JP2017020895A - 半導体装置、制御システム及び観測方法 - Google Patents
半導体装置、制御システム及び観測方法 Download PDFInfo
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Abstract
【解決手段】本発明に係る半導体装置は、周辺を観測する複数のレーダの夫々から、観測結果を示す複数のデータを取得し、極座標形式に変換して記憶部に格納するデータ取得部211と、記憶部に格納された極座標形式の複数のデータの夫々を、軸位置が同一となるように変換を施して複数の軸位置変換後データの夫々を生成し、記憶部に格納する軸位置変換部212と、複数の軸位置変換後データを重ね合わせて重ね合わせデータを生成するデータ重畳部213と、重ね合わせデータを、直交座標形式に変換する座標変換部214を備える。
【選択図】図4
Description
まず、実施の形態1について説明する。図1を参照して、本実施の形態1に係る車載制御システム1の構成について説明する。図1に示すように、車載制御システム1は、ECU(Electronic Control Unit)10と、複数のレーダ11a〜11fと、警告表示装置12と、ステアリング13と、ブレーキ14とを有する。車載制御システム1は、自動車(以下、「車両」とも呼ぶ)に搭載されるシステムである。
S=s/(1+s) ・・・ (3)
続いて、実施の形態2について説明する。以下の実施の形態2の説明では、上述した実施の形態1と同様の内容については、同一の符号を付す等して、適宜、その説明を省略する。本実施の形態2に係る車載制御システム1及びECU10の構成は、図1及び図2に示した実施の形態1に係る車載制御システム1及びECU10の構成と同様であるため、その説明を省略する。
続いて、実施の形態3について説明する。以下の実施の形態3の説明では、上述した実施の形態1、2と同様の内容については、同一の符号を付す等して、適宜、その説明を省略する。本実施の形態3に係る車載制御システム1、ECU10及び認識用MCU20の構成は、図1、図2及び図10に示した実施の形態2に係る車載制御システム1、ECU10及び認識用MCU20の構成と同様であるため、その説明を省略する。なお、本実施の形態3では、実施の形態2に係る車載制御システム1に対して後述のフィルタ処理を適用した例について説明するが、当然に、実施の形態1に係る車載制御システム1に対して後述のフィルタ処理を適用してもよい。
10 ECU
11 レーダ
12 警告表示装置
13 ステアリング
14 ブレーキ
20 認識用MCU
21 判断用MCU
22、23 制御用MCU
30 外部メモリ
200 CPU
201 内部メモリ
202 センサI/F
203 外部メモリI/F
204 MCU間I/F
205 歪み補正プロセッサ
206 画像処理エンジン
207 制御バス
210 システム制御部
211 データ取得部
212 軸位置変換部
213 データ重畳部
214 座標変換部
215 結果出力部
221、222 フィルタ処理部
Claims (11)
- 周辺を観測する複数のレーダの夫々から、観測結果を示す複数のデータを取得し、極座標形式に変換して記憶部に格納するデータ取得部と、
前記記憶部に格納された極座標形式の複数のデータの夫々を、軸位置が同一となるように変換を施して複数の軸位置変換後データの夫々を生成し、前記記憶部に格納する軸位置変換部と、
前記複数の軸位置変換後データを重ね合わせて重ね合わせデータを生成するデータ重畳部と、
前記重ね合わせデータを、直交座標形式に変換する座標変換部と、
を備えた半導体装置。 - 前記記憶部は、前記軸位置変換前の極座標系における各座標と、前記軸位置変換後の極座標系における各座標とを対応付けた対応情報が予め格納されており、
前記軸位置変換部は、前記対応情報に基づいて、前記変換前の極座標形式のデータから、前記軸位置変換後データを生成する、
請求項1に記載の半導体装置。 - 前記複数のレーダの夫々は、相互に異なる位置に設置されており、
前記記憶部は、前記複数のレーダの夫々に対応する複数の前記対応情報が格納されており、
前記複数の対応情報の夫々は、前記複数のレーダの夫々が設置された位置に応じて、極座標形式の複数のデータの軸位置を同一とできるように、相互に異なる内容とされている、
請求項2に記載の半導体装置。 - 前記軸位置変換後データは、極座標系における各座標において物体の存在確率を示すものであり、
前記データ重畳部は、
前記軸位置変換後データが示す同一の座標の夫々における存在確率が所定の値よりも低い場合には、前記同一の座標の夫々における存在確率のいずれよりも、前記重ね合わせデータが示すその座標の存在確率を低くし、
前記軸位置変換後データが示す同一の座標の夫々における存在確率が前記所定の値よりも高い場合には、前記同一の座標の夫々における存在確率のいずれよりも、前記重ね合わせデータが示すその座標の存在確率を高くする、
請求項1に記載の半導体装置。 - 前記半導体装置は、さらに、
前記データ取得部を含むCPUと、
前記軸位置変換部、前記データ重畳部及び前記座標変換部を含む専用回路と、を備えた、
請求項1に記載の半導体装置。 - 前記専用回路は、前記軸位置変換部及び前記座標変換部を含む歪み補正プロセッサと、前記データ重畳部を含む画像処理エンジンとを有し、
前記歪み補正プロセッサは、前記軸位置変換前の極座標形式のデータを極座標系において分割することで得られる複数の三角形の各頂点の座標を軸位置が同一となるように変換し、前記軸位置変換後データにおいて、前記三角形の辺の値を、前記軸位置変換前の極座標形式のデータにおける三角形の辺の値とし、前記三角形の内部の値を、当該三角形の各頂点及び各辺の値によって補間する、
請求項5に記載の半導体装置。 - 前記複数の三角形は、前記変換前の極座標形式のデータを、極座標系において各軸と平行する直線で格子状に分割することで得られる複数の四角形のそれぞれを2つに分割することで得られるものであり、
前記歪み補正プロセッサは、前記変換前の極座標形式のデータにおいて距離が0となる各座標が、前記軸位置変換後データにおいて1点に集約される場合、距離が0となる座標を有する四角形を分割した2つの三角形のうち、距離が0の頂点を1点だけ有する三角形を、前記軸位置変換後データにおいて集約された1点を頂点に有する三角形に変換する、
請求項6に記載の半導体装置。 - 前記半導体装置は、さらに、前記軸位置変換後データと、前記記憶部に格納された過去の前記軸位置変換後データとを重ね合わせるフィルタ処理部を備え、
前記データ重畳部は、前記重ね合わせ後の軸位置変換後データを重ね合わせて重ね合わせデータを生成し、
前記フィルタ処理部は、前記重ね合わせ後の軸位置変換後データを、次に生成された軸位置変換後データに対して前記過去の軸位置変換後データとして使用するために前記記憶部に格納する、
請求項1に記載の半導体装置。 - 前記半導体装置は、さらに、前記直交座標形式のデータと、前記記憶部に格納された過去の前記直交座標形式のデータとを重ね合わせるフィルタ処理部を備え、
前記フィルタ処理部は、前記重ね合わせ後の直交座標形式のデータを、次に生成された直交座標形式のデータに対して前記過去の直交座標形式のデータとして使用するために前記記憶部に格納する、
請求項1に記載の半導体装置。 - 記憶部と、
周辺を観測する複数のレーダの夫々から、観測結果を示す複数のデータを取得し、極座標形式に変換して前記記憶部に格納するデータ取得部と、
前記記憶部に格納された極座標形式の複数のデータの夫々を、軸位置が同一となるように変換を施して複数の軸位置変換後データの夫々を生成し、前記記憶部に格納する軸位置変換部と、
前記複数の軸位置変換後データを重ね合わせて重ね合わせデータを生成するデータ重畳部と、
前記重ね合わせデータを、直交座標形式に変換する座標変換部と、
前記直交座標形式の重ね合わせデータに基づいて、制御対象の制御内容を決定する判断部と、
前記制御内容に従って前記制御対象を制御する制御部と、
を備えた制御システム。 - 周辺を観測する複数のレーダの夫々から、観測結果を示す複数のデータを取得し、極座標形式に変換して記憶部に格納し、
前記記憶部に格納された極座標形式の複数のデータの夫々を、軸位置が同一となるように変換を施して複数の軸位置変換後データの夫々を生成し、前記記憶部に格納し、
前記複数の軸位置変換後データを重ね合わせて重ね合わせデータを生成し、
前記重ね合わせデータを、直交座標形式に変換する、
観測方法。
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