Vehicle control system externality recognition device and vehicle control method

1 . A vehicle control system comprising:

a first type sensor;

a second type sensor; and

a processor, coupled to the first type sensor and the second type sensor, configured to:

detect a target around a vehicle using the first type sensor and the second type sensor;

obtain, from the first type sensor, first detection information associated with the target;

obtain, from the second type sensor, second detection information associated with the target at a same time point as obtaining the first detection information, the second type sensor having a longer delay time to output the second detection information relative to a time for the first type sensor to output the first detection information;

generate, before or after processing outputs from the first type sensor and the second type sensor to obtain the first detection information and the second detection information at the same time point, prompt report information based on at least one of the first detection information or the second detection information;

generate integrated information based on an integration between the first detection information and the second detection information;

generate an instruction based on at least one of the prompt report information or the integrated information; and

control the vehicle subsequent to an execution of the instruction.

2 . The vehicle control system according to claim 1 , comprising:

a plurality of first type sensors including the first type sensor; and

a plurality of the second type sensors including the second type sensor, wherein the processor is configured to:

integrate a plurality of pieces of the first detection information output from the plurality of first type sensors;

integrate a plurality of pieces of the second detection information output from the plurality of second type sensors; and

integrate the integrated plurality of pieces of the first detection information and the integrated plurality of pieces of the second detection information.

3 . The vehicle control system according to claim 2 , wherein to generate the prompt report information or the integrated information, the processor is configured to:

generate the prompt report information based on at least one of the integrated plurality of pieces of the first detection information or the integrated plurality of pieces of the second detection information; and

generate the integrated information by integrating the integrated plurality of pieces of the first detection information and the integrated plurality of pieces of the second detection information.

4 . The vehicle control system according to claim 1 , wherein the processor is configured to:

generate post-synchronization information according to a resample of the first detection information or the second detection information to have a same sampling time as the integrated information;

generate distribution information between the integrated information and the post-synchronization information;

obtain a correlation between the integrated information and the post-synchronization information based on the distribution information;

generate the instruction based on the prompt report information when the correlation is at or above a threshold; and

generate the instruction based on the integrated information when the correlation is below the threshold.

5 . The vehicle control system according to claim 4 , wherein the processor is configured to:

obtain a regression line between the integrated information and the post-synchronization information;

generate corrected prompt report information from a correction to the prompt report information based on a characteristic of the regression line; and

generate the instruction based on at least one of the corrected prompt report information or the integrated information.

6 . The vehicle control system according to claim 1 , wherein to generate the instruction, the processor is configured to:

generate a stop instruction based on the integrated information.

7 . The vehicle control system according to claim 1 , wherein:

the first type sensor is a millimeter wave radar, and

the second type sensor is an in-vehicle camera.

8 . The vehicle control system according to claim 1 , wherein the processor is configured to:

execute first control processing based on the prompt report information; and

execute second control processing different from the first control processing based on the integrated information.

9 . A method comprising:

detecting, by a processor coupled to a first type sensor and a second type sensor, a target around a vehicle using the first type sensor and the second type sensor;

obtaining, by the processor from the first type sensor, first detection information associated with the target;

obtaining, by the processor from the second type sensor, second detection information associated with the target at a same time point as obtaining the first detection information, the second type sensor having a longer delay time to output the second detection information relative to a time for the first type sensor to output the first detection information,

generating, by the processor before or after processing outputs from the first type sensor and the second type sensor to obtain the first detection information and the second detection information at the same time point, prompt report information based on at least one of the first detection information or the second detection information;

generating, by the processor, integrated information based on an integration between the first detection information and the second detection information;

generating, by the processor, an instruction based on at least one of the prompt report information or the integrated information; and

controlling, by the processor, the vehicle subsequent to an execution of the instruction.