CN105830428A - 目标检测设备、移动体设备控制系统及其程序 - Google Patents

目标检测设备、移动体设备控制系统及其程序 Download PDF

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Publication number
CN105830428A
CN105830428A CN201480068131.1A CN201480068131A CN105830428A CN 105830428 A CN105830428 A CN 105830428A CN 201480068131 A CN201480068131 A CN 201480068131A CN 105830428 A CN105830428 A CN 105830428A
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China
Prior art keywords
image
light
imaging
detection
imaging frame
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Pending
Application number
CN201480068131.1A
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English (en)
Chinese (zh)
Inventor
笠原亮介
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Ricoh Co Ltd
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Ricoh Co Ltd
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S1/00—Cleaning of vehicles
    • B60S1/02—Cleaning windscreens, windows or optical devices
    • B60S1/04—Wipers or the like, e.g. scrapers
    • B60S1/06—Wipers or the like, e.g. scrapers characterised by the drive
    • B60S1/08—Wipers or the like, e.g. scrapers characterised by the drive electrically driven
    • B60S1/0818—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like
    • B60S1/0822—Wipers or the like, e.g. scrapers characterised by the drive electrically driven including control systems responsive to external conditions, e.g. by detection of moisture, dirt or the like characterized by the arrangement or type of detection means
    • B60S1/0833—Optical rain sensor
    • B60S1/0844—Optical rain sensor including a camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/141—Control of illumination
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/30—Indexing codes relating to the vehicle environment
    • B60Q2300/31—Atmospheric conditions
    • B60Q2300/312—Adverse weather
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/41—Indexing codes relating to other road users or special conditions preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/42—Indexing codes relating to other road users or special conditions oncoming vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/108—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using 'non-standard' camera systems, e.g. camera sensor used for additional purposes i.a. rain sensor, camera sensor split in multiple image areas
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Signal Processing (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Studio Devices (AREA)
CN201480068131.1A 2013-12-19 2014-12-11 目标检测设备、移动体设备控制系统及其程序 Pending CN105830428A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
JP2013262885 2013-12-19
JP2013-262885 2013-12-19
JP2014-209786 2014-10-14
JP2014209786A JP6380843B2 (ja) 2013-12-19 2014-10-14 物体検出装置及びこれを備えた移動体機器制御システム並びに物体検出用プログラム
PCT/JP2014/083490 WO2015093552A1 (en) 2013-12-19 2014-12-11 Object detection apparatus, moving body device control system and program thereof

Publications (1)

Publication Number Publication Date
CN105830428A true CN105830428A (zh) 2016-08-03

Family

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Family Applications (1)

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CN201480068131.1A Pending CN105830428A (zh) 2013-12-19 2014-12-11 目标检测设备、移动体设备控制系统及其程序

Country Status (5)

Country Link
US (1) US9944293B2 (enExample)
EP (1) EP3085073B1 (enExample)
JP (1) JP6380843B2 (enExample)
CN (1) CN105830428A (enExample)
WO (1) WO2015093552A1 (enExample)

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CN106446873A (zh) * 2016-11-03 2017-02-22 北京旷视科技有限公司 人脸检测方法及装置
CN106427902A (zh) * 2016-10-26 2017-02-22 江苏金米智能科技有限责任公司 一种基于图像检测的车辆雨刮器自动控制系统
CN109886900A (zh) * 2019-03-15 2019-06-14 西北大学 一种基于字典训练和稀疏表示的合成雨图除雨方法
CN110914638A (zh) * 2017-07-18 2020-03-24 杭州他若定位科技有限公司 使用反射光源的智能物体追踪
CN110941024A (zh) * 2019-12-11 2020-03-31 江西莱利电气有限公司 一种基于干涉成像的风机内异物的检测装置及其方法
CN113287030A (zh) * 2019-01-10 2021-08-20 株式会社小糸制作所 LiDAR传感器单元及车辆用防盗系统
CN113556528A (zh) * 2017-02-24 2021-10-26 苹果公司 用于通过深度传感相机使用光发射在弱光条件下捕获视频影像的方法和系统
CN114419076A (zh) * 2022-03-28 2022-04-29 杭州微影软件有限公司 一种数据处理方法及装置
WO2022142172A1 (zh) * 2020-12-30 2022-07-07 北京石头创新科技有限公司 一种检测近场物体的方法、装置、介质和电子设备
CN114898577A (zh) * 2022-07-13 2022-08-12 环球数科集团有限公司 一种用于高峰期通路管理的道路智能管理系统与方法
CN115934405A (zh) * 2023-01-29 2023-04-07 蔚来汽车科技(安徽)有限公司 检测多系统在显示设备上显示同步性

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US11145046B2 (en) * 2018-07-24 2021-10-12 The Regents Of The University Of Michigan Detection of near-field occlusions in images
EP3844714B1 (en) * 2018-10-26 2024-09-25 Samsung Electronics Co., Ltd. Method and apparatus for image segmentation using an event sensor
US11579257B2 (en) 2019-07-15 2023-02-14 Veoneer Us, Llc Scanning LiDAR system and method with unitary optical element
US11474218B2 (en) 2019-07-15 2022-10-18 Veoneer Us, Llc Scanning LiDAR system and method with unitary optical element
US11313969B2 (en) 2019-10-28 2022-04-26 Veoneer Us, Inc. LiDAR homodyne transceiver using pulse-position modulation
EP4113478A4 (en) * 2020-02-27 2023-08-16 Koito Manufacturing Co., Ltd. SENSOR SYSTEM, CONTROL DEVICE, NON-TRANSITORY COMPUTER READABLE MEDIA AND COMPUTER PROGRAM
US12044800B2 (en) 2021-01-14 2024-07-23 Magna Electronics, Llc Scanning LiDAR system and method with compensation for transmit laser pulse effects
US11326758B1 (en) 2021-03-12 2022-05-10 Veoneer Us, Inc. Spotlight illumination system using optical element
EP4318035A4 (en) * 2021-03-29 2025-01-08 Pioneer Corporation Measuring device, determining device, determining method, and program
US11732858B2 (en) 2021-06-18 2023-08-22 Veoneer Us, Llc Headlight illumination system using optical element
KR20230086979A (ko) * 2021-12-09 2023-06-16 현대자동차주식회사 차량 및 차량의 제어방법
JP2023134264A (ja) * 2022-03-14 2023-09-27 スタンレー電気株式会社 ランプシステム、ランプ制御方法、ランプ制御プログラム、および、車両
JP7663083B2 (ja) * 2022-03-14 2025-04-16 株式会社デンソー 画像処理装置
CN117008231A (zh) * 2022-04-28 2023-11-07 海湾安全技术有限公司 滤光器、烟雾探测器测试组件和测试方法
JP2024016501A (ja) * 2022-07-26 2024-02-07 トヨタ自動車株式会社 車載カメラ遮蔽状態判定装置
US12228653B2 (en) 2022-10-07 2025-02-18 Magna Electronics, Llc Integrating a sensing system into headlight optics
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Cited By (17)

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Publication number Priority date Publication date Assignee Title
CN106427902A (zh) * 2016-10-26 2017-02-22 江苏金米智能科技有限责任公司 一种基于图像检测的车辆雨刮器自动控制系统
CN106446873A (zh) * 2016-11-03 2017-02-22 北京旷视科技有限公司 人脸检测方法及装置
CN106446873B (zh) * 2016-11-03 2021-01-26 北京旷视科技有限公司 人脸检测方法及装置
CN113556528A (zh) * 2017-02-24 2021-10-26 苹果公司 用于通过深度传感相机使用光发射在弱光条件下捕获视频影像的方法和系统
CN113556528B (zh) * 2017-02-24 2024-08-06 苹果公司 用于通过深度传感相机使用光发射在弱光条件下捕获视频影像的方法和系统
CN110914638A (zh) * 2017-07-18 2020-03-24 杭州他若定位科技有限公司 使用反射光源的智能物体追踪
CN110914638B (zh) * 2017-07-18 2021-11-26 杭州他若定位科技有限公司 使用反射光源的智能物体追踪
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