class MagnaCentralizedPerception:
    """
    Magna系统级传感器融合架构
    
    核心理念：统一感知栈替代孤立管线
    """
    
    def __init__(self):
        # 统一感知栈
        self.perception_stack = {
            "camera_pipeline": CameraPipeline(),    # 视觉
            "radar_pipeline": RadarPipeline(),      # 60GHz mmWave
            "lidar_pipeline": LidarPipeline(),      # 可选
            "fusion_engine": AIFusionEngine(),       # AI驱动融合
            "decision_layer": UnifiedDecisionLayer() # 统一决策
        }
    
    def process(self, sensor_data):
        """
        统一处理流程
        
        关键：不是简单的后融合，而是AI驱动的
        前融合+中融合+后融合的混合策略
        """
        # 前融合：原始数据级
        early_features = self.early_fusion(sensor_data)
        
        # 中融合：特征级
        mid_features = self.mid_fusion(early_features)
        
        # 后融合：决策级
        decision = self.late_fusion(mid_features)
        
        return decision

class MagnaModularCabinMonitoring:
    """
    Magna可扩展模块化座舱监控架构
    
    核心设计：
    1. 镜面集成摄像头（后视镜后方）
    2. 60GHz雷达模块
    3. AI软件栈（可OTA升级）
    4. 统一感知接口
    """
    
    hardware_config = {
        "camera": {
            "location": "后视镜后方（镜面集成）",
            "type": "RGB-IR双模",
            "resolution": "5MP",
            "fps": 30,
            "feature": "behind-the-glass架构，不可见"
        },
        "radar": {
            "location": "顶控台/座椅",
            "type": "60GHz FMCW mmWave",
            "range": "0.1-5m",
            "fps": 20,
            "feature": "穿透遮挡，隐私友好"
        },
        "processor": {
            "type": "集中式域控制器",
            "npu": ">10 TOPS",
            "feature": "统一感知栈运行平台"
        }
    }
    
    software_stack = {
        "DMS": ["疲劳检测","分心检测","视线追踪","酒精损伤"],
        "OMS": ["OOP检测","乘员分类","身材估计","安全带状态"],
        "CPD": ["儿童检测","生命体征","遗忘提醒"],
        "ADAS协同": ["DMS-ADAS联动","自动驾驶接管评估"],
        "健康监测": ["rPPG心率","呼吸频率","压力评估"]
    }