CN104977590A - Optical device and method thereof for detecting surrounding environment - Google Patents
Optical device and method thereof for detecting surrounding environment Download PDFInfo
- Publication number
- CN104977590A CN104977590A CN201410128159.1A CN201410128159A CN104977590A CN 104977590 A CN104977590 A CN 104977590A CN 201410128159 A CN201410128159 A CN 201410128159A CN 104977590 A CN104977590 A CN 104977590A
- Authority
- CN
- China
- Prior art keywords
- optical devices
- light
- surrounding environment
- warning message
- previous velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination 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
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
Provided are an optical device and a method thereof for detecting surrounding environment. The optical device is used for detecting surrounding environment and comprises an image extracting unit, an image processing unit, and an analyzing unit. The image extracting unit is used for emitting light which is emitted to the surrounding environment in a scanning manner, and generating multiple depth images corresponding to different time points according to the light reflected by the surrounding environment. The image processing unit is used for generating speed of an object at different time points according to the depth images, and predicting the speed of the object in the future according to the previous speed change of the object. The analyzing unit is used for generating correlative caution information according to the previous speed change of the object.
Description
Technical field
The present invention relates to a kind of optical devices, and in particular to a kind of optical devices in order to detect surrounding environment.
Background technology
Bicycle activity is in recent years luxuriant is agitation, leisurely and carefreely cosily drives cycle touring or motion, is widely popular with activity.But bicycle activity also exists many potential dangers, the health due to cyclist is not subject to the protection of external metallization body, once meet accident, often causes serious consequence.And main cause occurs unexpectedly often come from the absent minded of cyclist, the change of context could not be noticed in time, and the limited view of cyclist, the potentially dangerous of all directions cannot be taken into account.
Therefore, how effectively detecting surrounding environment, to provide bicycle knight the security of Geng Gao, is one of problem of endeavouring of current industry.
Summary of the invention
The present invention relates to a kind of method of optical devices and detection surrounding environment thereof.
According to a first aspect of the invention, propose a kind of optical devices, in order to detect a surrounding environment, optical devices comprise image extraction unit, graphics processing unit and analytic unit.Image extraction unit is in order to launch a light, and with the mode directive surrounding environment scanned, image extraction unit also produces the multiple depth images corresponding to different time points according to the light reflected by surrounding environment.Graphics processing unit, in order to according to these depth images, produces an object in the speed of different time points, and changes situation according to the previous velocity of object, the following speed of prediction object.Analytic unit changes situation and following speed in order to the previous velocity according to object, produces relevant warning message.
According to a further aspect in the invention, propose a kind of method detecting surrounding environment, be applied to optical devices, method comprises the following steps: to launch a light, with the mode directive surrounding environment scanned; The multiple depth images corresponding to different time points are produced according to the light reflected by surrounding environment; According to these depth images, produce an object in the speed of different time points, and change situation according to the previous velocity of object, predict the following speed of this object; And change situation and following speed according to the previous velocity of object, produce relevant warning message.
In order to have better understanding to above-mentioned and other aspect of the present invention, preferred embodiment cited below particularly, and coordinating accompanying drawing, being described in detail below:
Accompanying drawing explanation
Fig. 1 illustrates the schematic diagram of the optical devices according to the embodiment of the present invention
Fig. 2 illustrates the schematic diagram of the image extraction unit according to the embodiment of the present invention.
Fig. 3 illustrates the oscillogram of Laser emission and light detection.
Fig. 4 illustrates the schematic diagram of the optical devices according to another embodiment of the present invention.
Fig. 5 illustrates the schematic diagram of optical devices actual use example.
Fig. 6 illustrates the method flow diagram of the detection surrounding environment according to the embodiment of the present invention.
[symbol description]
1,2: optical devices
10: image extraction unit
12: graphics processing unit
14: analytic unit
31 ~ 34: step
100: MEMS (micro electro mechanical system)
102: infrared laser transmitter
104: infrared light detector
160,161,162: visible light lasers light source
B: mobile body
D: depth image
M: warning message
P: projected image
Y: light
Y ': reflection ray
Embodiment
Fig. 1 illustrates the schematic diagram of the optical devices according to the embodiment of the present invention.Optical devices 1 comprise image extraction unit 10, graphics processing unit 12 and analytic unit 14.Image extraction unit 10 is in order to launch a light Y, and with the mode directive surrounding environment scanned, surrounding environment reflection ray Y, image extraction unit 10 receives reflection ray Y ', produces the multiple depth image D corresponding to different time points.Graphics processing unit 12, in order to according to these depth images D, produces an object in the speed of different time points, and changes situation according to the previous velocity of object, the following speed of prediction object.Analytic unit 14 changes situation and following speed in order to the previous velocity according to object, produces relevant warning message M.Now each element function is described in detail as follows.
Fig. 2 illustrates the schematic diagram of the image extraction unit according to the embodiment of the present invention.Image extraction unit 10 multiplely corresponds to the depth image D of different time points about surrounding environment in order to produce.Image extraction unit 10 comprises MEMS (micro electro mechanical system) 100, infrared laser transmitter 102 and infrared light detector 104.Infrared laser transmitter 102 is in order to emission of light Y, and light Y is infrared ray.MEMS (micro electro mechanical system) 100 makes light Y scan surrounding environment.
MEMS (micro electro mechanical system) 100 such as comprises a miniscanning catoptron, after the light Y that infrared laser transmitter 102 is launched is incident upon scanning reflection mirror, makes light Y be emitted to surrounding environment through reflection.MEMS (micro electro mechanical system) 100 drives scanning reflection mirror to rotate different angles, makes the plane in the light Y scanning surrounding environment penetrated.As shown in Figure 2, MEMS (micro electro mechanical system) 100 makes light Y in the mode of scanning, scans by column the plane in surrounding environment.
After light Y is emitted to surrounding environment, can reflect by the object in surrounding environment, infrared light detector 104 is in order to receive reflection ray Y ', and launch and the received mistiming according to infrared ray, calculate " degree of depth " of each pixel in image, the distance d namely in environment between object and optical devices 1.The computing formula of distance d is as follows:
Wherein c represents the light velocity (3x10
8m/s), t
receiverrepresent the time that infrared light detector 104 receives reflection ray Y ', t
emitterrepresent the time that light Y launched by infrared laser transmitter 102.
Fig. 3 illustrates the oscillogram of Laser emission and light detection.As shown in Figure 3, Laser emission represents the pulse waveform of infrared laser transmitter 102, and light detects and represents the optical pulse waveform that senses of infrared light detector 104, in system and the clock signal having fixed frequency to vibrate.Mistiming (Δ t) between pulse that the pulse of Laser emission and light detects can be calculated according to clock signal, the distance between objects in images and optical devices 1 can be tried to achieve according to the mistiming.
Can learn the degree of depth of current pixel according to distance, wherein the position of current pixel can be learnt according to the control of MEMS (micro electro mechanical system) 100.When the infrared ray that infrared ray generating laser 102 sends has scanned a plane, namely infrared light detector 104 can produce a depth image D, the degree of depth of each pixel in record picture.Because image extraction unit 10 does not stop repeatedly to scan surrounding environment, therefore, it is possible to produce multiple depth images D corresponding to different time points.
In a kind of implementation, produce 55 depth image D p.s., and the resolution often opening depth image D is 90x70 pixel.But the disclosure is not limited to this, as long as can produce the depth image with enough information, actual frame per second (frame rate) and image analytic degree, look closely the hardware constraints of design requirement and reality.
Graphics processing unit 12, according to these depth images D, can calculate the speed of object at different time points.Specifically, in these depth images D and representative picture, each pixel is in the degree of depth of different time points, according to the degree of depth in different time points picture and time, just can calculate speed.Graphics processing unit 12 also records the previous velocity change situation of object, according to the previous velocity of object change situation, and the following speed of prediction object.For example, if the speed calculated of previous time point t1 is v1, the speed that previous time point t2 calculates is v2, then predict the speed v 3 of future time point t3 according to speed v 1 and speed v 2.
In a kind of implementation, the first previous velocity v1 of graphics processing unit 12 according to object and the weighted sum of the second previous velocity v2, to calculate the following speed v 3 of object, meaning and v3=w1 × v1+w2 × v2.The summation of weight coefficient w1 and w2 wherein equals 1.Therefore following speed v 3 and the first previous velocity v1 and the second previous velocity v2 have direct relation, graphics processing unit 12 according to the previous movement tendency of object, the speed in prediction object future.
Weight coefficient w1 and w2 can also dynamically adjust.Accept in above-mentioned example, the following speed of prediction and calculation time point t3 is v3; And when the time point t3 of reality, the velocity amplitude that graphics processing unit 12 calculates according to depth image D actual measurement is v3 '.Graphics processing unit 12 according to the difference between the following speed v 3 of prediction and the speed v 3 ' that obtains of actual computation, as the reference frame of adjustment weight coefficient w1 and w2.Graphics processing unit 12 like this has the ability of correction learning, and can adjust weight coefficient w1 and w2 gradually, can be more accurate when making to predict following speed v 3.
The previous velocity change situation of the object that analytic unit 14 exports according to graphics processing unit 12 and the following speed of prediction, produce relevant warning message M.For example, optical devices 1 are configured at one and move on body B, and be such as the front being configured at bicycle or locomotive, or be configured on bicycle knight, such as optical devices 1 are worn on head by bicycle knight.Analytic unit 14 can change the following speed of situation and prediction according to the previous velocity of object, the possible movement locus of object in prediction environment, and because optical devices 1 are configured on mobile body B, can learn that in environment, object is relative to the velocity information of mobile body B, therefore, it is possible to object in prediction environment and time of colliding of mobile body B and probability.
Analytic unit 14 environmentally in time of colliding of object and mobile body B and probability, when judging dangerous, analytic unit 14 can also determine the direction that mobile body B can dodge.Now analytic unit 14 can send warning message M, and warning message M comprises the information in the direction that mobile body B that analytic unit 14 determines can dodge.For example, when there is locomotive fast approaching the right front of bicycle knight, analytic unit 14 predicts that locomotive and bicycle have high probability and collide at short notice, according to the velocity reversal of sending a car, analytic unit 14 determines should dodge toward left, just send warning message M, Defendant and know that bicycle knight should dodge toward left at once.
Analytic unit 14, in the process determining the direction that mobile body B can dodge, can also search the direction of neighbouring open space, is beneficial to determine preferably to dodge direction, further improves security.Searching open space also can according to depth image D, to find out the direction that barrier in environment is less and object speed is lower.
Fig. 4 illustrates the schematic diagram of the optical devices according to another embodiment of the present invention.Optical devices 2 in this embodiment and previous embodiment difference, be that optical devices 2 also comprise multiple visible light lasers light source 160,161,162.The light that MEMS (micro electro mechanical system) 100 makes multiple visible light lasers light source 160,161,162 launch produces a projected image P in the mode of scanning.MEMS (micro electro mechanical system) 100 is configured in image extraction unit 10, and namely infrared laser transmitter 102 and multiple visible light lasers light source 160,161,162 share MEMS (micro electro mechanical system) 100.
For example, visible light lasers light source 160 can be red laser light source, visible light lasers light source 161 can be green laser light source, visible light lasers light source 162 can be blue laser light source, the red, green, blue color beam that visible light lasers light source 160,161,162 is launched respectively, visible light beam after ECDC light by the scanning reflection mirror of MEMS (micro electro mechanical system) 100, can reflex in space and scans formation one projected image P.Projected image P such as can comprise the map of surrounding environment, road conditions, weather, at present road speed or relevant running information.
Fig. 5 illustrates the schematic diagram of optical devices actual use example.In this example, mobile body B is a bicycle knight, and optical devices 2 are worn on bicycle knight head, namely wear optical devices 2 as the mode of wearing glasses.In the visual range of bicycle knight, optical devices 2 projectable goes out projected image P, to show traffic information, bicycle knight without the need to bowing especially, as long as maintain normal by bike time visual angle can see projected image P, to guarantee security.When the analytic unit 14 of optical devices 2 is tested with object proximity or is dangerous, namely send warning message M and remind bicycle knight, warning message M such as comprises the direction and speed of sending a car, and the direction that bicycle knight can dodge.Warning message M may be displayed among projected image P, and bicycle knight can directly be seen.Or warning message M also can be a sound message, directly to remind the dangerous message of bicycle knight, bicycle knight is made within the shortest time, to discover danger and at once make a response.
Above-mentioned example illustrates the situation of the optical devices practical application in the disclosure.Certain optical devices of the present disclosure are not limited to wear on bicycle knight, because warning message can be sound message, therefore optical devices of the present disclosure also can be worn with it the blind person, the message of blind person's surrounding environment can be informed, and the direction that can dodge, even can inform the speed of object proximity, time and collision probability.
The present invention also proposes a kind of method detecting surrounding environment, is applied to optical devices.Please refer to Fig. 6, it illustrates the method flow diagram of the detection surrounding environment according to the embodiment of the present invention, comprises the following steps.First, perform step 31, launch a light, with the mode directive surrounding environment scanned.Then, perform step 32, produce the multiple depth images corresponding to different time points according to the light reflected by surrounding environment.Afterwards, enter step 33, according to multiple depth image, produce an object in the speed of different time points, and change situation according to the previous velocity of object, predict the following speed of this object.Then, perform step 34, according to the previous velocity change situation of object and the following speed of prediction, produce relevant warning message.
Sequence of steps in Fig. 6 is only illustrative, and order not immobilizes.Different according to surrounding environment, and the difference of scan image resolution and frame per second, may overlap each other between step, namely multiple step may perform simultaneously, or before entering next step, same step may repeat to have done many times.For example, when surrounding environment hazard level is very low, step 31 ~ 33 repeatedly just may can enter step 34.
In the above-mentioned optical devices of the embodiment of the present invention and the method detecting surrounding environment thereof, due to the position that surrounding environment object is current and speed not only can be learnt, the speed in surrounding environment object future can also be predicted, and the time and probability that collide can be doped, therefore, it is possible to find danger early.
When wear in human body with it or be configured on the vehicles time, automatically the change of surrounding environment can be noticed, owing to being complete and scanning circumstance incessantly, the deficiency of mankind's Limited eyeshot can be made up, and effectively solve the mankind and have unavoidably and divert one's attention and situation that notice is concentrated not.In addition, optical devices are according to the image extracted, more can predict the imminent accident of possibility in advance, and can initiatively point out the direction dodged, optical devices provide clear and definite instruction, the problem that the mankind in case of emergency easily cannot think deeply in a hurry can be overcome, provide higher security.
In addition, also can to arrange in pairs or groups multiple optical devices, the surrounding environment direction that each optical devices detect is different, such as respectively four optical devices are set at the four direction all around of sight line, when one of them optical devices detect contingent unexpected time, this device directly sends warning message, or after linking up each other via device and integrating, projects image to provide warning message by the optical devices before the visual field.
In sum, although the present invention is with preferred embodiment openly as above, so itself and be not used to limit the present invention.Those skilled in the art of the invention without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on the appending claims person of defining.
Claims (20)
1. optical devices, in order to detect a surrounding environment, comprising:
One image extraction unit, in order to launch a light, this light is with this surrounding environment of mode directive of scanning, and this image extraction unit also produces the multiple depth images corresponding to different time points according to this light reflected by this surrounding environment;
One graphics processing unit, in order to according to these depth images, produces the speed of an object at different time points, and changes situation according to a previous velocity of this object, predicts one of this object following speed; And
One analytic unit, changes situation and this following speed in order to this previous velocity according to this object, produces a relevant warning message.
2. optical devices as claimed in claim 1, wherein this image extraction unit comprises:
One infrared laser transmitter, in order to launch this light, this light is an infrared ray;
One MEMS (micro electro mechanical system), scans this surrounding environment in order to make this infrared ray; And
One infrared light detector, in order to be received from this infrared ray of this reflections off objects in this surrounding environment at different time points, to be launched and the received mistiming according to this infrared ray, to obtain these depth images.
3. optical devices as claimed in claim 2, also comprise multiple visible light lasers light source, and the light that this MEMS (micro electro mechanical system) makes these visible light lasers light sources launch produces a projected image in the mode of scanning.
4. optical devices as claimed in claim 3, wherein this warning message is presented in this projected image.
5. optical devices as claimed in claim 1, wherein this warning message is sound message.
6. optical devices, wherein one first previous velocity of this graphics processing unit according to this object and a weighted sum of one second previous velocity as claimed in claim 1, to calculate this following speed of this object.
7. optical devices as claimed in claim 1, wherein these optical devices are configured at one and move on body, this analytic unit also according to this previous velocity of this object change situation and this following speed, predict this object and this move the time and probability that body collides.
8. optical devices as claimed in claim 7, wherein this analytic unit also determines this direction of moving body and can dodge, and this warning message comprises the information being moved the direction that body can be dodged by this decision.
9. optical devices as claimed in claim 8, wherein this analytic unit is also in order to search the direction of neighbouring open space, to determine this direction of moving body and can dodge.
10. optical devices as claimed in claim 1, wherein these optical devices are can Wearable optical devices.
11. 1 kinds of methods detecting surrounding environment, are applied to optical devices, comprise:
Launch a light, this light is with this surrounding environment of mode directive of scanning;
The multiple depth images corresponding to different time points are produced according to this light reflected by this surrounding environment;
According to these depth images, produce an object in the speed of different time points, and change situation according to a previous velocity of this object, predict one of this object following speed; And
According to this previous velocity change situation and this following speed of this object, produce a relevant warning message.
12. methods as claimed in claim 11, the step wherein producing these depth images comprises:
Launch this light with an infrared laser transmitter, this light is an infrared ray;
This infrared ray is made to scan this surrounding environment with a MEMS (micro electro mechanical system); And
Be received from this infrared ray of this reflections off objects in this surrounding environment with an infrared light detector at different time points, be launched and the received mistiming according to this infrared ray, obtain these depth images.
13. methods as claimed in claim 12, also comprise the light multiple visible light lasers light source being launched with this MEMS (micro electro mechanical system) and produce a projected image in the mode of scanning.
14. methods as claimed in claim 13, wherein this warning message is presented in this projected image.
15. optical devices as claimed in claim 11, wherein this warning message is sound message.
16. methods as claimed in claim 11, wherein in the step of this following speed of this object of prediction, according to one first previous velocity of this object and a weighted sum of one second previous velocity, to calculate this following speed of this object.
17. methods as claimed in claim 11, wherein these optical devices are configured at one and move on body, and the method also comprises this previous velocity change situation according to this object and this following speed, predict this object and this move the time and probability that body collides.
18. methods as claimed in claim 17, also comprise and determine that this moves the direction that body can dodge, this warning message comprises the information being moved the direction that body can be dodged by this decision.
19. methods as claimed in claim 18, also comprise the direction of open space near searching, to determine this direction of moving body and can dodge.
20. methods as claimed in claim 11, wherein these optical devices are can Wearable optical devices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410128159.1A CN104977590A (en) | 2014-04-01 | 2014-04-01 | Optical device and method thereof for detecting surrounding environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410128159.1A CN104977590A (en) | 2014-04-01 | 2014-04-01 | Optical device and method thereof for detecting surrounding environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104977590A true CN104977590A (en) | 2015-10-14 |
Family
ID=54274269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410128159.1A Pending CN104977590A (en) | 2014-04-01 | 2014-04-01 | Optical device and method thereof for detecting surrounding environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104977590A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871772A (en) * | 2019-01-21 | 2019-06-11 | 上海数迹智能科技有限公司 | A kind of statistical method of number, device, storage medium and equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200811695A (en) * | 2006-08-18 | 2008-03-01 | Atlab Inc | Optical navigation device and method for compensating for offset in optical navigation device |
| CN101506661A (en) * | 2006-08-25 | 2009-08-12 | 克里斯多佛·伊恩·莫伊尔 | Velocity detector |
| EP2469303A1 (en) * | 2010-12-24 | 2012-06-27 | Telefonaktiebolaget L M Ericsson (Publ) | System and method for passive location storage |
| US20120200861A1 (en) * | 2007-12-05 | 2012-08-09 | PixArt Imaging Incorporation, R.O.C | Optical displacement detection apparatus and optical displacement detection method |
| CN103419737A (en) * | 2013-08-15 | 2013-12-04 | 深圳市赛格导航科技股份有限公司 | Anti-collision control method and system for vehicle |
-
2014
- 2014-04-01 CN CN201410128159.1A patent/CN104977590A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200811695A (en) * | 2006-08-18 | 2008-03-01 | Atlab Inc | Optical navigation device and method for compensating for offset in optical navigation device |
| CN101506661A (en) * | 2006-08-25 | 2009-08-12 | 克里斯多佛·伊恩·莫伊尔 | Velocity detector |
| US20120200861A1 (en) * | 2007-12-05 | 2012-08-09 | PixArt Imaging Incorporation, R.O.C | Optical displacement detection apparatus and optical displacement detection method |
| EP2469303A1 (en) * | 2010-12-24 | 2012-06-27 | Telefonaktiebolaget L M Ericsson (Publ) | System and method for passive location storage |
| CN103419737A (en) * | 2013-08-15 | 2013-12-04 | 深圳市赛格导航科技股份有限公司 | Anti-collision control method and system for vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109871772A (en) * | 2019-01-21 | 2019-06-11 | 上海数迹智能科技有限公司 | A kind of statistical method of number, device, storage medium and equipment |
| CN109871772B (en) * | 2019-01-21 | 2023-09-29 | 上海数迹智能科技有限公司 | Statistical method, device, storage medium and equipment for number of people |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10345447B1 (en) | Dynamic vision sensor to direct lidar scanning | |
| EP3662446B1 (en) | Generating an environment map around a mobile object with high accuracy | |
| US10491885B1 (en) | Post-processing by lidar system guided by camera information | |
| US20230072637A1 (en) | Vehicle Drivable Area Detection Method, System, and Autonomous Vehicle Using the System | |
| JP7162096B2 (en) | Light Detection and Ranging (LIDAR) Device Range Aliasing Elasticity with Multiple Hypotheses | |
| US6903677B2 (en) | Collision prediction device, method of predicting collision, and computer product | |
| JP2019075150A (en) | Driving support device and driving support system | |
| US20160097849A1 (en) | System and methods for intersection positioning | |
| US9785845B2 (en) | Drive support display device | |
| US20180136314A1 (en) | Method and system for analyzing the distance to an object in an image | |
| JP2016048550A (en) | Space information presentation based on driver's attention evaluation | |
| US11273841B2 (en) | Method and apparatus for spoofing prevention | |
| JP2016001463A (en) | Processor, processing system, processing program, and processing method | |
| US10812745B2 (en) | Bit depth reduction of image pixels | |
| CN104800054B (en) | Distance detecting and indicating method and action device with detecting and indicating functions | |
| CN110456372A (en) | The distance measuring method and laser radar system of laser radar system | |
| JP5930178B2 (en) | Vehicle detection method and vehicle detection device | |
| GB2599939A (en) | Method of updating the existance probability of a track in fusion based on sensor perceived areas | |
| CN113792598B (en) | Vehicle-mounted camera-based vehicle collision prediction system and method | |
| JP2011106829A (en) | Method for detecting moving body, and laser apparatus for measuring distance | |
| US20130107049A1 (en) | Accident avoiding system and method | |
| JP2010070117A (en) | Image irradiation system and image irradiation method | |
| CN104977590A (en) | Optical device and method thereof for detecting surrounding environment | |
| US11210952B2 (en) | Systems and methods for controlling vehicle traffic | |
| EP2910974A1 (en) | Laser monitoring method and laser monitoring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151014 |