Sensor module and vehicle

Abstract

Disclosed is a sensor module for a vehicle, comprising: a sensor; and a controller, configured to: send, to at least one other sensor module of the vehicle, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor, and receive from the at least one other sensor module a result signal relating to the state of the at least one other sensor module. The sensor module according to the present disclosure can control at least one other sensor module to execute a state detection process, thereby reducing vehicle control complexity and easing the demand for computing resources, and thus enabling real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

Description

[0001] P24J08000X-CN01

[0002]

[0003] Sensor module and vehicle

[0004] Technical Field

[0005] The present invention relates to a sensor module and a vehicle.

[0006] Background

[0007] An advanced driver assistance system (ADAS) may be a system integrating various sensors including cameras, millimetre wave radar and ultrasonic radar, and is intended to improve the comfort and safety of driving. By sensing the surrounding environment of a vehicle in real time, the ADAS can collect sensing data characterizing the surrounding environment of the vehicle, and perform detection and tracking of static and dynamic objects. By using the 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.

[0008] The ADAS can use various sensors to collect sensing data characterizing the surrounding environment of the vehicle, to enable the vehicle to make intelligent decisions, improving driving safety. Generally, the states of different sensors are detected via complex distributed electronic control units (ECU) or external devices, or via expensive centralized domain controllers (DCU).

[0009] Thus, a solution is desired that enables real-time detection of sensor states at a low cost, with low complexity.

[0010] Summary

[0011] The present disclosure provides a sensor module for a vehicle, comprising: a sensor; and a controller, configured to: send, to at least one other sensor module of the vehicle, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor, and

[0012] 1

[0013] 1003

[0014] 96.7receive from the at least one other sensor module a result signal relating to the state of the at least one other sensor module.

[0015] In the sensor module according to embodiments of the present disclosure, the controller is configured to send the detection signal to the at least one other sensor module to instruct the at least one other sensor module to perform at least one of the following: detect corresponding lifespan information of the at least one other sensor module; detect a corresponding maintenance record of the at least one other sensor module; detect corresponding fault information of the at least one other sensor module; and detect a corresponding software version of the at least one other sensor module.

[0016] In the sensor module according to embodiments of the present disclosure, the controller is configured to receive the result signal from the at least one other sensor module, in order to obtain: corresponding lifespan information of the at least one other sensor module; a corresponding maintenance record of the at least one other sensor module; corresponding fault information of the at least one other sensor module; and a corresponding software version of the at least one other sensor module.

[0017] In the sensor module according to embodiments of the present disclosure, the controller is configured to: send the result signal to a presentation device of the vehicle or an external detection device outside the vehicle.

[0018] In the sensor module according to embodiments of the present disclosure, the sensor module corresponds to a sensor module with the most available computing resources among multiple sensor modules comprised in the vehicle.

[0019] In the sensor module according to embodiments of the present disclosure, the sensor comprises a camera sensor, and the controller comprises an electronic control unit of the camera sensor.

[0020] In the sensor module according to embodiments of the present disclosure, the sensor module is a front- view camera.

[0021] In the sensor module according to embodiments of the present disclosure, the at least one other sensor module comprises one or more of a millimetre wave radarsensor, an ultrasonic radar sensor, a lidar sensor, a driving recorder, an external electronic control unit, a surround- view camera system, a hands-off detection sensor, a driver monitoring system, a liveness detection sensor and a temperature sensor.

[0022] The present disclosure provides a vehicle, comprising the above-described sensor module which, for the sake of brevity, is not described again here.

[0023] The present disclosure provides a method for a sensor module of a vehicle, wherein the sensor module comprises a sensor and a controller, the method comprising: sending, to at least one other sensor module of the vehicle by means of the controller, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor; receiving from the at least one other sensor module a result signal relating to the state of the at least one other sensor module.

[0024] In the sensor module and the vehicle comprising the sensor module according to the present disclosure, the sensor module according to the present disclosure can control the at least one other sensor module to execute a sensing process, thereby reducing vehicle control complexity and easing the demand for computing resources, and thus enabling real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

[0025] Brief Description of the Drawings

[0026] The above and other aspects, features and advantages of specific embodiments of the present disclosure will become clearer from the following description in conjunction with the drawings, wherein:

[0027] Fig. 1 A is an exemplary schematic diagram of sensor control.

[0028] Fig. IB is another exemplary schematic diagram of sensor control.

[0029] Fig. 2 is a schematic diagram of a sensor module according to embodiments of the present disclosure.

[0030] Fig. 3 is a schematic diagram of another sensor module according to embodiments of the present disclosure.

[0031] Fig.4 is a flowchart of a method for a sensor module according to embodiments of the present disclosure.Fig. 5 is a vehicle according to embodiments of the present disclosure.

[0032] Detailed Embodiments

[0033] 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 one of the following combinations; A, B, C, A and B, A and C, B and C, A and B and C.

[0034] Definitions of other specific words and phrases are provided throughout the present disclosure. A person skilled in the art will understand that, in many situations, even if not in most situations, such definitions also apply to past and future uses of the words and phrases so defined.

[0035] The various embodiments below that describe the principles of the present disclosure in this patent application 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, multi-task and parallel processing may be advantageous.

[0036] The present text and drawings are only provided for exemplary purposes, to aid understanding of the present disclosure. They should not be construed as limiting the scope of the claims attached to 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 to a person skilled in the art that without departing from the scope of the presentdisclosure, on the basis of the content of the present disclosure, changes could be made to the embodiments and examples shown.

[0037] Fig. 1 A is an exemplary schematic diagram of sensor control.

[0038] In a distributed sensor control scenario 1100 as shown in Fig. 1A, a vehicle may comprise multiple sensors 1121 - 1123 and 1131 - 1133, and multiple electronic control units (ECU) 1124 - 1126 and 1134 - 1136.

[0039] In the distributed sensor control scenario 1100, the sensors and ECUs may be in one-to-one correspondence with one another; for example, ECUs 1124 - 1126 may respectively control sensors 1121 - 1123, and ECUs 1134 - 1136 may respectively control sensors 1131 - 1133, in order to detect the states of sensors 1121 - 1123 and 1131 - 1133 and process captured sensor data. In an embodiment, sensors 1121 - 1123 and ECUs 1124 - 1126 may be included in a first system 1120 of the vehicle, for example, one of a body system, a vehicle motion system, a powertrain system and an infotainment system. Sensors 1131 - 1133 and ECUs 1134 - 1136 may be included in a second system 1130 of the vehicle, for example, another of the body system, the vehicle motion system, the powertrain system and the infotainment system. Although Fig. 1A shows 6 sensors, 6 ECUs and 2 systems, those skilled in the art will understand that the vehicle could comprise a significantly larger number of sensors, ECUs and systems.

[0040] The multiple ECUs 1124 - 1126 and 1134 - 1136 may be communicatively connected to one another. For example, the multiple ECUs 1124 - 1126 and 1134 -1136 may be connected to a central gateway 1110, to send signals to an upper-level control system or receive signals from the upper-level control system via the central gateway 1110.

[0041] In the embodiment shown in Fig. 1 A, where a corresponding ECU is provided for each of the sensors, the system architecture is relatively complex. For example, as driver assistance and autonomous driving technologies develop, the number of sensors and ECUs may rapidly increase to several dozen or even more than a hundred. Such a huge number of sensors and ECUs poses a challenge for distributed architecture complexity and wiring complexity.

[0042] Fig. IB is another exemplary schematic diagram of sensor control.In a distributed sensor control scenario 1200 as shown in Fig. IB, a vehicle may comprise multiple sensors 1221 - 1223 and 1231 - 1233, and multiple domain controllers (DCU) 1224 - 1234.

[0043] In the centralized sensor control scenario 1200, multiple sensors correspond to a single DCU; for example, DCU 1224 may control sensors 1221 - 1223, and ECU 1234 may control sensors 1231 - 1233, in order to detect the states of sensors 1221 - 1223 and 1231 - 1233 and process captured sensor data. The domain controller or zone controller may be the core of each functional domain of the vehicle, and is mainly composed of three parts: a domain master processor, an operating system, and application software and algorithms. With the support of the high-performance domain master processor, abundant hardware interface resources and powerful software function characteristics, the domain controller can integrate core functions that originally required a large number of motor vehicle control unit ECUs for implementation, greatly increasing system function integration. Different types of sensors can send respectively captured sensor data to the domain controller for processing. In an embodiment, sensors 1221 - 1223 and DCUs 1224 - 1226 may be included in a first domain 1220 of the vehicle, for example, one of a driver assistance domain, a safety domain, a vehicle motion domain, an infotainment domain and a body electronics domain. Sensors 1231 - 1233 and DCU 1234 may be included in a second domain 1230 of the vehicle, for example, another of the driver assistance domain, the safety domain, the vehicle motion domain, the infotainment domain and the body electronics domain. Although Fig. IB shows 6 sensors, 2 DCUs and 2 domains, those skilled in the art will understand that the vehicle could comprise a significantly larger number of sensors, DCUs and domains.

[0044] The multiple DCUs 1224 and 1234 may be communicatively connected to one another. For example, the multiple DCUs 1224 and 1234 may be connected to a central gateway 1210, to send signals to an upper-level control domain or receive signals from the upper-level control domain via the central gateway 1210.

[0045] The cost of the domain controllers may be high, so an embodiment in which domain controllers are provided for the sensors has a high cost. In the embodiment shown in Fig. IB, where corresponding DCUs are provided for sensors of differenttypes, the cost is high.

[0046] Thus, a solution is desired that enables real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

[0047] The present disclosure provides a sensor module for a vehicle, and a vehicle, the sensor module comprising: a sensor; and a controller, configured to: send, to at least one other sensor module of the vehicle, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor, and receive from the at least one other sensor module a result signal relating to the state of the at least one other sensor module. In the sensor module and the vehicle comprising the sensor module according to the present disclosure, the sensor module can control the at least one other sensor module to execute a state detection process, thereby reducing vehicle control complexity and easing the demand for computing resources, and thus enabling real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

[0048] Fig. 2 is a schematic drawing of a sensor module for a vehicle according to embodiments of the present disclosure.

[0049] As shown in Fig. 2, a sensor module 2000 may comprise a sensor 2100 and a controller 2200.

[0050] The sensor 2100 is configured to sense information in the vicinity of the vehicle or inside the vehicle. For example, the sensor 2100 may be configured to sense image information in the vicinity of the vehicle, but the present disclosure is not limited to this. In an embodiment, the sensor 2100 may be configured to sense information in the vicinity of the vehicle or inside the vehicle and generate corresponding sensor data; the sensor 2100 may not subject the sensor data to processing or computation.

[0051] The sensor 2100 may include but is not limited to one or more of a camera sensor, a millimetre wave radar sensor, an ultrasonic radar sensor, a lidar sensor, a driving recorder, a surround- view camera system, a hands-off detection sensor, and a temperature sensor.The controller 2200 may be configured to send, to at least one other sensor module of the vehicle, a detection signal for detecting a state of the at least one other sensor module. The at least one other sensor module may comprise at least one other sensor different from the sensor 2100. In an embodiment, the detection signal may be specific to the at least one other sensor module. For example, the controller 2200 may be configured to respectively send different detection signals to the at least one other sensor module, the different detection signals being respectively matched to the at least one other sensor module. In another embodiment, the detection signal may be universal to the at least one other sensor module. For example, the controller 2200 may be configured to send the same detection signal to the at least one other sensor module, the detection signal being universal to all of the at least one other sensor module. In response to receiving the detection signal, the at least one other sensor module can detect its own state and send to the controller 2200 a result signal relating to the state of the at least one other sensor module. For example, in response to receiving the detection signal, the at least one other sensor module can detect a state of at least one other sensor comprised in the at least one other sensor module itself. The controller 2200 can receive from the at least one other sensor module a result signal relating to the state of the at least one other sensor module (e.g. the at least one other sensor comprised in the at least one other sensor module). The controller 2200 may subject the sensor data generated by the sensor 2100 and sensor data received from the at least one other sensor module to processing or computation.

[0052] According to embodiments of the present disclosure, the at least one other sensor module comprises at least one other sensor different from the sensor 2100. In an embodiment, the at least one other sensor module may comprise at least one other sensor different from the sensor 2100, and does not comprise a controller. The at least one other sensor module may only sense sensor data via the at least one other sensor, and does not subject the sensor data to processing or computation. For example, the at least one other sensor module may send the sensor data to the sensor module 2000, so that the sensor module 2000 can subject the sensor data to processing or computation. Thus, the at least one other sensor module does not need to be provided with a controller, so demand for computing resources is considerablyreduced. In another embodiment, the at least one other sensor module may comprise at least one other sensor different from the sensor 2100, and a corresponding controller. The at least one other sensor module may sense sensor data via the at least one other sensor, and subject the sensor data to simple processing or computation. For example, the at least one other sensor module may subject the sensor data sensed by the at least one other sensor to simple processing or computation, and send sensor data resulting from the simple processing or computation to the sensor module 2000, so that the sensor module 2000 can subject the sensor data to further processing or computation. Thus, the at least one other sensor module need only be provided with a controller having very low computing resources, so demand for computing resources is considerably reduced.

[0053] In an embodiment, the at least one other sensor different from the sensor 2100 may be a sensor of a different type from the sensor 2100. For example, the sensor 2100 may be a sensor comprised in a front- view camera, and the at least one other sensor may be a sensor comprised in one or more of a millimetre wave radar sensor module, an ultrasonic radar sensor module, a lidar sensor module, a driving recorder, an external electronic control unit, a surround-view camera system, a hands-off detection sensor, a driver monitoring system, a liveness detection sensor module and a temperature sensor module. In another embodiment, the at least one other sensor different from the sensor 2100 may be a sensor of the same type as the sensor 2100. That is to say, the sensor 2100 and the at least one other sensor may be sensors of the same type, but the sensor 2100 and the at least one other sensor may not be the same sensor. For example, the sensor 2100 may be a sensor comprised in a first front- view camera among multiple front- view cameras, and the at least one other sensor may be a sensor comprised in a front- view camera other than the first frontview camera among the multiple front- view cameras.

[0054] The controller 2200 may include but is not limited to an electronic control unit (ECU), a microcontroller (MCU), a central processing unit (CPU), a digital signal processor (DSP), a graphics processing unit (GPU), or a processing unit in another form having data processing capability and / or program execution capability, such as a field programmable gate array (FPGA), etc. The controller 2200 may be ageneral-purpose processor or a dedicated processor.

[0055] According to embodiments of the present disclosure, the controller 2200 of the sensor module 2000 may replace an ECU of another sensor module. That is to say, the controller 2200 of the sensor module 2000 may control another sensor module to detect the state of the other sensor module, and the other sensor module may send data indicating its own state to the controller 2200 of the sensor module 2000 for processing. This enables real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

[0056] Fig. 3 is a schematic diagram of another sensor module according to embodiments of the present disclosure.

[0057] As shown in Fig. 3, the sensor module 3100 may comprise a camera sensor 3110 and a corresponding electronic control unit (ECU) 3120. That is to say, the sensor 2100 may correspond to the camera sensor 3110, and the controller 2200 may correspond to the electronic control unit 3120.

[0058] According to embodiments of the present disclosure, the ECU 3120 of the camera sensor 3110 may replace an ECU of at least one other sensor module. That is to say, the other sensor module may send its own state to the ECU 3120 of the camera sensor 3100 for processing. The camera sensor 3110 may be used for visually perceiving a surrounding environment of a vehicle, and identifying objects around the vehicle by capturing static or dynamic images. As image resolution and image frame rates improve and real-time image processing algorithms are applied, the computing resources corresponding to the camera sensor 3110 are also steadily increasing. The sensor module 3100 may correspond to a camera sensor module with abundant available computing resources. In this case, the sensor module 3100 may for example be a camera for supporting a driver assistance function and / or an autonomous driving function, such as a front-view camera, a side-view camera and / or a rear-view camera. In particular, the sensor module 3100 may be a frontview camera of the vehicle. The front- view camera is a camera arranged for example on a windscreen or an inside rear-view mirror of the vehicle, used for perceiving an external environment of the vehicle to support running-related functions (e.g. FCW (forward collision warning), LDW (lane departure warning), ACC (adaptive cruisecontrol), etc.). In the prior art, an ECU of a front-view camera is used to support itself, not to control other sensor modules of the vehicle, in particular to control other sensor modules to detect the states of the other sensor modules themselves. However, in this case, according to embodiments of the present disclosure, taking into account the fact that the front-view camera can have sufficient available computing resources to support it as a centralized sensor module to perform integrated control of sensors other than itself, the front- view camera may be used as a sensor module for controlling other sensor modules. Thus, individual domain controllers and / or zone controllers need not be additionally arranged in the vehicle; the front- view camera assumes centralized responsibility for detecting the state of each sensor, significantly reducing the complexity and cost of the driver assistance system architecture. In the present disclosure, computing resources may refer to one or more of controller computing power, internal memory and transmission bandwidth, but the present disclosure is not limited to this. The controller having more computing resources may mean that the controller has higher computing power, larger internal memory, and broader transmission bandwidth, etc., so as to execute more complex operations or processing at a faster speed.

[0059] However, those skilled in the art will understand that the sensor module 3100 could also correspond to another type of sensor module. For example, the sensor module 3100 may correspond to a sensor module with the most available computing resources among the various sensor modules deployed in the vehicle.

[0060] The front-view camera according to the present disclosure that can be configured as the sensor module 3100 may be adapted for controlling different sensor modules, in particular for detecting the states of different sensor modules, significantly increasing the versatility of the front- view camera and the development cost and complexity of the ADAS system.

[0061] Similar to the sensor module 2000 shown in Fig. 2, the electronic control unit 3120 of the sensor module 3100 may send a detection signal for detecting the state of at least one other sensor module to at least one other sensor module of the vehicle that is different from the camera sensor 3110, i.e. to at least one other sensor module of the vehicle that is different from the sensor, and receive from the at least one othersensor module a result signal relating to the state of the at least one other sensor module.

[0062] According to an embodiment of the present disclosure, the electronic control unit 3120 of the sensor module 3100 may send a detection signal to another sensor module 3200 to instruct at least one other sensor module to perform at least one of the following: detect corresponding lifespan information of the at least one other sensor module (e.g. at least one other sensor comprised in the at least one other sensor module); detect a corresponding maintenance record of the at least one other sensor module (e.g. at least one other sensor comprised in the at least one other sensor module); detect corresponding fault information of the at least one other sensor module (e.g. at least one other sensor comprised in the at least one other sensor module); and detect a corresponding software version of the at least one other sensor module (e.g. at least one other sensor comprised in the at least one other sensor module).

[0063] In an embodiment, detecting corresponding lifespan information of the at least one other sensor module may comprise one or more of detecting a corresponding time already in service of the at least one other sensor module, and detecting a corresponding total service life (e.g. total useful life) of the at least one other sensor module. For example, the corresponding time already in service may mean the duration of service of the sensor from first entry into operation until the present time; alternatively, the corresponding time already in service may mean the duration of service of the sensor from the time it last underwent maintenance until the present time. In an embodiment, detecting corresponding lifespan information of the at least one other sensor module may comprise directly detecting a corresponding remaining life of the at least one other sensor module. For example, the corresponding remaining life may mean an estimated remaining duration of service of the sensor from the present time until the time when the sensor is unable to perform sensing operations.

[0064] Detecting corresponding fault information of the at least one other sensor module may comprise detecting a corresponding fault record of the at least one other sensor module and detecting a corresponding diagnostic fault code of the at leastone other sensor module. For example, the corresponding maintenance record may mean the content, time, reason and place of maintenance undergone by the sensor. For example, the corresponding fault record may mean faults which have occurred in the sensor. Such faults may be relatively serious faults which prevent the sensor from performing sensing operations, or may be relatively minor faults which degrade sensor sensing results. For example, corresponding diagnostic fault codes (DTC) may be a standardized code system for diagnosing faults currently affecting the vehicle. DTCs can help maintenance engineers and diagnostic tools to quickly identify and resolve vehicle faults.

[0065] Detecting a corresponding software version of the at least one other sensor module may comprise detecting the version of a corresponding driver or other application, but the present application is not limited to this. For example, the version of the corresponding driver may mean the version of a driver (e.g. software or firmware, etc.) of the sensor. In this way, a determination can be made as to whether the driver of the sensor needs to be updated.

[0066] In response to receiving the detection signal, the other sensor module 3200 may subject itself to state detection and send a result signal. The result signal may indicate at least one of the following: corresponding lifespan information of the at least one other sensor module; a corresponding maintenance record of the at least one other sensor module; corresponding fault information of the at least one other sensor module; and a corresponding software version of the at least one other sensor module.

[0067] The electronic control unit 3120 may process the result signal, in order to send the sensor state to an upper-level control system for by the upper-level control system or an external detection device outside the vehicle. The external detection device outside the vehicle may be a detection device which is independent of the vehicle and temporarily installed or attached by a user to detect the state of a sensor module of the vehicle. For example, the electronic control unit 3120 may present the sensor state to a user such as a driver or a maintenance engineer, for example via a loudspeaker, display device, indicator lamp, etc. installed in the vehicle and via the external detection device, but the present disclosure is not limited to this. Forexample, the sensor module state may be stored or transmitted to another processing or computing device by means of the electronic control unit 3120, in order to perform further diagnosis, etc. In this way, the user can quickly determine the states of sensor, so as to suitably arrange maintenance or replacement.

[0068] Although the electronic control unit 3120 is only described above as controlling the other sensor module 3200 to perform state detection, those skilled in the art will understand that the electronic control unit 3120 may also control the camera sensor 3110 to detect the state of the camera sensor 3110 itself.

[0069] The other sensor module 3200 controlled by the electronic control unit 3120 may comprise a hands-off detection sensor module 3201, a temperature sensor module 3202, a liveness detection sensor module 3203, a millimetre wave radar sensor module 3204, an ultrasonic radar sensor module 3205, a lidar sensor module 3206, a driving recorder 3207, a surround-view camera system 3208, an external electronic control unit 3209, and a driver monitoring system 3210, but the present disclosure is not limited to this.

[0070] The hands-off detection sensor module 3201 may be configured to detect a state of contact between the hands of a user such as a driver, and the steering wheel. The state of contact may comprise: whether the user’s hands are in contact with the steering wheel, time of separation of the user’s hands from the steering wheel, and a specific posture of contact between the user’s hands and the steering wheel, etc. The hands-off detection sensor module 3201 may comprise or use a capacitive hands-off detection sensor, a pressure hands-off detection sensor, a torque hands-off detection sensor, an optical hands-off detection sensor, or a hands-off detection technology combining multiple sensors.

[0071] The temperature sensor module 3202 may be located on the steering wheel. The temperature sensor module 3202 may be configured to detect the temperature of the steering wheel. The temperature sensor module 3202 may comprise a bimetallic thermometer, a liquid-in-glass thermometer, a pressure thermometer, a resistance thermometer, a thermistor and a thermocouple, etc., but the present disclosure is not limited to this.

[0072] The liveness detection sensor module 3203 may be configured to perform childor pet presence detection. For example, the liveness detection sensor module 3203 may comprise one or more of a millimetre wave radar sensor directed towards the cabin interior, an infrared sensor directed towards the cabin interior, and a camera sensor directed towards the cabin interior. Compared with an infrared sensor and a camera sensor, an interior millimetre wave radar sensor can be more advantageous in terms of detection accuracy and privacy. For example, the electronic control unit 3120 may be connected to multiple liveness detection sensor modules 3203 via a daisy chain. If the liveness detection sensor module 3203 is installed in the cabin (e.g. at the top of the cabin), the vehicle can perceive the entire cabin region, so as to detect whether a child or pet has been left in the vehicle.

[0073] The millimetre wave radar sensor module 3204 may be a device that performs detection using radio waves (radar waves / electromagnetic waves). Generally, the millimetre wave radar sensor module 3204 may operate in the millimetre waveband, with a wavelength of 1 - 10 mm, and a corresponding frequency range of 30 - 300 GHz. The millimetre wave radar 3204 may transmit a frequency-modulated continuous wave (FMCW) by means of an antenna; a time difference exists between the transmitted wave and an echo received after reflection of the FMCW by a target, and this time difference may be used to calculate the distance of the target. The millimetre wave radar sensor module 3204 has a long detection distance (up to 250 metres), a fast response speed and a strong adaptive capability.

[0074] The ultrasonic radar sensor 3205 may be a detection device developed using the characteristics of ultrasonic waves. Within an ultrasonic frequency range (generally greater than 20 kHz), the ultrasonic radar sensor 3205 may convert an alternating electrical signal into a sound signal, or convert a sound signal in an external sound field into an electrical signal. The principle of operation of the ultrasonic radar sensor 3205 is to transmit high-frequency ultrasonic waves (common operating frequencies being 40 kHz, 48 kHz and 58 kHz, etc.) by means of a transmitter; upon encountering an obstacle, these ultrasonic waves are reflected back, and received by a receiver. By calculating a round-trip time of the ultrasonic signal, a distance between the vehicle and the obstacle can be accurately measured. The ultrasonic radar sensor 3205 has a moderate effective detection distance(generally 5 - 10 metres) and a low cost.

[0075] The lidar sensor module 3206 may be a detection device that uses a laser beam to measure distance and speed. By transmitting a laser beam and receiving an optical signal reflected back from a target, the lidar sensor module 3206 can calculate information of a target object, such as distance, speed and shape, according to the time and strength of the optical signal. The lidar sensor module 3206 has very high detection precision and resolution, up to the order of centimetres or even millimetres, and can generate point cloud data. The lidar sensor module 3206 has a long detection distance and strong resistance to interference.

[0076] The driving recorder 3207 is also called a “black box driving safety recorder”; the driving recorder 3207 may be a microcomputer-controlled, digital, fully automatic, intelligent onboard device for real-time monitoring of vehicle safety. The driving recorder 3207 may perform one or more of video recording, audio recording, GPS positioning, a collision sensing function, a loop video recording function and a night vision function, etc.

[0077] The surround- view camera system 3208 may also be called a holographic system; it may receive images captured by multiple cameras in different directions, and subject the received images to correction and stitching to generate a continuous, seamless, all-round 360-degree surround-view image. The surround-view camera system 3208 can provide the driver with an all-round view of the vehicle, thereby providing the driver with an all-round view of the vehicle, to ensure safe travel.

[0078] The external electronic control unit ECU 3209 may be an ECU performing another driver assistance function. For example, the external electronic control unit ECU 3209 may comprise an automatic parking ECU, etc.

[0079] The driver monitoring system 3210 may be a system that monitors a state of the driver in real time using various sensor technologies. Dangerous driving behaviour of the driver such as fatigue, distraction and lack of concentration are detected, in order to promptly issue a warning and thereby improve driving safety. The driver monitoring system 3210 may comprise a camera sensor, an infrared sensor, a physiological sensor and a seat pressure sensor.

[0080] Fig.4 is a flowchart of a method for a sensor module according to embodimentsof the present disclosure.

[0081] As shown in Fig. 4, the method for a sensor module may comprise steps S401 and S402. The sensor module may comprise a sensor and a controller.

[0082] In step S401, a detection signal may be sent to at least one other sensor module of the vehicle by means of the controller, the detection signal being used for detecting a state of the at least one other sensor module, and the at least one other sensor module comprising at least one other sensor different from the sensor.

[0083] In step S402, a result signal relating to the state of the at least one other sensor module may be received from the at least one other sensor module.

[0084] Fig. 5 is a vehicle according to embodiments of the present disclosure.

[0085] The vehicle 500 may include, but is not limited to, a saloon, a tractor unit (with or without a trailer), a bus, a recreational vehicle, a minivan or a sport utility vehicle (SUV), etc.

[0086] As shown in Fig. 5, the vehicle 500 may comprise a sensor module 510, which may be one or more of the sensor modules 2000, 3100 described above.

[0087] The steps of the method or algorithm described in the present disclosure may be embodied directly in hardware, in a software module executed by a processor, or in a combination of both. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative solution, the storage medium may be integrated into the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative solution, the processor and the storage medium may reside in a user terminal as discrete components.

[0088] In one or more exemplary designs, the described functions may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on a computer-readable medium as one or more instructions or codes, or transmitted by means thereof. Computer-readable media include both computer storage media and communicationmedia, the latter including any medium that facilitates the transfer of a computer program from one location to another. The storage medium may be any available medium that can be accessed by a general-purpose or dedicated computer.

[0089] The sensor module according to the present disclosure can control at least one other sensor module to execute a state detection process, thereby reducing vehicle control complexity and easing the demand for computing resources, and thus enabling real-time detection of sensor states at a low cost and with low complexity, for the purpose of appropriately maintaining or replacing sensors.

[0090] 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.

[0091] No description in the present invention should be construed as implying that any specific 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 defined by the claims alone.

Claims

P24J08000X-CN01Claims1. Sensor module for a vehicle, comprising:a sensor; anda controller, configured to:send, to at least one other sensor module of the vehicle, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor, andreceive from the at least one other sensor module a result signal relating to the state of the at least one other sensor module.

2. Sensor module according to Claim 1, wherein the controller is configured to send the detection signal to the at least one other sensor module to instruct the at least one other sensor module to perform at least one of the following:detect corresponding lifespan information of the at least one other sensor module;detect a corresponding maintenance record of the at least one other sensor module;detect corresponding fault information of the at least one other sensor module; anddetect a corresponding software version of the at least one other sensor module.

3. Sensor module according to Claim 1, wherein the controller is configured to receive the result signal from the at least one other sensor module, in order to obtain:corresponding lifespan information of the at least one other sensor module; a corresponding maintenance record of the at least one other sensor module; corresponding fault information of the at least one other sensor module; and a corresponding software version of the at least one other sensor module.

4. Sensor module according to Claim 1, wherein the controller is configured to:send the result signal to a presentation device of the vehicle or an external detection device outside the vehicle.i100296.

75. Sensor module according to any one of Claims 1 - 4, wherein the sensor module corresponds to a sensor module with the most available computing resources among multiple sensor modules comprised in the vehicle.

6. Sensor module according to any one of Claims 1 - 4, wherein the sensor comprises a camera sensor, and the controller comprises an electronic control unit of the camera sensor.

7. Sensor module according to any one of Claims 1 - 4, wherein the sensor module is a front- view camera.

8. Sensor module according to Claim 1, wherein the at least one other sensor module comprises one or more of a millimetre wave radar sensor module, an ultrasonic radar sensor module, a lidar sensor module, a driving recorder, an external electronic control unit, a surround- view camera system, a hands-off detection sensor module, a driver monitoring system, a liveness detection sensor module and a temperature sensor module.

9. Vehicle comprising the sensor module according to any one of Claims 1 -8.

10. Method for a sensor module of a vehicle, wherein the sensor module comprises a sensor and a controller, the method comprising:sending, to at least one other sensor module of the vehicle by means of the controller, a detection signal for detecting a state of the at least one other sensor module, the at least one other sensor module comprising at least one other sensor different from the sensor;receiving from the at least one other sensor module a result signal relating to the state of the at least one other sensor module.

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