Patent Publication Number: US-2021179136-A1

Title: Sensor fusion device for vehicle

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of Korean Patent Application No. 10-2019-0168265, filed on Dec. 16, 2019, the entire contents of which are incorporated herein by reference. 
     FIELD 
     The present disclosure relates to a sensor fusion device for a vehicle. In more detail, the present disclosure relates to a sensor fusion device for a vehicle, which integrates and provides a plurality of sensor data provided in a vehicle. 
     BACKGROUND 
     The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. 
     Various types of research and development are being conducted on technologies for improving safety and convenience of vehicles. For example, in order to reduce burden on a driver and improve convenience, an advanced driver assistance system (ADAS) is mounted in the vehicle to actively provide information about a vehicle condition, a driver condition, and a surrounding environment. 
     Recently, there is a rapidly increasing interest in autonomous driving technology. Regarding the autonomous driving, the U.S. SAE defines five stages of autonomous driving and discloses, for each stage, a relationship between a degree of freedom of the driver and transmission of driving authority between the driver and an autonomous driving system. 
     In the ADAS technology or the autonomous driving technology, sensors, which detect conditions such as a position of the vehicle, an internal condition of the vehicle, an external environment, and a driver condition, are considered as particularly important elements. An inertial measurement unit (IMU), a global positioning system (GPS), a camera, a lidar, and the like may be used to recognize a position of the vehicle, and a camera, a lidar, a radar, an ultrasonic sensor, and the like are used to recognize an external environment or an object or measure a distance. In addition, various sensors are mounted in the vehicle to determine the internal condition of the vehicle. In addition, a plurality of sensors such as a camera or a radar is mounted in the vehicle. 
     In the case in which the plurality of sensors is provided in the vehicle, it is desired to integrate, transmit, and process the sensor data. However, in a sensor fusion technology for integrating the sensor data in the related art, the sensor data are transmitted to a data processing unit as it is, such that a bandwidth of a communication line needs to be increased. However, we have discovered that because the sensor data are not consistently organized, there is a problem in that it is difficult to efficiently process the sensor data. 
     SUMMARY 
     The present disclosure provides a sensor fusion device for a vehicle, which integrates and processes sensor data in accordance with the time and types of inputted sensor data in order to efficiently and integrally process the sensor data, thereby improving efficiency in transmitting and processing the sensor data. 
     In one form of the present disclosure, a sensor fusion device for a vehicle includes: a data input unit configured to receive sensor data of a plurality of sensors through a sensor interface and provided with a data input buffer to manage input traffic of the sensor data; a data integration unit configured to produce integrated sensor data by integrating the sensor data and provided with an output buffer to integrate the integrated sensor data; a memory configured to provide a storage space for operating the data input unit and the data integration unit; and a main control unit configured to control operations of the data input unit and the data integration unit. 
     In the exemplary form, the data input unit may include: a data extraction unit configured to receive the sensor data and extract desired information; and a time stamp configured to add time information to the extracted data. 
     In the exemplary form, the data input buffer may include: a plurality of input buffers; and an input buffer control unit configured to manage statuses of the plurality of input buffers, and thresholds may be set to the plurality of input buffers to manage an input and an output of the data. 
     The thresholds may include: a global threshold applied in common to the plurality of input buffers; and a local threshold individually applied to the plurality of input buffers. 
     The plurality of input buffers may be provided in accordance with types of sensors. 
     The main control unit may set priorities in accordance with the thresholds of the plurality of input buffers and control the data stored in the plurality of input buffers to store the data in the memory. 
     In the exemplary form, the data integration unit may operate in any one of an identical sensor mode in which the sensor data of the identical sensors, among the plurality of sensors, are integrated to produce the integrated sensor data, an identical time mode in which the sensor data in the identical time are integrated to produce the integrated sensor data, and an adaptive mode in which image data of an image frame and the sensor data in accordance with the identical sensor mode or the identical time mode are integrated to produce the integrated sensor data. 
     The adaptive mode may include the image data in an active region of the image frame, and include integrated sensor data, which are integrated in accordance with any one of the identical sensor mode and the identical time mode, in a blank region of the image frame. 
     In the exemplary form, the data integration unit may include: a first output buffer control unit configured to receive the sensor data in accordance with information about an address of the memory transmitted from the main control unit; and a second output buffer control unit configured to integrate the sensor data temporarily stored in the output buffer. 
     In another form of the present disclosure, a sensor fusion method includes: an input step of receiving a plurality of sensor data through a sensor interface; a processing step of processing the inputted sensor data; a storing step of buffering the processed sensor data by a data input buffer and storing the sensor data in the memory; and a producing step of temporarily storing the sensor data, which are stored in the memory, in an output buffer and producing integrated sensor data by integrating the sensor data. 
     In one exemplary form, the processing step may include a process of extracting desired data from the inputted sensor data and adding time information to the extracted data. 
     In the exemplary form, the data input buffer includes a plurality of input buffers, and the storing step may set and manage thresholds of the plurality of input buffers. 
     The thresholds may include: a global threshold applied in common to the plurality of input buffers; and a local threshold individually applied to the plurality of input buffers. 
     When at least one of the plurality of input buffers exceeds the predetermined threshold, the storing step may set the priority to be transmitted to the memory in consideration of the threshold of each of the input buffers and the amount of currently stored data. 
     In the exemplary form, the producing step may operate in any one of an identical sensor mode in which the sensor data of the identical sensors, among the plurality of sensors, are integrated to produce the integrated sensor data, an identical time mode in which the sensor data in the identical time are integrated to produce the integrated sensor data, and an adaptive mode in which image data of an image frame and the sensor data in accordance with the identical sensor mode or the identical time mode are integrated to produce the integrated sensor data. 
     The adaptive mode may include the image data in an active region of the image frame, and include integrated sensor data, which are integrated in accordance with any one of the identical sensor mode and the identical time mode, in a blank region of the image frame. 
     In the exemplary form, when a data processing unit for receiving the integrated sensor data is prepared, the producing step may further include transmitting the integrated sensor data to the data processing unit. 
     According to the present disclosure, the sensor data including time information may be integrated in accordance with characteristics for each time and for each sensor type, and as a result, the vehicle resource desired to transmit and process the data may be reduced, and the efficiency in transmitting and processing the sensor data may be improved. 
     According to the feature of the present disclosure, with the data traffic management of the input and output buffers, it is possible to maintain an appropriate bandwidth for transmitting the sensor data, improve efficiency in utilizing the sensor data in accordance with the setting and processing of the priority, and reduce or minimize a loss of data. 
     The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, forms, and features described above, further aspects, forms, and features will become apparent by reference to the drawings and the following detailed description. 
     Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
    
    
     
       DRAWINGS 
       In order that the disclosure may be well understood, there will now be described various forms thereof, given by way of example, reference being made to the accompanying drawings, in which: 
         FIG. 1  is a block diagram schematically illustrating a configuration of a vehicle control system including a sensor fusion device according to an exemplary form of the present disclosure; 
         FIG. 2  is a block diagram illustrating a configuration of the sensor fusion device according to one exemplary form of the present disclosure; 
         FIG. 3  is a block diagram illustrating a configuration of a data input buffer of a data input unit in the sensor fusion device according to one exemplary form of the present disclosure; 
         FIG. 4  is a view for explaining management of the data input buffer of the data input unit in the sensor fusion device according to another exemplary form of the present disclosure; 
         FIG. 5  is a block diagram illustrating a configuration of a data integration unit in the sensor fusion device according to one exemplary form of the present disclosure; 
         FIG. 6  is a view exemplarily illustrating a process in which the data integration unit produces integrated sensor data in an identical sensor mode from sensor data in the sensor fusion device according to the exemplary form of the present disclosure; 
         FIG. 7  is a view exemplarily illustrating a process in which the data integration unit produces integrated sensor data in an identical time mode from sensor data in the sensor fusion device according to one exemplary form of the present disclosure; 
         FIG. 8  is a view exemplarily illustrating a process in which the data integration unit produces integrated sensor data in an adaptive mode from sensor data in the sensor fusion device according to one exemplary form of the present disclosure; 
         FIG. 9  is a flowchart of a sensor fusion method according to another exemplary form of the present disclosure; 
         FIG. 10  is a flowchart specifically illustrating a step of buffering and transmitting data in the sensor fusion method according to one exemplary form of the present disclosure; and 
         FIG. 11  is a flowchart specifically illustrating a step of producing integrated sensor data in the sensor fusion method according to one exemplary form of the present disclosure. 
     
    
    
     The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. 
     DETAILED DESCRIPTION 
     The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features. 
     Hereinafter, exemplary forms of the present disclosure will be described in detail with reference to the accompanying drawings. First, in assigning reference numerals to constituent elements of the respective drawings, it should be noted that the same constituent elements will be designated by the same reference numerals, if possible, even though the constituent elements are illustrated in different drawings. In addition, in the description of the present disclosure, the specific descriptions of publicly known related configurations or functions will be omitted when it is determined that the specific descriptions may obscure the subject matter of the present disclosure. Further, the exemplary forms of the present disclosure will be described below, but the technical spirit of the present disclosure is not limited thereto and may of course be modified and variously carried out by those skilled in the art. 
     It should be understood that the appended drawings are not necessarily to scale, presenting a somewhat simplified representation of various features illustrative of the basic principles of the present disclosure. The specific design features of the present disclosure as disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes will be determined in part by the particular intended application and use environment. 
     Also, the terms, such as ‘unit’ or ‘module’, etc., should be understood as a unit that processes at least one function or operation and that may be embodied in a hardware manner (e.g., a processor), a software manner, or a combination of the hardware manner and the software manner. 
       FIG. 1  is a block diagram schematically illustrating a configuration of a vehicle control system including a sensor fusion device according to an exemplary form of the present disclosure. 
     Referring to  FIG. 1 , a vehicle control system  1  may include a sensor interface  10  configured to receive sensor data from a plurality of sensors mounted in a vehicle, a sensor fusion device  20  configured to integrate the sensor data inputted through the sensor interface  10 , a data processing unit  30  configured to produce a control signal by processing the integrated sensor data integrated by the sensor fusion device  20 , and a vehicle control unit  40  configured to control the vehicle based on the control signal of the data processing unit  30 . 
     The sensor interface  10  may be provided based on types of sensors or types of sensor data outputted from the sensors. 
     The sensor fusion device  20  serves to integrate the sensor data in consideration of types of sensor data, time, priorities, and the like, and to transmit the integrated sensor data to the data processing unit  30 . 
     The data processing unit  30  may recognize a position of the vehicle, an external environment, an internal condition of the vehicle, a driver condition, or the like by using the integrated sensor data, and may produce, based on the recognition result, the control signal for controlling a specific function of the vehicle. 
     The vehicle control unit  40  may control the specific function of the vehicle based on the control signal. In this case, the data processing unit  30  or/and the vehicle control unit  40  may not be configured as one module, and may be divided into a plurality of modules in accordance with the respective functions. 
       FIG. 2  is a block diagram illustrating a configuration of the sensor fusion device according to the exemplary form of the present disclosure. 
     The sensor fusion device  20  according to the exemplary form of the present disclosure includes a data input unit  100  configured to receive a plurality of sensor data through the sensor interface  10  connected to a plurality of sensors  50 , a data integration unit  400  configured to produce the integrated sensor data by integrating the sensor data, a memory  300  configured to provide a storage space for the operations of the data input unit  100  and the data integration unit  400 , and a main control unit  200  configured to control the operations of the data input unit  100  and the data integration unit  400 . 
     The sensor  50  is configured to sense information about an internal condition of the vehicle, a driver condition, an external condition of the vehicle, or an environment. For example, the sensors  50  may include an ultrasonic sensor, a radar sensor, a lidar sensor, an image sensor, and the like. However, the sensor  50  illustrated in  FIG. 2  is merely an example. In addition to the sensors  50  illustrated in  FIG. 2 , various sensors may be connected to the sensor interface  10 , or some of the sensors  50  illustrated in  FIG. 2  may of course be omitted. In addition, the respective sensors  50  may transmit the sensor data to the sensor interface  10  through a plurality of channels. 
     The data input unit  100  may receive the sensor data through the sensor interface  10 . In the exemplary form, the data input unit  100  removes unnecessary information from a data format of the sensor data, extracts only desired data, and adds time information (time stamp) to the extracted data. The data input unit  100  may function as an input buffer for the received sensor data. 
     The data input unit  100  may include a data extraction unit  110  configured to receive the sensor data inputted through the sensor interface  10  and remove unnecessary information (e.g., unnecessary parts of header information), and a time stamp  130  configured to add synchronized time information to the extracted data. In addition, the data input unit  100  may further include a data input buffer  150  configured to temporarily store the extracted data for traffic management before storing the extracted information in the memory  300 . In the exemplary form, the data input buffer  150  may manage the extracted data by setting priorities to the extracted data in consideration of an increase or decrease in extracted data. The data input unit  100  may store the data, which are temporarily stored in the data input buffer  150 , in the memory  300 . 
     The data integration unit  400  integrates the data extracted from the data input unit  100  under control of the main control unit  200 . The data integration unit  400  may function as an output buffer for outputting the data. 
     The main control unit  200  controls the function of the data input unit  100 . In the exemplary form, the main control unit  200  may check information about a status of the data input buffer  150  (input buffer status), and transmit an instruction for controlling the operation of the data input buffer  150  to the data input unit  100 . In addition, the main control unit  200  may control the data integration unit  400  to allow the data integration unit  400  to produce the integrated sensor data by integrating the data stored in the memory  300 . 
       FIG. 3  is a block diagram illustrating a configuration of the data input buffer of the data input unit in the sensor fusion device according to the exemplary form of the present disclosure, and  FIG. 4  is a view for explaining management of the data input buffer of the data input unit in the sensor fusion device according to the exemplary form of the present disclosure. 
     Referring to  FIG. 3 , the data input buffer  150  of the data input unit  110  may be provided with a plurality of input buffers  152 , and an input buffer control unit  154  configured to control the plurality of input buffers  152 . 
     The number of input buffers  152  including the first to Nth input buffers  152 - 1  to  152 - n  may be set in consideration of the number of sensors  50  connected to the sensor interface  10 . In the exemplary form, the number of input buffers  152  may be equal to the total number of sensors  50  connected to the sensor interface  10 . In another exemplary form, the input buffers  152  may be provided by being classified in accordance with the types of sensors  50  connected to the sensor interface  10 . 
     The input buffer control unit  154  may transmit the statuses of the respective input buffers  152  to the main control unit  200 , and the main control unit  200  may set thresholds of the respective input buffers  152  and select the input buffer  152  having the data to be transmitted to the memory  300  in consideration of priorities of the data temporarily stored in the respective input buffers  152 . The input buffer control unit  154  may transmit the data stored in the specific input buffer  152  to the memory  300  under control of the main control unit  200 . 
     Referring to  FIG. 4 , a solution for managing the threshold of the input buffer  152  is proposed. In the exemplary form, each of the first to Nth input buffers  152 - 1  to  152 - n  has a buffer address, and a maximum data value MAX, which may be temporarily stored, is determined. 
     A global threshold and a local threshold may be set for the input buffer  152 . The global threshold may be a threshold applied in common to all the input buffers  152 , and the local threshold may be a threshold applied to the individual input buffer  152 . In addition, in the exemplary form of the present disclosure, only the global threshold may be set, and the local threshold may not be set. 
     The threshold may be used to determine the processing priority of the data stored in the input buffer  152 . In the exemplary form, the input buffer control unit  154  may process the data of the input buffer  152 , which reach or exceed the threshold, and transmit the data to the memory  300 , thereby storing the data. 
     If the local threshold is set and the local threshold is processed to the global threshold, the data of the input buffer  152 , which reach the local threshold, may be processed even though the amount of data of the input buffer  152  does not reach the global threshold. In addition, in the exemplary form, the local threshold may be determined differently in accordance with the types or characteristics of the sensor data. For example, the local threshold of the input buffer  152 , which processes the sensor data related to safety of the vehicle, may be set to be lower than the local threshold of the input buffer  152  that processes the sensor data related to convenience. 
     In the example illustrated in  FIG. 4 , the data of the first input buffer  152 - 1 , which temporarily stores the data exceeding the global threshold, need to be processed. The input buffer control unit  154  may transmit the data of the first input buffer  152 - 1  to the memory  300 , thereby storing the data. Meanwhile, the Nth input buffer  152 - n  stores the data exceeding the local threshold. If the local threshold of the Nth input buffer  152 - n  is to the global threshold and the Nth input buffer  152 - n  has a higher priority than the first input buffer  152 - 1 , the data of the Nth input buffer  152 - n  may be processed to the first input buffer  152 - 1 . 
     The input buffer control unit  154  may adjust the amount of data temporarily stored in each of the input buffers  152  to manage the data of the input buffer  152  so that the data of the input buffer  152  do not exceed the global threshold. In a case in which the data of the input buffer  152  exceed the global threshold, the input buffer control unit  154  may check a space remaining in the buffer and process the data of the corresponding input buffer  152 . If the remaining space in the input buffer  152  is insufficient, the input buffer control unit  154  may temporarily stop the input of the sensor data. 
     Referring to  FIG. 2 , the main control unit  200  receives the status (input buffer status) of the data input buffer  150  from the data input buffer  150  and transmits an input buffer control signal for controlling the input buffer. The data input unit  100  transmits the data, which are stored in the data input buffer  150 , to the memory  300 , thereby storing the data. 
     Meanwhile, when writing the data, which are stored in the data input buffer  150 , to the memory  300 , the main control unit  200  checks the address of the memory  300  to produce a memory map, and then transmits the address of the memory  300  to the data integration unit  400 . The main control unit  200  transmits an output buffer control signal for controlling the output buffer to the data integration unit  400 , and the data integration unit  400  reads the data stored in the memory  300  to produce the integrated sensor data. 
       FIG. 5  is a block diagram illustrating a configuration of the data integration unit in the sensor fusion device according to the exemplary form of the present disclosure. 
     The data integration unit  400  includes a first output buffer control unit  410  configured to read the data stored in the memory  300 , an output buffer  420  configured to temporarily store the data, which are transmitted through the first output buffer control unit  410 , by classifying the data in accordance with the sensor type, the time information, or the channel information, and a second output buffer control unit  430  configured to receive the data from the output buffer  420  and integrate the data. The second output buffer control unit  430  produces the integrated sensor data by integrating the plurality of sensor data and then outputs the integrated sensor data to the outside. 
     The main control unit  200  may control the operation of the first output buffer control unit  410  by transmitting a first output buffer control signal (output buffer control  1 ) to the first output buffer control unit  410 . In addition, the main control unit  200  may control the operation of the second output buffer control unit  430  by transmitting a second output buffer control signal (output buffer control  2 ) to the second output buffer control unit  430 . Meanwhile, the main control unit  200  may receive the statuses (output buffer status) of the plurality of output buffers  420  and control the operations of the first output buffer control unit  410  and the second output buffer control unit  430  in accordance with the statuses. 
     In addition, the main control unit  200  may manage a delay, a loss, or a bandwidth when producing the integrated sensor data in accordance with types of data, characteristics, time, and the like, and set and control the priority when producing the integrated sensor data. 
     In the exemplary form, modes (output modes) in which the data integration unit  400  produces the integrated sensor data by integrating the sensor data include an identical sensor mode, an identical time mode, and an adaptive mode. 
       FIG. 6  exemplarily illustrates a process in which the data integration unit produces the integrated sensor data in the identical sensor mode from the sensor data in the sensor fusion device according to the exemplary form of the present disclosure, and  FIG. 7  exemplarily illustrates a process in which the data integration unit produces the integrated sensor data in the identical time mode from the sensor data in the sensor fusion device according to the exemplary form of the present disclosure. 
     Referring to  FIG. 6 , the sensor data, which are inputted to the data input unit  100  over a plurality of times through the plurality of channels, are integrated in the identical sensor mode by the data integration unit  400  and then outputted.  FIG. 6  exemplarily illustrates the example in which the plurality of ultrasonic data is inputted from the ultrasonic sensor, but the sensor data may also be integrated in the same manner as the sensor data of the radar sensor, the lidar sensor, or the image sensor. 
     The sensor data inputted to the data input unit  100  may have channel information CH 1  to CHn and time information. The data input unit  100  eliminates unnecessary information from the inputted sensor data, and the sensor data extracted from the data input unit  100  are temporarily stored in the memory  300  and then integrated by the data integration unit  400 . 
       FIG. 6  exemplarily illustrates the example in which the plurality of sensor data from the identical sensors is sorted in time order in the identical sensor mode, but one integrated sensor data may be produced by sorting the plurality of sensor data in order of the channels. 
       FIG. 7  exemplarily illustrates that the sensor data inputted from the plurality of sensors  50  of different types are integrated in the identical time mode. The data integration unit  400  sorts the plurality of sensor data, which is inputted from the different sensors, by the identical time and outputs the integrated sensor data. In the example illustrated in  FIG. 7 , the sensor data are integrated in accordance with the time from T 1  to Tm, but in the exemplary form of the present disclosure, only the sensor data at a specific time may be integrated. 
       FIG. 8  exemplarily illustrates a process in which the data integration unit produces integrated sensor data in the adaptive mode from the sensor data in the sensor fusion device according to the exemplary form of the present disclosure. 
     In the case of typical image data, horizontal and vertical sections of an image frame are classified into an active region in which an actual image is loaded and a blank section in which no image data are loaded, and the data is transmitted only to the active region. 
     In contrast, the adaptive mode proposed by the present disclosure operates in a way to adaptively transmit the data by utilizing the active region and the blank region of the image frame, such that only the image data are transmitted to the active region, and other sensor data are integrated and transmitted to the blank region. In this case, the identical time mode and the identical sensor mode may be selectively transmitted. 
     Next, a sensor fusion method according to the exemplary form of the present disclosure will be described. 
       FIG. 9  is a flowchart of the sensor fusion method according to the exemplary form of the present disclosure,  FIG. 10  is a flowchart specifically illustrating a step of buffering and transmitting data in the sensor fusion method according to the exemplary form of the present disclosure, and  FIG. 11  is a flowchart specifically illustrating a step of producing integrated sensor data in the sensor fusion method according to the exemplary form of the present disclosure. 
     The sensor fusion method according to the exemplary form of the present disclosure may include a step S 100  of receiving the plurality of sensor data through the sensor interface  10 , a sensor data processing step S 200  of eliminating unnecessary information or extracting desired information from the inputted sensor data and adding time information, a step S 300  of buffering, by the data input buffer  150 , the processed sensor data and transmitting the processed sensor data, and a step S 400  of producing integrated sensor data by integrating the sensor data. 
     The process of buffering, by the data input buffer  150 , the data and transmitting the data will be described in more detail with reference to  FIG. 10 . 
     The main control unit  200  may set the threshold of the input buffer  152  (S 302 ). In the exemplary form, the thresholds may include the global threshold that may be applied to all the input buffers  152 , and the local threshold that may be applied to each of the input buffers  152 . 
     The input buffer  152  receives the sensor data from the sensor  50  through the sensor interface  10  (S 304 ). In the exemplary form, the plurality of input buffers  152  is provided, and each of the input buffers  152  may be assigned to the specific sensor  50 . 
     The main control unit  200  may receive the status of the input buffer  152  from the input buffer control unit  154  and manage the data of the input buffer  152  so that the amount of data of the input buffer  152  does not exceed the threshold. 
     To this end, the main control unit  200  determines whether the amount of data of the input buffer  152  exceeds the threshold (S 306 ). 
     When the threshold of the input buffer  152  is exceeded, the priority of the sensor data to be transmitted to the memory  300  may be set in accordance with the status of each of the input buffers  152  (S 308 ). 
     The sensor data of the input buffer  152  having the highest priority in accordance with the priority are transmitted to the memory  300  (S 310 ). 
     Meanwhile, the main control unit  200  updates a memory map related to the sensor data stored in the memory  300  (S 312 ). 
     The data of the input buffer  152  having the highest priority are transmitted to the memory  300 , and whether the transmission of the data is completed is checked (S 314 ). If the data are not transmitted, the process returns to the step S 310  to continue transmitting the data. 
     During the transmission, whether any one of the input buffers  152  reaches a temporarily storable maximum data value MAX may be checked (S 316 ). 
     If the specific input buffer  152  reaches the temporarily storable maximum data value MAX, the priority of the sensor data is changed (S 318 ), and the data may be transmitted to the memory  300  in accordance with the changed priority. 
     In accordance with the priority, whether the transmission of the data related to the input buffer  152  having the lowest priority is completed is checked (S 320 ). If the transmission of the data of the input buffer  152  in accordance with the priority is not completed, the priority of the next-priority input buffer  152  having the next priority to the input buffer  152  having the completely transmitted data is increased (S 322 ), and the data of the input buffer  152  having the increased priority is transmitted if the corresponding input buffer  152  is not in an empty status. 
     Next, a process of producing the integrated sensor data will be specifically described with reference to  FIG. 11 . 
     The main control unit  200  sets an output address of a memory map, in which the data to be outputted are stored, based on a memory map related to a storage address of the data stored in the memory  300  (S 402 ). The output address of the memory map may be determined in accordance with a data integration method. 
     The output mode for producing and outputting the integrated sensor data is set (S 404 ). 
     As a method of producing the integrated sensor data, any one of the identical sensor mode S 408 , the identical time mode S 422 , and the adaptive mode S 436  may be set. In the exemplary form, the adaptive mode S 436  may include any one of the identical sensor mode S 408  and the identical time mode S 422 , such that it is possible to check whether the set output mode is the adaptive mode (S 406 ). 
     In the case in which the identical sensor mode is set (S 408 ), the order of outputting the sensor data is set (S 410 ). The identical sensor mode outputs the data of the identical sensors  50 , and in the exemplary form, the order of outputting the sensor data may be set in the identical time or the identical order of the channels. 
     Whether the data processing unit  30  to receive the integrated sensor data is in a ready state may be checked (S 412 ). 
     The data integration unit  400  produces the integrated sensor data for the identical sensors and outputs the integrated sensor data to the data processing unit  30  (S 414 ). 
     Whether the transmission of the integrated sensor data for the identical sensors is completed may be checked (S 416 ). 
     When the integrated sensor data for the specific identical sensors is outputted, the order is changed to the next sensor to output data (S 418 ), and whether the integrated sensor data for all the sensor desired to be transmitted are produced and transmitted may be checked (S 420 ). 
     In the case in which the identical time mode is set (S 422 ), the order in accordance with the output time of the sensor data is set (S 424 ). The identical time mode outputs the sensor data of the plurality of sensors  50  in the identical time, and the order in accordance with the type of sensor in the identical time or the order of channels for the specific sensor may be set. 
     Whether the data processing unit  30  to receive the integrated sensor data is in a ready state may be checked (S 426 ). 
     The data integration unit  400  produces the integrated sensor data for the identical time and outputs the integrated sensor data to the data processing unit  30  (S 428 ). 
     Whether the transmission of the integrated sensor data for the identical time is completed may be checked (S 430 ). 
     When the integrated sensor data for the specific time is outputted, the order is changed to the next time to be outputted (S 432 ), and whether the integrated sensor data for all times desired to be transmitted are produced and transmitted may be checked (S 434 ). 
     When it is checked in step S 406  that the mode is the adaptive mode, the process is performed in the adaptive mode (S 436 ). As described above, in the adaptive mode, only the image data may be transmitted to the active region of the image frame, and other sensor data may be integrated and transmitted to the blank region. 
     In the active region of the image frame (S 438 ), the ready state of the data processing unit  30  is checked (S 442 ), and the output of the image sensor data is performed (S 444  and S 446 ). 
     The output mode may be set to any one of the identical sensor mode and the identical time mode in the blank region instead of the active region (S 440 ). 
     In the case of the identical sensor mode (S 408 ), the integrated sensor data are produced in accordance with steps S 410  to S 420  and transmitted through the blank region of the image frame. 
     In the case of the identical time mode (S 422 ), the integrated sensor data are produced in accordance with steps S 424  to S 434  and transmitted through the blank region of the image frame. 
     In addition, when it is determined in step S 448  that the mode is the adaptive mode, the process returns to the step S 438 , and the above-mentioned procedures are repeated. 
     The above description is simply given for illustratively describing the technical spirit of the present disclosure, and those skilled in the art to which the present disclosure pertains will appreciate that various modifications, changes, and substitutions are possible without departing from the essential characteristic of the present disclosure. Accordingly, the exemplary forms disclosed in the present disclosure and the accompanying drawings are intended not to limit but to describe the technical spirit of the present disclosure, and the scope of the technical spirit of the present disclosure is not limited by the exemplary forms and the accompanying drawings. The protective scope of the present disclosure should be construed based on the following claims, and all the technical spirit within the equivalent scope thereto should be construed as falling within the scope of the present disclosure. 
     As described above, the exemplary forms have been described and illustrated in the drawings and the specification. The exemplary forms were chosen and described in order to explain certain principles of the present disclosure and their practical application, to thereby enable others skilled in the art to make and utilize various exemplary forms of the present disclosure, as well as various alternatives and modifications thereof. As is evident from the foregoing description, certain aspects of the present disclosure are not limited by the particular details of the examples illustrated herein, and it is therefore contemplated that other modifications and applications, or equivalents thereof, will occur to those skilled in the art. Many changes, modifications, variations and other uses and applications of the present construction will, however, become apparent to those skilled in the art after considering the specification and the accompanying drawings. All such changes, modifications, variations and other uses and applications which do not depart from the spirit and scope of the present disclosure are deemed to be covered by the present disclosure which is limited only by the claims which follow.