Sensor fusion system and vehicle control system therewith
First Claim
1. A sensor fusion system comprising:
- a plurality of detecting units, each of which detects a data value of a given data kind;
a plurality of outputting units, each of which computes a probability distribution of the data value detected by a corresponding detecting unit included in the plurality of detecting units, wherein the probability distribution of the data value indicates likelihood to a true value of the given data kind, and then outputs the computed probability distribution; and
a synthetic determining unit that estimates a most likely data value of the given data kind based on the probability distributions outputted from the plurality of outputting units.
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Abstract
Each of multiple probability distribution outputting units computes a probability distribution of a data value detected by the corresponding sensor or algorithm in an image recognition processing or the like. The respective probability distributions of the multiple probability distribution outputting units are given as outputs to a synthetic determination processing unit. Data formats of the outputs to the synthetic determination processing unit can be thereby standardized. Hence, the synthetic determination processing unit is exempted from considering which type of sensor or algorithm each of the outputs is based upon. Even when a sensor or algorithm is added or changed, the same data-fusing algorithm in the synthetic determination processing unit can be uniformly used.
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Citations
16 Claims
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1. A sensor fusion system comprising:
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a plurality of detecting units, each of which detects a data value of a given data kind;
a plurality of outputting units, each of which computes a probability distribution of the data value detected by a corresponding detecting unit included in the plurality of detecting units, wherein the probability distribution of the data value indicates likelihood to a true value of the given data kind, and then outputs the computed probability distribution; and
a synthetic determining unit that estimates a most likely data value of the given data kind based on the probability distributions outputted from the plurality of outputting units. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A vehicle control system mounted in a vehicle, comprising:
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a sensor fusion system that is includes a plurality of detecting units, each of which detects a data value of a given data kind, a plurality of outputting units, each of which computes a probability distribution of the data value detected by a corresponding detecting unit included in the plurality of detecting units, wherein the probability distribution of the data value indicates likelihood to a true value of the given data kind, and then outputs the computed probability distribution, and a synthetic determining unit that estimates a most likely data value of the given data kind based on the probability distributions outputted from the plurality of outputting units; and
at least one control unit that receives the estimated most likely data value that is given from the synthetic determining unit and controls an in-vehicle device based on the received most likely data value of the given data kind. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification