Information processing system
View Patent ↗To process sensor information positively in an information processor to which plural sensors are connected. An information processing system including plural sensors, plural buses respectively connected to the plural sensors, an arbitration unit performing arbitration of the plural buses and a priority determination unit determining the priority of each of the plural sensors, in which the arbitration unit performs arbitration of the plural buses in accordance with the determination result of the priority determination unit.
1. An information processing system comprising:
plural sensors;
plural buses respectively connected to the plural sensors;
an arbitration unit performing arbitration of the plural buses; and
a priority determination unit determining the priority of each of the plural sensors; and
a dedicated bus separate from the plural buses, the dedicated bus connected exclusively to one sensor of the plural sensors and the arbitration unit,
wherein the arbitration unit performs arbitration of the plural buses in accordance with the determination result of the priority determination unit, and
wherein the one sensor transmits information over the dedicated bus to the arbitration unit for immediate priority updating without interruption from processing from any other sensor of the plural sensors.
2. The information processing system according to claim 1 , further comprising:
a diagnostic unit diagnosing the presence of an abnormality in the sensors,
wherein the arbitration unit gives priority to a sensor other than the sensor diagnosed as having abnormality by the diagnostic unit.
3. The information processing system according to claim 1 ,
wherein at least a front monitoring sensor which monitors a front direction of an own vehicle and a periphery monitoring sensor which monitors the periphery of the own vehicle are included as the plural sensors.
4. The information processing system according to claim 3 ,
wherein the arbitration unit performs arbitration so that a bus to which the front monitoring sensor is connected has priority when the own vehicle travels at a predetermined vehicle speed or more, and
the arbitration unit performs arbitration so that a bus to which the periphery monitoring sensor is connected has priority when the own vehicle travels at less than the predetermined speed.
5. The information processing system according to claim 4 ,
wherein, when the diagnostic unit diagnoses that an abnormality exists in the front monitoring sensor, the arbitration unit performs arbitration so that the bus to which the periphery monitoring sensor is connected has priority regardless of the vehicle speed.
6. The information processing system according to claim 1 , further comprising:
a communication means for receiving information including road conditions around the own vehicle,
wherein the priority determination unit determines so that a bus of a sensor capturing a direction of an obstacle which may collide on a road to travel has priority in the plural sensors based on information received by the communication means, and
the arbitration unit performs arbitration so that the bus of the sensor determined to have priority by the priority determination unit is preferentially accessed.
7. The information processing system according to claim 3 ,
wherein the front monitoring sensor is a monocular camera,
the information processing system further includes an image processing unit capable of processing an image from the monocular camera and detecting an obstacle to thereby measure a distance between the obstacle and the own vehicle, and
when it is determined that the distance with respect to the obstacle is close based on the measurement result by the image processing unit, the arbitration unit performs arbitration so that a bus of a memory storing image data of the monocular camera and the detection result of the obstacle has priority.
8. The information processing system according to claim 7 , further comprising:
a display unit displaying video,
wherein, when it is determined that the distance with respect to the obstacle is close based on the measurement result by the image processing unit, image data of the monocular camera is read from the memory of the bus arbitrated to have priority by the arbitration unit and displayed on the display unit.
9. The information processing system according to claim 3 ,
wherein the front monitoring sensor is a stereo camera,
and the information processing system further includes
a distance image generation unit which generates distances of respective pixels from right and left images acquired by the stereo camera, and
a histogram peak detection processing unit which generates a histogram of distances in a vertical direction with respect to a road of the distance image generated by the distance image generation unit and calculates a peak value thereof, and
when the histogram peak detection result by the histogram peak detection processing unit has a peak of a close distance with respect to the road to travel of the own vehicle, the arbitration unit performs arbitration so that the bus of the memory storing the image data and the distance image of the stereo camera has priority.
10. The information processing system according claim 9 , further comprising:
a display unit displaying video,
wherein, when it is determined that the distance with respect to the obstacle is close based on the measurement result by the image processing unit, image data of the stereo camera is read from the memory of the bus arbitrated to have priority by the arbitration unit and displayed on the display unit.