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| import numpy as np
from typing import Dict
class SensorFusionEngine:
"""多传感器融合引擎"""
def __init__(self):
self.camera_detector = CameraDetector()
self.radar_detector = RadarDetector()
self.pressure_detector = PressureDetector()
def fuse(self, camera_data, radar_data, pressure_data) -> Dict:
"""融合三传感器数据"""
cam_result = self.camera_detector.detect(camera_data)
radar_result = self.radar_detector.detect(radar_data)
pressure_result = self.pressure_detector.detect(pressure_data)
fused = {
'occupant_present': self._fuse_presence(
cam_result, radar_result, pressure_result),
'posture': self._fuse_posture(
cam_result, pressure_result),
'child_detected': self._fuse_cpd(
radar_result, pressure_result),
'fatigue_level': cam_result.get('fatigue', 0),
'distraction_level': cam_result.get('distraction', 0),
'belt_status': cam_result.get('belt', 'normal'),
'weight_estimate': pressure_result.get('weight', 0),
}
return fused
def _fuse_presence(self, cam, radar, pressure):
"""融合乘员存在检测"""
votes = {
'camera': cam.get('occupant', False),
'radar': radar.get('occupant', False),
'pressure': pressure.get('occupant', False),
}
return sum(votes.values()) >= 2
def _fuse_posture(self, cam, pressure):
"""融合姿态检测"""
upper = cam.get('upper_body_pose', None)
lower = pressure.get('lower_body_pose', None)
if upper and lower:
return {'upper': upper, 'lower': lower, 'complete': True}
elif upper:
return {'upper': upper, 'lower': None, 'complete': False}
else:
return {'upper': None, 'lower': lower, 'complete': False}
def _fuse_cpd(self, radar, pressure):
"""融合CPD检测"""
radar_vital = radar.get('vital_signs', False)
weight = pressure.get('weight', 0)
if radar_vital and weight < 15:
return {'child': True, 'confidence': 0.95}
elif radar_vital and weight < 30:
return {'child': True, 'confidence': 0.80}
else:
return {'child': False, 'confidence': 0.90}
|