, when used with a list of items, means that different combinations of one or more of the listed items may be used, and only one item from the list may be required. For example, “at least one of A, B and C” includes any of the following combinations: A, B, C, A and B, A and C, B and C, or A and B and C.

[0035] Definitions for other specific words and phrases are provided throughout the present disclosure. A person skilled in the art will understand that, in many situations, if not most situations, these definitions also apply to past and future uses of the words and phrases so defined.

[0036] The various embodiments below that describe the principles of the present disclosure in this patent document in conjunction with the drawings merely serve as illustration, and should not be construed as limiting the scope of the present disclosure in any way. A person skilled in the art will understand that the principles of the present disclosure can be implemented in any suitably arranged system or device. In certain situations, actions described in the present disclosure can be executed in a different order, and the desired result can still be achieved. In addition, the processes depicted in the drawings do not necessarily need to follow the specific order or sequential order shown to achieve the desired result. In specific embodiments, multitask and parallel processing may be advantageous.

[0037] The present text and drawings are only provided for exemplary purposes, to help understand the present disclosure. They should not be construed as limiting the scope of the claims of the present disclosure in any way. Throughout the drawings, the same reference signs normally refer to the same elements. Although certain embodiments and examples have been provided, it is clear for a person skilled in the art that without departing from the scope of the present disclosure, on the basis of the content of the present disclosure, changes could be made to the shown embodiments and examples.

[0038] ADAS can use various sensors to collect sensing data that represents a surrounding environment of a vehicle, to enable the vehicle to make intelligent decisions, improving driving safety. Normally, different ADAS functions require different sensor combinations, and programs for assisted driving functions to satisfy specific functional demands thereof. Herein, an ADAS function and an assisted driving function can be used interchangeably. However, normally a vehicle OEM requires an ADAS provider to develop an ADAS function in a very short time, which presents a major challenge for developing ADAS functions.

[0039] Fig. 1 A is an example of an ADAS function development flowchart, and Fig. 1B is another example of an ADAS function development flowchart.

[0040] As shown in Fig. 1A, a vehicle OEM 101 may provide an ADAS request to an ADAS provider. For example, the vehicle OEM 101 may provide an ADAS function request to the ADAS provider. The OEM 101 may request that the development time of the ADAS function is as short as possible.

[0041] The ADAS provider may receive the ADAS request from the vehicle OEM 101, and, on the basis of this request, develop an ADAS function desired by the vehicle OEM 101, such as ADAS function 1 to ADAS function i.

[0042] The vehicle OEM 101 may request the ADAS provider to provide many ADAS functions. For example, many vehicle OEMs may exist, and each vehicle OEM requests the ADAS provider to provide multiple ADAS functions. In this type of situation, the ADAS provider providing the ADAS functions in a very short development time may be very difficult.

[0043] As shown in Fig. 1B, the vehicle OEM 101 may provide an ADAS request for an ADAS function to an ADAS provider. The vehicle OEM 101 may request that the development time of the ADAS function is as short as possible.

[0044] The ADAS provider may receive the ADAS request for an ADAS function from the vehicle OEM 101, and, on the basis of this request, develop an ADAS function desired by the vehicle OEM 101. The ADAS functions desired by the vehicle OEM 101 may respectively comprise multiple variants. For example, the ADAS functions may comprise ADAS function 1 to ADAS function i. For example, ADAS function 1 may comprise ADAS function 1-1 to ADAS function 1-j; similarly, ADAS function i may comprise ADAS function i-1 to ADAS function i-k.

[0045] The vehicle OEM 101 may request the ADAS provider to provide many ADAS functions comprising multiple variants. For example, multiple vehicle OEMs may exist, and each vehicle OEM requests the ADAS provider to provide multiple ADAS functions, and each ADAS function may have multiple variants. In this type of situation, the ADAS provider providing the ADAS functions in a very short development time may be very difficult.

[0046] Therefore, a solution that can quickly provide an ADAS function is desirable. The present disclosure provides a sensor controller for a vehicle, the sensor controller comprising: a sensor configuration module, which is configured to determine a sensor combination from multiple sensors, and a sensor drive module, which is configured to determine a program for an assisted driving function for the sensor combination to execute the assisted driving function. According to the sensor controller for a vehicle of the present disclosure, in a situation in which a vehicle OEM requires a shorter time for developing an ADAS function and a situation in which the vehicle OEM requires a larger number of both ADAS functions and ADAS function variants, ADAS functions required by the vehicle OEM can be quickly provided. The sensor controller according to the present disclosure can automatically provide a program for an assisted driving function corresponding to a corresponding ADAS function according to a vehicle OEM requirement or an actual connected sensor. Moreover, the sensor controller structure according to the present disclosure has low structural complexity and is easy to implement, and development costs for the ADAS functions are low.

[0047] Fig. 2 is a schematic drawing of a sensor controller according to an embodiment of the present disclosure.

[0048] As shown in Fig. 2, the sensor controller 200 may comprise a sensor configuration module 210 and a sensor drive module 220.

[0049] The sensor configuration module 210 may determine a sensor combination from multiple sensors. The multiple sensors may comprise various sensors required to realize various ADAS functions and various ADAS function variants requested by various vehicle OEMs. In one embodiment, an ADAS function variant may be an ADAS function that is of a higher or lower specification compared to the original ADAS function. A sensor configuration module 210 may select a sensor from multiple sensors according to a request of a vehicle OEM for an ADAS function.

[0050] A sensor drive module 220 may determine a program for an assisted driving function for a sensor combination to execute the assisted driving function. The determined sensor combination may be a subset of the multiple sensors. The determined sensor combination may correspond to an ADAS function requested by the vehicle OEM. The sensor drive module 220 may drive the sensor combination determined by the sensor configuration module 210 to execute the corresponding ADAS function according to vehicle requirements, and provide a result of the corresponding ADAS function to the vehicle to cause the vehicle to execute an assisted driving or autonomous driving operation.

[0051] Fig. 3 is a schematic drawing of a sensor controller according to another embodiment of the present disclosure.

[0052] As shown in Fig. 3, a sensor controller 3100 can be arranged in a camera sensor 3000 to provide a corresponding ADAS function. In an embodiment, different types of sensors may be respectively configured for a corresponding electronic control unit (ECU) to process captured sensor data. In the embodiment in which sensors are respectively configured for a corresponding ECU, the system architecture is more complicated. In another embodiment, a domain controller can be configured for different types of sensors. A domain controller or a zone controller may be a core of each functional domain; it is mainly composed of three parts: a domain master processor, an operating system, and application software and algorithms, etc. With the support of features of a high-performance domain master processor, rich hardware interface resources and strong software functions, the domain controller can integrate core functions that originally required multiple automobile control unit ECUs to realize, greatly increasing system function integration. Different types of sensors can send respectively captured sensor data to the domain controller for processing. The cost of the domain controller may be higher, and therefore the embodiment in which a domain controller is configured for the sensor is higher. According to an embodiment of the present disclosure, an ECU of a camera sensor 3000 may replace an ECU of another sensor. That is, another sensor can send sensor data captured thereby to the ECU of the camera sensor 3000 for processing. The camera sensor 3000 may be used for visually perceiving a surrounding environment of a vehicle, and identifying objects surrounding the vehicle by means of capturing static or dynamic images. With the increase of image resolution and image frame rate, and applications of real-time image processing algorithms, computational resources of the camera sensor 3000 are also continuously increasing. The sensor controller 3100 may be arranged in a camera sensor 3000 with rich available computational resources. In this case, the camera sensor 3000, for example, may be a camera for supporting an assisted driving function and / or an autonomous driving function, such as a front- view camera, a sideview camera and / or a rearview camera. In particular, the sensor controller 3100 may be configured in a front- view camera of the vehicle. The front- view camera, for example, is a camera that is arranged on a windscreen or an inside rearview mirror of the vehicle, used for perceiving an external environment of the vehicle to support a function related to driving (such as FCW (forward collision warning), LDW (lane departure warning), ACC (adaptive cruise control), etc.). In the prior art, an ECU of a front-view camera is used for supporting itself, rather than for controlling other sensors of the vehicle and / or determining a sensor combination of other sensors on the vehicle. However here, according to an embodiment of the present disclosure, a front-view camera is considered that can have sufficient available computational resources to support itself as a centralized sensor controller to perform unified control on other sensors besides itself, and a sensor controller may be arranged in the front-view camera. Thus, an individual domain controller and / or zone controller additionally arranged in the vehicle can be dispensed with, the front- view camera being solely responsible for control and scheduling of various sensors, significantly reducing complexity and costs of an assisted driving system architecture.

[0053] However, a person skilled in the art should understand that the sensor controller 3100 may also be arranged in another sensor. For example, the sensor controller 3100 may be arranged in a domain controller or a sensor that can use the most computational resources among the multiple sensors.

[0054] The sensor controller 3100 may comprise a sensor configuration module 3110 and a sensor drive module 3120.

[0055] The sensor configuration module 3110 may determine a sensor combination from multiple sensors. As described above, the multiple sensors may comprise various sensors required to realize various ADAS functions and various ADAS function variants requested by various vehicle OEMs. A sensor configuration module 3110 may select a sensor from multiple sensors according to a request of a vehicle OEM for an ADAS function.

[0056] The sensor configuration module 3110 may determine actually fitted sensors of the vehicle, and determine a sensor combination from the actually fitted sensors. In one embodiment, a vehicle OEM or a vehicle can directly provide the vehicle model, and a sensor configuration module 3110 can determine actually fitted sensors according to the vehicle model provided.

[0057] The vehicle model may comprise an identifier that indicates a sensor combination. For example, the vehicle model may comprise an indicator for a sensor combination such as 1V2R, 1V3R8U, 1V5R12U, etc. "V" in the sensor combination indicator may represent a visual system, which comprises a visual sensor such as a camera sensor 3000. "R" in the sensor combination indicator may represent a millimetre wave radar sensor. "U" in the sensor combination indicator may represent an ultrasonic radar sensor.

[0058] The vehicle model may further be a product model of the vehicle itself. For example, a vehicle OEM or a vehicle may directly provide the product model of the vehicle itself, and a sensor configuration module 3110 may select a sensor from multiple sensors according to the product model of the vehicle itself. The product model of the vehicle itself may comprise a model of a specific system or component (for example, a chassis or a motive power system of a vehicle) in a vehicle. In this way, the vehicle OEM is enabled to provide a sensor combination more flexibly.

[0059] In another embodiment, a sensor configuration module 3110 may actually detect sensors connected to a vehicle by means of hardware or software or a combination thereof, and determine a sensor combination from multiple sensors on the basis of a detection result. For example, a sensor configuration module 3110 may determine a sensor combination actually connected to a vehicle from multiple sensors on the basis of a detection result.

[0060] The sensor configuration module 3110 may obtain one of a vehicle model and a detection result. For example, the vehicle model and the detection result may be two redundant bases for the sensor configuration module 3110 to select a sensor. For example, if one of the vehicle model and the detection result is missing, then the sensor configuration module 3110 may select a sensor on the basis of the other of the two.

[0061] The sensor configuration module 3110 may obtain both a vehicle model and a detection result. The sensor configuration module 3110 may verify the vehicle model and the detection result against each other. If the vehicle model and the detection result indicate the same sensor to be selected by the sensor configuration module 3110, then the sensor configuration module 3110 can select the sensor with high confidence. If the vehicle model and the detection result indicate different sensors to be selected by the sensor configuration module 3110, then the vehicle model may take higher priority than the detection result. For example, when the sensor that the vehicle model indicates should be selected and the sensor that the detection result indicates should be selected are different, the sensor configuration module 3110 may select a sensor on the basis of the vehicle model. In some embodiments, the situation in which the sensor that the vehicle model indicates should be selected and the sensor that the detection result indicates should be selected are different may signify a sensor connection fault.

[0062] A sensor drive module 3120 may determine a program for an assisted driving function for a sensor combination to execute the assisted driving function. The determined sensor combination may correspond to an ADAS function requested by the vehicle OEM. The sensor drive module 3120 may drive the sensor combination determined by the sensor configuration module 3110 to execute the corresponding ADAS function according to vehicle requirements. In one embodiment, the sensor drive module 3120 may store a program 3121 for an assisted driving function for a combination of sensors respectively for one or more ADAS functions. For example, a developer may use various ADAS functions and ADAS function variants required by a vehicle OEM to develop a corresponding program for an assisted driving function. The developer may develop the above-mentioned program for an assisted driving function before the vehicle OEM makes a request, and store the program in the sensor drive module 3120.

[0063] In another embodiment, a step of determining a program for an assisted driving function comprises adjusting drive parameters in the program for an assisted driving function according to a user requirement or a sensor combination. For example, an ADAS function may have multiple variants that are of a higher or lower specification. The sensor drive module 3120 may adjust drive parameters in the program for an assisted driving function for this ADAS function according to a user requirement or a determined sensor combination to use the program for driving various variants of this ADAS function.

[0064] The sensor drive module 3120 may select a corresponding program for an assisted driving function on the basis of a determined sensor combination. For example, the sensor drive module 3120 may select a corresponding program for an assisted driving function on the basis of an ADAS request of a vehicle OEM. Since development of the program for an assisted driving function has already been completed before the OEM makes the ADAS request, the sensor drive module 3120 can directly select the corresponding program for an assisted driving function and does not need to wait after the vehicle OEM makes the ADAS request. This increases the response speed to the vehicle OEM request, increasing production efficiency.

[0065] The sensor drive module 3120 may drive a selected sensor to execute the corresponding ADAS function by means of the selected program for an assisted driving function. For example, the sensor drive module 3120 may drive a selected sensor by means of running a corresponding program for an assisted driving function to provide a vehicle with an ADAS function result, thereby causing the vehicle to execute an assisted driving or autonomous driving operation.

[0066] That is, the sensor drive module 3120 may store a program group. This program group may comprise programs for assisted driving functions for different sensor combinations. For the sensor combination, the sensor drive module 3120 may determine a program for an assisted driving function. By means of the determined program for an assisted driving function, the sensor drive module 3120 may drive a sensor to execute the assisted driving function.

[0067] In summary, according to an embodiment of the present disclosure, the frontview camera may be configured as a sensor controller and may store a program group, which comprises programs for assisted driving functions for various sensor combinations. In this case, a corresponding program can be flexibly determined from a program group for a specific sensor combination. Thus, a front- view camera that can be configured as a sensor controller based on the present disclosure can adapt to multiple vehicle types with different sensor combinations, dispensing with individual testing / development of a front-view camera for each sensor combination / each vehicle type, significantly increasing universality of the frontview camera and reducing development costs and complexity of an ADAS system.

[0068] Fig. 4 is a schematic drawing of an application scenario of a sensor controller in a vehicle according to an embodiment of the present disclosure.

[0069] As shown in Fig. 4, a sensor controller 3100 may be arranged in a camera sensor 3000, but such a configuration is merely exemplary, and the sensor controller 3100 may also be arranged in another sensor.

[0070] The camera sensor 3000 may obtain vehicle input. For example, the camera sensor 3000 may obtain vehicle input by means of a mapping input module 4200. The vehicle input may be information comprising a vehicle model. The mapping input module 4200 may be a hardware device or a low-level device that receives the information comprising a vehicle model from a vehicle. The mapping input module 4200 may provide the camera sensor 3000 with vehicle input as model input. An adapter 3300 may convert a signal of model input that complies with a vehicle format into a signal that complies with a format of the camera sensor 3000. A processing core 3200 may receive the information comprising a vehicle model from the adapter 3300, and controls the sensor controller 3100 on the basis of this information.

[0071] The processing core 3200 may provide the vehicle with a result of executing an ADAS function. For example, the processing core 3200 may provide a result obtained by executing an ADAS function to a vehicle by means of a mapping output module 4300. The processing core 3200 may convert a signal that complies with the format of the camera sensor 3000 into a signal that complies with the vehicle format by means of an adapter 3400. The adapter 3400 may provide model output to a mapping output module 4300. The mapping output module 4300 may be a hardware device or a low-level device that provides a vehicle with information of a result of executing an ADAS function. The mapping output module 4300 may provide the vehicle with model output as vehicle output.

[0072] The configuration of the sensor controller 3100 may be similar to the sensor controllers described with reference to Figs. 2 and 3, and for brevity is not described again here.

[0073] The sensor configuration module 3110 may select an actually fitted sensor of the vehicle according to a vehicle model obtained by the processing core 3200 or a detection result of a detected sensor that is actually connected to the vehicle. The sensor drive module 3120 may select a corresponding program 3121 for an assisted driving function on the basis of a determined sensor combination, and the selected program for an assisted driving function runs on the processing core 3200 to drive a selected sensor to execute a corresponding ADAS function.

[0074] Multiple sensors 4100 may comprise a millimetre wave radar sensor 4110, an ultrasonic radar sensor 4120, a lidar sensor 4130, a driving recorder 4150, a surround- view camera system 4160 and an external electronic control unit ECU 4170.

[0075] A camera sensor 3000 may comprise cameras that capture images of a surrounding environment of the vehicle, such as a front- view camera and a rearview camera. For example, the camera sensor 3000 may comprise a front-view camera, a sideview camera and / or a rearview camera. The camera sensor 3000 may execute functions such as image processing.

[0076] The millimetre wave radar sensor 4110 may be a device that performs detection using a radio wave (radar wave / electromagnetic wave). Normally, the millimetre wave radar sensor 4110 may operate in a millimetre waveband, with a wavelength of 1 - 10 mm and a corresponding frequency range of 30 - 300 GHz. The millimetre wave radar 4110 may transmit a frequency-modulated continuous wave (FMCW) by means of an antenna; a time difference exists between an echo received after the FMCW is reflected from a target and the transmitted wave, and this time difference may be used to calculate a target distance. The millimetre wave radar sensor 4110 has a long detection distance (with a maximum distance of 250 metres), a fast response speed and a strong adaptive capability.

[0077] The ultrasonic radar sensor 4120 may be a detection device developed based on the characteristics of ultrasonic waves. The ultrasonic radar sensor 4120, in an ultrasonic frequency range (generally greater than 20 kHz), may convert an alternating electrical signal into a sound signal, or convert a sound signal in an external sound field into an electrical signal. A working principle of the ultrasonic radar sensor 4120 is to transmit a high-frequency ultrasonic wave (common operating frequencies being 40 kHz, 48 kHz and 58 kHz, etc.) by means of a transmitter, and these ultrasonic waves are reflected back when encountering an obstacle and received by a receiver. By means of calculating a round-trip time of the ultrasonic signal, a distance between the vehicle and the obstacle can be accurately measured. An effective detection distance of the ultrasonic radar sensor 4120 is moderate (normally 5 - 10 metres) and the cost is low.

[0078] The lidar sensor 4130 may be a detection device that uses a laser beam to perform distance and speed measurement. By means of transmitting a laser beam and receiving an optical signal reflected back from a target, the lidar sensor 4130 can calculate information of a target object, such as distance, speed and shape, according to the time and strength of the optical signal. Detection precision and resolution of the lidar sensor 4130 are very high, able to reach the order of centimetres or even millimetres, and the lidar sensor can generate point cloud data. The lidar sensor 4130 has a long detection distance and a strong interference-resistance capability.

[0079] The driving recorder 4150 is also called a “black box driving safety recorder”; the driving recorder 4150 may be a digital, fully automatic and intelligent in-vehicle real-time monitoring apparatus that is controlled by a microcomputer. The driving recorder 4150 may execute one or more of video recording, audio recording, GPS positioning, a collision sensing function, a loop recording function, a night vision function, etc.

[0080] The surround-view camera system 4160 may also be called a "holographic system", which may receive images captured by multiple cameras in different directions, and corrects and stitches the received images to generate a continuous, seamless and omnidirectional 360-degree surround- view image. The surround- view camera system 4160 can provide a driver with a omnidirectional view of the vehicle, and, thus providing the driver with an omnidirectional view of the vehicle, ensures driving safety.

[0081] The external electronic control unit ECU 4170 may be an ECU that executes another assisted driving function. For example, the external electronic control unit ECU 4170 may comprise an automatic parking ECU, etc.

[0082] The sensor controller 3100 may execute one or more ADAS functions on the basis of a selected sensor. The one or more ADAS functions comprise one or more of the following: automatic emergency braking AEB, forward collision warning FCW, lane keeping assist LKA, lane departure warning LDW, blind spot detection BSD, traffic sign recognition TSR, adaptive cruise control ACC, automatic parking assist APA, panoramic surround-view video, valet parking assist VPA, remote parking assist RPA, pedestrian collision warning PCW, headway monitoring warning HMW and high beam assist HBA, highway navigation on pilot NOP, etc.

[0083] According to an embodiment of the present disclosure, the assisted driving function may comprise a function related to driving. As an example, the function related to driving may comprise: An AEB function, which can monitor a situation ahead in the lane of the vehicle in real time, and when possible danger of a collision detected, the AEB function may automatically take over the braking system to avoid or reduce harm from a collision. The AEB function can automatically monitor a distance and a relative speed of a monitored target ahead, and when a driver brakes too late, or with insufficient braking force, or has not yet applied the brakes, the vehicle raises the alarm or proactively brakes.

[0084] An FCW function, which can analyze forward lane information, and determines a forward collision hazard of the vehicle. When the FCW function detects a potential collision hazard, a driver can be promptly made aware by means of an auditory or visual warning, so that the driver adopts a corresponding avoidance or braking measure, thereby effectively avoiding or reducing the probability of a crash.

[0085] An LKA function, which can monitor the relative positions of a vehicle and a lane line in real time, and takes over transverse movement control of the vehicle when necessary, causing the vehicle to stay driving in the original lane. The LKA function can precisely control a driving path of a vehicle, improving driving safety and stability.

[0086] An LDW function, which can monitor the relative positions of a vehicle and a lane line by means of sensors, such as a front-view camera and a millimetre wave radar, mounted behind the front windscreen. When a system detects that the vehicle is either about to leave a lane or already has, a warning is issued to the driver by means of sight, sound or touch (such as a steering wheel vibration), reminding the driver to promptly adopt a corrective measure, thereby maintaining driving safety of the vehicle in a lane.

[0087] A BSD function, which can continuously scan blind spot regions around the vehicle, including but not limited to pedestrians, bicycles, vehicles, motorbikes and other potential obstacles, by means of a camera or a millimetre wave radar sensor mounted on two sides of the vehicle body (such as inside a wing mirror or rear bumper). The BSD function, by means of audio, lamplight and a visual prompt on a display screen, etc., can promptly make a driver aware when there is an obstacle in a blind spot which has not been noticed by the driver or is of limited visibility therefor, so as to avoid or reduce a crash due to a blind spot.

[0088] A TSR function, which can use sensors, such as cameras, mounted on a vehicle to capture and recognize traffic sign information on roads in real time, such as a speed limit, stop, U-turn, etc. After successful recognition, the TSR function can make a driver aware of a relevant sign by means of a display device or a loudspeaker, etc., so that the driver can comply with traffic rules in real time, reducing violations and traffic accidents.

[0089] An ACC function, which can monitor a speed and a distance of a vehicle in front in real time, by means of sensors such as a camera or a millimetre wave radar on the front of a vehicle, and automatically regulates the speed of the vehicle body accordingly, to ensure a safe distance to the vehicle in front. When no vehicles are in front, the ACC function can cause the vehicle to maintain driving of a set cruise speed. In addition, the ACC function further has an early warning function, and, in special situations, reminds the driver to pay attention or adopts a corresponding measure.

[0090] An NOP function, which may be developed on the basis of depth fusion of an autonomous assisted driving system, a high-precision map and a navigation system. On a motorway or a fast urban road, it can realize operations such as automatic merging into a main road and cruise driving and intelligent selection of an optimal lane on the main road according to a planned navigation route, and automatically switching to the next motorway / overpass and automatically leaving the main road according to the navigation plan. The NOP function can reduce driving responsibility and fatigue levels of a driver by means of functions such intelligent cruising and keeping in lane, thereby improving driving safety and convenience.

[0091] A PCW function, which can monitor a situation ahead in a lane of a vehicle in real time, especially pedestrian dynamics. When the PCW function detects that a pedestrian enters a danger zone in front of the vehicle, and when a potential collision hazard exists, an early warning can be promptly issued to the driver, to remind the driver to pay attention and adopt a corresponding avoidance measure.

[0092] An HMW function, which can monitor a distance and a speed between the present vehicle and a vehicle in front in real time, and calculates a relative distance or time interval between the two vehicles according to this data. When determining that the vehicles are too near, the HMW function can promptly issue a warning to a driver by means of audio, images or vibrations, etc., reminding the driver to adopt a corresponding avoidance measure.

[0093] An HBA function, which can automatically regulate a lighting range of a vehicle headlamp according to a detected vehicle luminance and a specific road situation, such that the headlamp automatically switches between high beam and low beam, to improve driving safety and comfort at night.

[0094] According to an embodiment of the present disclosure, the assisted driving function may comprise a function related to parking. As an example, the function related to parking may comprise:

[0095] An APA function, which can capture surrounding environment information of a vehicle, comprising vehicles, pedestrians, obstacles and parking space lines, etc. The APA function can autonomously identify parking spaces, and plans a rational parking path, controlling steering, braking, throttle and gear operations of the vehicle, to realize automated parking entry and exit of the vehicle.

[0096] An RPA function, which can control a vehicle by means of an application in a mobile phone or a key; when a corresponding sensor of the vehicle identifies a parking space, the driver can remotely start this function by remote control to cause the motor vehicle to autonomously park in the identified parking space.

[0097] A VPA function, which can learn a recorded route of parking by a driver to autonomously park a motor vehicle in an identified parking space.

[0098] A panoramic surround- view video function, which obtains images in front, to the rear, to the left and to the right of a vehicle by means of camera sensors, and using imaging processing techniques (such as image correction, image stitching, etc.), stitches these images into a 360-degree panoramic top view of the vehicle surroundings for display in real time on an in-vehicle display device. In this way, the driver may intuitively view the surrounding environment of the vehicle, and understand relative orientations and distances of obstacles, and thus operate the vehicle in a more relaxed state.

[0099] In summary, according to embodiments of the present disclosure, a program for an assisted driving function may comprise a program for a function related to parking and / or a program for a function related to driving. Moreover, the programs for an assisted driving function can be stored together in a program group of a sensor drive module of a sensor controller; that is, for example, the programs are stored in a front- view camera. Thus, not only can the functions related to driving as cited above instead be controlled by a front- view camera, but also parking-related sensors (such as an ultrasonic radar sensor, a surround- view camera and a sideview camera) which do not involve a front- view camera in the prior art can instead be controlled and scheduled together by the front-view camera as a sensor controller, to realize the functions related to parking as cited above. Thus, the program for a function related to parking and / or a program for a function related to driving can be stored in a front- view camera, and there is no need to use an additional expensive domain controller, such as an integrated driving and parking domain controller. Thus, the complexity and costs of an assisted driving system architecture are significantly reduced.

[0100] Fig. 5 is a flowchart of a method for a sensor controller according to an embodiment of the present disclosure.

[0101] As shown in Fig. 5, the method for a sensor controller may comprise steps S501 and S502.

[0102] In S501, a sensor combination can be determined from multiple sensors by means of a sensor configuration module.

[0103] In S502, a program for an assisted driving function can be determined for the sensor combination by means of a sensor drive module to execute the assisted driving function.

[0104] Fig. 6 is a front- view camera according to an embodiment of the present disclosure. The front-view camera 600 may be arranged on a windscreen or an inside rearview mirror of a vehicle. The front-view camera 600 may be configured to perceive an external environment of the vehicle, to support a function related to driving.

[0105] As shown in Fig. 6, the front- view camera 600 comprises a sensor controller 610, which may be one or more of the sensor controllers 200 and 3100 described above.

[0106] Fig. 7 is a schematic drawing of a vehicle according to an embodiment of the present disclosure.

[0107] The vehicle 700 may include, but is not limited to, a sedan, a tractor unit (with or without a trailer), a bus, a recreational vehicle, a minivan or a sport utility vehicle (SUV), etc.

[0108] As shown in Fig. 7, the vehicle 700 comprises a sensor controller 710, which may be one or more of the sensor controllers 200 and 3100 described above.

[0109] According to the sensor controller and the vehicle comprising the sensor controller of the present disclosure, in a situation in which a vehicle OEM requires a shorter time for developing an ADAS function and a situation in which the vehicle OEM requires a larger number of both ADAS functions and ADAS function variants, ADAS functions required by the vehicle OEM can be quickly provided. The sensor controller according to the present disclosure can automatically provide a program for an assisted driving function corresponding to a corresponding ADAS function according to a vehicle OEM requirement or an actual connected sensor. Moreover, the sensor controller structure according to the present disclosure has low structural complexity and is easy to implement, and development costs for the ADAS functions are low.

[0110] Although the present disclosure has been described using exemplary embodiments, various changes and modifications could be suggested to a person skilled in the art. The present disclosure is intended to encompass such changes and modifications that fall within the scope of the attached claims.

[0111] Nothing described in the present invention should be construed as implying that any specified element, step or function is an essential element that must be included in the scope of the claims. The scope of the patent subject matter is only defined by the claims.

[0112] 1

Claims

Claims1. Sensor controller for a vehicle, wherein multiple sensors are mounted in the vehicle, and the sensor controller comprises:a sensor configuration module, which is configured to determine a sensor combination from the multiple sensors, anda sensor drive module, which is configured to determine a program for an assisted driving function for the sensor combination to execute the assisted driving function.

2. Sensor controller according to Claim 1, wherein the sensor drive module is further configured to:store a program group, the program group comprising programs for assisted driving functions for different sensor combinations,for the sensor combination, determine a program for an assisted driving function, andby means of the determined program for an assisted driving function, drive a sensor to execute the assisted driving function.

3. Sensor controller according to Claim 2, whereinthe assisted driving function comprises a function related to parking and / or a function related to driving, andthe program for an assisted driving function comprises a program for the function related to parking and / or a program for the function related to driving.

4. Sensor controller according to Claim 1, wherein the sensor controller is arranged in a sensor that can use the most computational resources among the multiple sensors.

5. Sensor controller according to any one of Claims 1 to 4, wherein the sensor controller is arranged in a camera sensor.

6. Sensor controller according to Claim 5, wherein the camera sensor that is provided with the sensor controller comprises a front- view camera.

7. Sensor controller according to any one of Claims 1 to 4, wherein the step of determining a sensor combination from the multiple sensors comprises:determining actually fitted sensors of the vehicle, and determining the sensor combination from the actually fitted sensors.

8. Sensor controller according to Claim 7, wherein an actually fitted sensor of the vehicle is determined according to a vehicle model.

9. Sensor controller according to any one of Claims 1 to 4, wherein the step of determining a program for an assisted driving function comprises adjusting a drive parameter in the program for an assisted driving function according to a user requirement or the sensor combination.

10. Sensor controller according to Claim 1, wherein the assisted driving function comprises one or more of the following: automatic emergency braking, forward collision warning, lane keeping assist, lane departure warning, blind spot detection, traffic sign recognition, adaptive cruise control, automatic parking assist, valet parking assist, remote parking assist, panoramic surround-view video, highway navigation on pilot, pedestrian collision warning, headway monitoring warning and high beam assist.

11. Sensor controller according to Claim 1, wherein the multiple sensors comprise a camera sensor, a millimetre wave radar sensor, an ultrasonic radar sensor, a lidar sensor, a driving recorder, an external electronic control unit and a surroundview camera system.

12. Front- view camera, the front- view camera comprising the sensor controller according to any one of Claims 1 to 11.

13. Vehicle, the vehicle comprising the sensor controller according to any one of Claims 1 to 11.

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