BR112018014857A2 - método de determinação do pedestre e dispositivo de determinação - Google Patents
método de determinação do pedestre e dispositivo de determinaçãoInfo
- Publication number
- BR112018014857A2 BR112018014857A2 BR112018014857-1A BR112018014857A BR112018014857A2 BR 112018014857 A2 BR112018014857 A2 BR 112018014857A2 BR 112018014857 A BR112018014857 A BR 112018014857A BR 112018014857 A2 BR112018014857 A2 BR 112018014857A2
- Authority
- BR
- Brazil
- Prior art keywords
- pedestrian
- candidate
- detected
- host vehicle
- determination
- Prior art date
Links
- 230000004043 responsiveness Effects 0.000 abstract 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Radar Systems Or Details Thereof (AREA)
- Regulating Braking Force (AREA)
Abstract
aperfeiçoamento da responsividade da determinação do pedestre, quando se determina um pedestre usando uma câmera e um radar durante o percurso. sensores de reconhecimento de meio externo que adquirem informação à frente para um veículo hospedeiro (a) são fornecidos para determinar que um pedestre (b) está presente em uma posição à frente do veículo hospedeiro (a) usando os sensores de reconhecimento de meio externo. neste método de determinação do pedestre, uma unidade de câmera frontal (1) e um radar de ondas milimétricas (2) são fornecidos como os sensores de reconhecimento de meio externo. quando um candidato a pedestre (b?) é detectado em uma posição à frente do veículo hospedeiro (a) com base em um sinal de imagem a partir da unidade de câmera frontal (1), uma área de correspondência (c) é definida com a posição do candidato a pedestre detectado (b?) como o ponto central. quando a posição do objeto (d1) que está mais próximo ao candidato a pedestre (b?) entre a pluralidade de objetos (d1, d2, d3) detectados por ondas refletidas a partir do radar de ondas milimétricas (2) está dentro da área de correspondência (c), desse modo, estabelecendo uma correspondência, o candidato a pedestre (b?) é determinado como um pedestre (b).
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016-011031 | 2016-01-22 | ||
JP2016011031 | 2016-01-22 | ||
PCT/JP2016/085129 WO2017126225A1 (ja) | 2016-01-22 | 2016-11-28 | 歩行者の判定方法及び判定装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
BR112018014857A2 true BR112018014857A2 (pt) | 2018-12-18 |
BR112018014857B1 BR112018014857B1 (pt) | 2024-02-27 |
Family
ID=59361945
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112018014857-1A BR112018014857B1 (pt) | 2016-01-22 | 2016-11-28 | Método de determinação do pedestre e dispositivo de determinação |
Country Status (9)
Country | Link |
---|---|
US (1) | US10503985B2 (pt) |
EP (1) | EP3407326B1 (pt) |
JP (1) | JP6358408B2 (pt) |
CN (1) | CN108604415B (pt) |
BR (1) | BR112018014857B1 (pt) |
MX (1) | MX2018008920A (pt) |
MY (1) | MY179729A (pt) |
RU (1) | RU2698406C1 (pt) |
WO (1) | WO2017126225A1 (pt) |
Cited By (1)
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CN114518573A (zh) * | 2022-04-21 | 2022-05-20 | 山东科技大学 | 一种用于多雷达的车辆跟踪方法、设备及介质 |
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JP6569523B2 (ja) * | 2015-12-25 | 2019-09-04 | 株式会社デンソー | 走行支援装置 |
US10444342B2 (en) * | 2017-03-08 | 2019-10-15 | Gm Global Technology Operations Llc. | Control of host device using three-dimensional position and velocity |
JP6851229B2 (ja) * | 2017-03-10 | 2021-03-31 | シャープ株式会社 | ブレーキ制御装置、走行車両、およびブレーキ駆動方法 |
KR102387614B1 (ko) * | 2017-08-17 | 2022-04-15 | 엘지전자 주식회사 | 차량 운전 보조 장치 및 차량 |
US10752218B2 (en) * | 2018-02-22 | 2020-08-25 | Ford Global Technologies, Llc | Camera with cleaning system |
US10915786B2 (en) * | 2019-02-28 | 2021-02-09 | Sap Se | Object detection and candidate filtering system |
CN109878513A (zh) * | 2019-03-13 | 2019-06-14 | 百度在线网络技术(北京)有限公司 | 防御性驾驶策略生成方法、装置、设备及存储介质 |
CN110596656B (zh) * | 2019-08-09 | 2021-11-16 | 山西省煤炭地质物探测绘院 | 一种基于大数据的智慧路灯反馈补偿系统 |
CN112528710B (zh) * | 2019-09-19 | 2024-04-09 | 上海海拉电子有限公司 | 一种路面探测的方法、装置、电子设备及存储介质 |
CN110688935B (zh) * | 2019-09-24 | 2021-01-05 | 南京慧视领航信息技术有限公司 | 一种基于快速搜索的单车道车辆检测方法 |
US11375179B1 (en) * | 2019-11-08 | 2022-06-28 | Tanzle, Inc. | Integrated display rendering |
CN111409584A (zh) * | 2020-02-27 | 2020-07-14 | 广汽蔚来新能源汽车科技有限公司 | 行人保护方法、装置、计算机设备和存储介质 |
JP7343844B2 (ja) * | 2020-05-26 | 2023-09-13 | トヨタ自動車株式会社 | 運転支援装置 |
GB202101727D0 (en) * | 2021-02-08 | 2021-03-24 | Offshore Survival Systems Ltd | Location apparatus |
US20230045414A1 (en) * | 2021-08-03 | 2023-02-09 | Transportation Ip Holdings, Llc | Vehicle Braking Control System |
US11887460B2 (en) | 2021-08-12 | 2024-01-30 | Toyota Motor North America, Inc. | Transport-related contact notification |
US11894136B2 (en) | 2021-08-12 | 2024-02-06 | Toyota Motor North America, Inc. | Occupant injury determination |
US11608030B2 (en) | 2021-08-12 | 2023-03-21 | Toyota Connected North America, Inc. | Vehicle surveillance system and early vehicle warning of potential threat |
US20230273039A1 (en) * | 2022-02-28 | 2023-08-31 | Zf Friedrichshafen Ag | Cloud based navigation for vision impaired pedestrians |
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JP4628683B2 (ja) | 2004-02-13 | 2011-02-09 | 富士重工業株式会社 | 歩行者検出装置、及び、その歩行者検出装置を備えた車両用運転支援装置 |
JP4304517B2 (ja) * | 2005-11-09 | 2009-07-29 | トヨタ自動車株式会社 | 物体検出装置 |
JP4263737B2 (ja) | 2006-11-09 | 2009-05-13 | トヨタ自動車株式会社 | 歩行者検知装置 |
JP2008234029A (ja) * | 2007-03-16 | 2008-10-02 | Sumitomo Electric Ind Ltd | 対象物検出システム及び対象物検出装置 |
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JP5401344B2 (ja) | 2010-01-28 | 2014-01-29 | 日立オートモティブシステムズ株式会社 | 車両用外界認識装置 |
JP5673568B2 (ja) | 2012-01-16 | 2015-02-18 | トヨタ自動車株式会社 | 物体検出装置 |
JP5572657B2 (ja) | 2012-03-29 | 2014-08-13 | 富士重工業株式会社 | 車両の運転支援装置 |
JP5867267B2 (ja) | 2012-04-26 | 2016-02-24 | 日産自動車株式会社 | 歩行者検出装置及び歩行者検出方法 |
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-
2016
- 2016-11-28 MY MYPI2018702505A patent/MY179729A/en unknown
- 2016-11-28 MX MX2018008920A patent/MX2018008920A/es unknown
- 2016-11-28 CN CN201680079655.XA patent/CN108604415B/zh active Active
- 2016-11-28 BR BR112018014857-1A patent/BR112018014857B1/pt active IP Right Grant
- 2016-11-28 WO PCT/JP2016/085129 patent/WO2017126225A1/ja active Application Filing
- 2016-11-28 RU RU2018130062A patent/RU2698406C1/ru active
- 2016-11-28 US US16/071,501 patent/US10503985B2/en active Active
- 2016-11-28 EP EP16886464.3A patent/EP3407326B1/en active Active
- 2016-11-28 JP JP2017562458A patent/JP6358408B2/ja active Active
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114518573A (zh) * | 2022-04-21 | 2022-05-20 | 山东科技大学 | 一种用于多雷达的车辆跟踪方法、设备及介质 |
CN114518573B (zh) * | 2022-04-21 | 2022-07-19 | 山东科技大学 | 一种用于多雷达的车辆跟踪方法、设备及介质 |
Also Published As
Publication number | Publication date |
---|---|
WO2017126225A1 (ja) | 2017-07-27 |
MX2018008920A (es) | 2018-09-03 |
BR112018014857B1 (pt) | 2024-02-27 |
JP6358408B2 (ja) | 2018-07-25 |
US10503985B2 (en) | 2019-12-10 |
RU2698406C1 (ru) | 2019-08-26 |
JPWO2017126225A1 (ja) | 2018-09-20 |
EP3407326A4 (en) | 2019-06-12 |
CN108604415B (zh) | 2020-03-03 |
EP3407326B1 (en) | 2024-05-01 |
MY179729A (en) | 2020-11-12 |
CN108604415A (zh) | 2018-09-28 |
US20190034742A1 (en) | 2019-01-31 |
EP3407326A1 (en) | 2018-11-28 |
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