CN110228428A - Sensing system - Google Patents
Sensing system Download PDFInfo
- Publication number
- CN110228428A CN110228428A CN201910155112.7A CN201910155112A CN110228428A CN 110228428 A CN110228428 A CN 110228428A CN 201910155112 A CN201910155112 A CN 201910155112A CN 110228428 A CN110228428 A CN 110228428A
- Authority
- CN
- China
- Prior art keywords
- sensing system
- sensor unit
- detection reference
- reference axis
- vehicle
- 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
- 238000001514 detection method Methods 0.000 claims description 43
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000003786 synthesis reaction Methods 0.000 claims description 4
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 claims 1
- 230000003287 optical effect Effects 0.000 abstract description 19
- 239000000203 mixture Substances 0.000 description 15
- 230000006870 function Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000000052 comparative effect Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000002401 inhibitory effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The utilization efficiency in the space of multiple sensors configuration needed for the present invention improves the driving auxiliary for vehicle.First camera unit (11) is based on the image that primary optic axis (A1) at least obtains vehicle front.Second camera unit (12) is based on the image that the second optical axis (A2) at least obtains vehicle left.From the up and down direction of vehicle, primary optic axis (A1) intersects with the second optical axis (A2).
Description
Technical field
The present invention relates to a kind of sensing systems for being equipped on vehicle.
Background technique
In order to realize the driving ancillary technique of vehicle, it is necessary to take the sensor for being used to detect the external information of the vehicle
It is loaded in vehicle body.As the example of such sensor, LiDAR (Light Detection and Ranging) biography can be enumerated as
Sensor, video camera (for example, referring to patent document 1).As the driving ancillary technique of vehicle is advanced, the number of the sensor of carrying
Amount is in increase trend.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2010-185769 bulletin
Summary of the invention
Problem to be solved by the invention
The purpose of the present invention is the utilizing for space of multiple sensors configuration needed for driving auxiliary of the raising for vehicle to imitate
Rate.
The method for solving problem
A mode for achieving the above object is a kind of sensing system, is equipped on vehicle, wherein the sensor
System has: first sensor unit, and the first external information of above-mentioned vehicle is detected based on the first detection reference axis；And
Second sensor unit detects the second external information of above-mentioned vehicle based on the second detection reference axis,
From the up and down direction of above-mentioned vehicle, above-mentioned first detection reference axis and above-mentioned second detection reference axis are handed over
Fork.
According to the above configuration, with position pair that vehicle interior side is leaned on than first sensor unit and second sensor unit
In the region answered it is easy to ensure that more wide space.That is, even if in order to obtain more external informations and use multiple sensings
Device unit also can be improved the utilization efficiency in the space for the configuration of multiple sensor unit.
The sensor system can be constituted as follows.
Above-mentioned first detection reference axis intersects with above-mentioned second detection reference axis.
According to such composition, the position of the first sensor unit in the up and down direction of vehicle and second sensor unit
Difference become smaller, be able to suppress the enlargement of the sensing system in up and down direction.In addition, due to for obtaining the first outside letter
The altitude datum of breath is consistent with for obtaining the altitude datum of the second external information, therefore is able to suppress based on the first external information
And second external information subsequent information processing load increase.
The sensor system can be constituted as follows.
The sensor system has transmissive member, which, which marks off, accommodates first sensor unit and second
The accommodating chamber of sensor unit,
Above-mentioned transmissive member has the recess portion being recessed towards above-mentioned accommodating chamber,
Above-mentioned first detection reference axis and above-mentioned second detection reference axis intersect with above-mentioned recess portion.
First sensor unit and second sensor unit are respectively shorter at a distance from the inner surface of transmissive member, more hold
Easily inhibiting the quality of the external information obtained reduces.According to the above configuration, it is easy to sense first sensor unit and second
Device unit is individually configured near the inner surface of transmissive member.
In this case, the sensor system can be constituted as follows.
Above-mentioned recess portion includes the first flat part and the second flat part,
Above-mentioned first detection reference axis intersects with above-mentioned first flat part,
Above-mentioned second detection reference axis intersects with above-mentioned second flat part.
According to the above configuration, be able to suppress with associated the first external information of reflection of light generated in transmissive member and
The quality of second external information reduces.
The sensor system can be constituted as follows.
The sensor system has signal processing apparatus, which obtains from above-mentioned first sensor unit
The first signal corresponding with above-mentioned first external information, and obtained and above-mentioned second external information from above-mentioned second sensor unit
Corresponding second signal,
Said signal processing device be based on above-mentioned first signal and above-mentioned second signal and generate with above-mentioned first outside
The corresponding data of integrated information made of information and above-mentioned second external information are comprehensive.
According to the above configuration, integrated information can be utilized in the driving of vehicle auxiliary.Especially by being equipped on vehicle
ECU equal controller execute drive auxiliary control in the case where, due to by signal processing apparatus carry out first outside letter
The synthesis of breath and the second external information, therefore the increase for the processing load being able to suppress in the control device.
The sensor system can be constituted as follows.
The sensor system has the shell for marking off the lamp house for accommodating automotive lamp unit,
Above-mentioned first sensor unit and above-mentioned second sensor unit are configured in above-mentioned lamp house.
Since automotive lamp unit has the function of externally supplying light to vehicle, generally automotive lamp unit is configured at and is blocked
The less place of object.It, can be efficient by also configuring first sensor unit and second sensor unit in such place
The external information of ground acquirement vehicle.
In addition, can be shared with automotive lamp unit in the case where obtaining height detection information from the automatic horizontal control system of vehicle
Height detection information.In this case, efficient system can be designed.
The sensor system can be constituted as follows.
Above-mentioned first sensor unit and above-mentioned second sensor unit include LiDAR sensor unit, video camera list
At least one of member, millimeter wave sensor unit.
In the present specification, " sensor unit " refers to have desired information detection functions, while its own is energy
The Component units of enough components to be circulated in a manner of monomer.
In the present specification, " automotive lamp unit " refers to have desired illumination functions, while its own is can be with list
The Component units for the component that the mode of body circulates.
In the present specification, it " drives auxiliary " to refer to, at least partly carrying out driver behavior, (steering wheel operation accelerates, subtracts
Speed), the control processing of at least one of the monitoring of running environment and the support of driver behavior.That is, referring to includes from collision
Detract braking function, lane keeps the such part of miscellaneous function to drive the meaning that auxiliary arrives fully automated driver behavior.
Detailed description of the invention
Fig. 1 schematically shows the composition of sensing system involved in an embodiment.
Fig. 2 is the figure for indicating the position of the sensing system in vehicle.
Symbol description
1 left front sensing system
11 first camera units
12 second camera units
13 shells
14 transmissive members
141 recess portions
The first flat part 141a
The second flat part 141b
15 accommodating chambers
16 signal processing apparatus
17 automotive lamp units
100 vehicles
A1 primary optic axis
The second optical axis of A2
The first signal of S1
S2 second signal
Specific embodiment
Hereinafter, being described in detail referring to example of the attached drawing to embodiment.It is each attached used in the following description
In figure, in order to which each component is set as identifiable size, scale bar has been suitably changed.
In the accompanying drawings, arrow F indicates the front of illustrated configuration.The rear of arrow B expression illustrated configuration.Arrow L indicates figure
Show the left of construction.The right of arrow R expression illustrated configuration." left side " and " right side " used in the following description is indicated from driving
The left and right directions that seat is observed.
(A) in Fig. 1 schematically shows the composition of left front sensing system 1 involved in an embodiment.Such as Fig. 2 institute
Show, left front sensing system 1 is equipped on the left front corner LF of vehicle 100.In the right forward corner RF of vehicle 100, equipped with having
With the right front sensor system of the symmetrical composition of left front sensing system 1.
Left front sensing system 1 has the first camera unit 11.First camera unit 11 is at least obtaining vehicle
The device of first image in 100 front.First camera unit 11 is configured to corresponding with the first image of acquirement
One signal S1 output.First camera unit 11 can be visible light camera, be also possible to infrared camera.First camera shooting
Machine unit 11 is an example of first sensor unit.
First camera unit 11 has primary optic axis A1.Primary optic axis A1 can specify that the first camera unit 11 obtains
Reference direction when the first image.That is, the first camera unit 11 is configured at least obtain vehicle 100 based on primary optic axis A1
First image in front.Primary optic axis A1 is an example of the first detection reference axis.The acquirement of first image is vehicle 100
One example of the detection of the first external information.
Left front sensing system 1 has the second camera unit 12.Second camera unit 12 is at least obtaining vehicle
The device of second image of 100 left.Second camera unit 12 is configured to corresponding with the second image of acquirement
Binary signal S2 output.Second camera unit 12 can be visible light camera, be also possible to infrared camera.Second camera shooting
Machine unit 12 is an example of second sensor unit.
Second camera unit 12 has the second optical axis A2.Second optical axis A2 can specify that the second camera unit 12 obtains
Reference direction when the second image.That is, the second camera unit 12 is configured at least obtain vehicle 100 based on the second optical axis A2
Second image of left.Second optical axis A2 is an example of the second detection reference axis.The acquirement of second image is vehicle 100
One example of the detection of the second external information.
Left front sensing system 1 has shell 13 and transmissive member 14.Shell 13 and transmissive member 14 mark off receiving
Room 15.
First camera unit 11 and the second camera unit 12 are configured in accommodating chamber 15.First camera unit 11
And second camera unit 12 be configured to, from the up and down direction of vehicle 100, primary optic axis A1 and the second optical axis A2 are handed over
Fork.
(B) in Fig. 1 indicates left front sensing system 1A involved in comparative example.In the comparative example, the first video camera
Unit 11 and the second camera unit 12 are configured to intersect primary optic axis A1 not with the second optical axis A2.With such composition phase
Compare it is found that corresponding by the position of 100 inside of vehicle with than the first camera unit 11 and the second camera unit 12
In region it is easy to ensure that more wide space.That is, even if in order to obtain more image informations and use multiple video camera lists
Member can also improve the utilization efficiency for configuring the space of multiple camera unit.
If primary optic axis A1 intersects with the second optical axis A2 from the up and down direction of vehicle 100, then from a left side for vehicle 100
Right direction or front-rear direction observation, primary optic axis A1 and the second optical axis A2 does not intersect not related yet.However, primary optic axis A1
Preferably actually intersect with the second optical axis A2.
According to the above configuration, the first camera unit 11 and the second camera unit 12 in the up and down direction of vehicle 100
The difference of position become smaller, be able to suppress the enlargement of the left front sensing system 1 in up and down direction.In addition, due to for taking
The altitude datum for obtaining the first image is consistent with for obtaining the altitude datum of the second image, therefore is able to suppress and is based on taking the photograph from first
The image procossing of the first signal S1 and the second signal S2 exported from the second camera unit 12 that camera unit 11 exports
The increase of load.
Shown in (A) as shown in figure 1, transmissive member 14 can have recess portion 141.Recess portion 141 is directed towards the recess of accommodating chamber 15
Part.In this case, the first camera unit 11 and the second camera unit 12 be configurable to make primary optic axis A1 with
And second optical axis A2 intersect with recess portion 141.
First camera unit 11 and the second camera unit 12 are respectively got at a distance from the inner surface of transmissive member 14
Short, the quality of the easier image for inhibiting to obtain reduces.According to composition as described above, be easy by the first camera unit 11 with
And second camera unit 12 be respectively configured near the inner surface of transmissive member 14.Thus, it is possible to inhibit to take the photograph by first
The quality for the first image that camera unit 11 obtains reduces and the product of the second image by the acquirement of the second camera unit 12
Matter reduces.
Shown in (A) as shown in figure 1, recess portion 141 may include the first flat part 141a and the second flat part 141b.In the feelings
Under condition, the first camera unit 11 can be such that primary optic axis A1 intersects with the first flat part 141a with being combined into.Second video camera list
Member 12 is configurable to intersect the second optical axis A2 with the second flat part 141b.Thus, the first camera unit 11 is based on passing through
The light of first flat part 141a of transmissive member 14 obtains the first image.Second camera unit 12 is based on passing through transmissive member 14
The second flat part 141b light obtain the second image.
According to the above configuration, be able to suppress first image associated with the reflection of the light that is generated in transmissive member 14 and
The quality of second image reduces.Thus, the first camera unit 11 is preferably configured to make primary optic axis A1 and the first flat part
141a is orthogonal.Second camera unit 12 is preferably configured to keep the second optical axis A2 orthogonal with the second flat part 141b.
Shown in (A) as shown in figure 1, left front sensing system 1 can have signal processing apparatus 16.Signal processing apparatus 16 can
Have processor and memory.As the example of processor, CPU, MPU, GPU can be enumerated as.Processor may include multiple places
Manage device kernel.As the example of memory, ROM, RAM can be enumerated as.In ROM, the program for executing above-mentioned processing can be stored.It should
Program may include artificial intelligence program.As the example of artificial intelligence program, the mind based on deep learning acquistion can be enumerated as
Through network.Processor can specify at least part for the program for being stored in ROM and be unfolded on RAM, cooperates and executes with RAM
Above-mentioned processing.
Signal processing apparatus 16 can be used as the device for being fixed on shell 13 and realize, can also be used as and is equipped on vehicle
100 ECU equal controller and realize.Alternatively, signal processing apparatus 16 can be by integrated circuits such as ASIC, FPGA come real
It is existing, it can also be realized by the combination of microcontroller and integrated circuit.
Signal processing apparatus 16 obtains the first signal S1 for exporting from the first camera unit 11 and from the second video camera
The second signal S2 that unit 12 exports.Signal processing apparatus 16 is configured to generate based on the first signal S1 and second signal S2 comprehensive
Close image data.As described above, the first signal S1 is at least corresponding with including first image in front of vehicle 100.Second letter
Number S2 at least with include that the second image of left of vehicle 100 is corresponding.Composite image data be with by the first image and second
The corresponding data of image made of image synthesis.
According to the above configuration, composite image data can be used for the driving auxiliary of vehicle 100.Especially passing through carrying
In the case that the ECU equal controller of vehicle 100 executes and drives auxiliary control, due to carrying out the by signal processing apparatus 16
The synthesis of one image and the second image, therefore the increase for the processing load being able to suppress in the control device.
Shown in (A) as shown in figure 1, left front sensing system 1 can have automotive lamp unit 17.Automotive lamp unit 17 is to vehicle
Project the device of visible light in 100 outside.Automotive lamp unit 17 and the first camera unit 11 and the second camera unit 12 1
It rises and is contained in accommodating chamber 15.As automotive lamp unit 17, can be given as headlamp, clearance lamps unit, blinker unit,
Fog lamp unit etc..
Since automotive lamp unit 17 has the function of externally supplying light to vehicle 100, generally automotive lamp unit 17 is matched
It is placed in the less places of shelters such as left front corner LF described above.By also configuring the first video camera list in such place
Member 11 and the second camera unit 12, can efficiently obtain the external information of vehicle 100.
Above embodiment is only to will be readily understood that example of the invention.Without departing from purport of the invention,
It can change as appropriate, improve composition involved in above embodiment.
In the above-described embodiment, left front sensing system 1 is shown to have the first camera unit 11 and second take the photograph
The example of camera unit 12.However, at least one of the first camera unit 11 and the second camera unit 12 can be by
Either one or two of LiDAR sensor unit and millimeter wave unit substitution.
LiDAR sensor unit, which has the composition for projecting non-visible light and detects the non-visible light, to be at least present in
The composition of the return light of the result reflected on the object of outside vehicle.LiDAR sensor unit can have change as needed and penetrate
Out direction (i.e. detection direction) and scan the sweep mechanism of the non-visible light.For example, the infrared light that wavelength is 905nm can be used to make
For non-visible light.
LiDAR sensor unit can for example based on from the time of projecting non-visible light to some direction to detecting to return
The time of light obtains and reaches at a distance from the associated object of the return light.In addition, by making such range data and detection
Position is associated and integrates, and can obtain information involved in the shape of object associated with return light.In addition to this or
Instead of above content, the material of object associated with return light can be obtained based on the difference for the wavelength for projecting light and return light
Information involved in the attributes such as matter.
Using LiDAR sensor unit, it is illustrated referring to primary optic axis A1 and the second optical axis A2
The optical axis of camera unit can be replaced into the detection reference axis of LiDAR sensor unit.Benchmark axis convention LiDAR is detected to pass
The detection reference direction of sensor cell.LiDAR sensor unit is based on the detection reference axis, detects the external information of vehicle 100.
Millimeter wave sensor unit, which has the composition for sending millimeter wave and receives the millimeter wave, is being present in vehicle 100
Outside object on the composition of the back wave of result that reflects.The example of frequency as millimeter wave, can be enumerated as 24GHz,
26GHz, 76GHz, 79GHz etc..Millimeter wave sensor unit can be for example based on from the time of sending millimeter wave to some direction
To the time for receiving back wave, obtains and reach at a distance from the associated object of the back wave.In addition, by making such distance
Data are associated with detection position and accumulate, and can obtain and information involved in the movement of the associated object of back wave.
Using millimeter wave sensor unit, it is illustrated referring to primary optic axis A1 and the second optical axis A2
The optical axis of camera unit can be replaced into the detection reference axis of millimeter wave sensor unit.Detect benchmark axis convention millimeter wave
The detection reference direction of sensor unit.Millimeter wave sensor unit is based on the detection reference axis, the external letter of detection vehicle 100
Breath.
In the case where only infrared camera unit and millimeter wave sensor unit are configured in accommodating chamber 15, draw
Separate accommodating chamber 15 transmissive member 14 be not necessarily it is transparent.In the present specification, " light transmission " this word is meant, can
The light of wavelength used in external information for sensor unit detection vehicle 100 penetrates.
The composition of left front sensing system 1 also can be suitably used for left back sensing system.Left back sensing system is equipped on Fig. 2
Shown in vehicle 100 left back corner LB.The basic composition of left back sensing system can be right with left front 1 front and back of sensing system
Claim.
The composition of left front sensing system 1 can also be suitable for sensing system behind the right side.Sensing system is equipped on behind the right side
The right back angle RB of vehicle 100 shown in Fig. 2.The basic composition of sensing system and above-mentioned left back sensing system or so behind the right side
Symmetrically.
Claims (9)
1. a kind of sensing system, is equipped on vehicle, wherein
The sensing system has:
First sensor unit detects the first external information of the vehicle based on the first detection reference axis；And
Second sensor unit detects the second external information of the vehicle based on the second detection reference axis,
From the up and down direction of the vehicle, the first detection reference axis and the second detection reference axis intersect.
2. sensing system according to claim 1, wherein
The first detection reference axis intersects with the second detection reference axis.
3. sensing system according to claim 1, wherein
The sensing system has transmissive member, which, which marks off, accommodates first sensor unit and the second sensing
The accommodating chamber of device unit,
The transmissive member has the recess portion being recessed towards the accommodating chamber,
The first detection reference axis and the second detection reference axis intersect with the recess portion.
4. sensing system according to claim 2, wherein
The sensing system has transmissive member, which, which marks off, accommodates first sensor unit and the second sensing
The accommodating chamber of device unit,
The transmissive member has the recess portion being recessed towards the accommodating chamber,
The first detection reference axis and the second detection reference axis intersect with the recess portion.
5. sensing system according to claim 3, wherein
The recess portion includes the first flat part and the second flat part,
The first detection reference axis intersects with first flat part,
The second detection reference axis intersects with second flat part.
6. sensing system according to claim 4, wherein
The recess portion includes the first flat part and the second flat part,
The first detection reference axis intersects with first flat part,
The second detection reference axis intersects with second flat part.
7. sensing system according to any one of claim 1 to 6, wherein
The sensing system has signal processing apparatus, which obtains from the first sensor unit and institute
Corresponding first signal of the first external information is stated, and corresponding with second external information from second sensor unit acquirement
Second signal,
The signal processing apparatus is based on first signal and the second signal and generates and first external information
And the corresponding data of integrated information made of the second external information synthesis.
8. sensing system according to any one of claim 1 to 6, wherein
The sensing system has the shell for marking off the lamp house for accommodating automotive lamp unit,
The first sensor unit and the second sensor unit are contained in the lamp house.
9. sensing system according to any one of claim 1 to 6, wherein
The first sensor unit and the second sensor unit include LiDAR sensor unit, camera unit, milli
At least one of metric wave sensor unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-038876 | 2018-03-05 | ||
| JP2018038876 | 2018-03-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110228428A true CN110228428A (en) | 2019-09-13 |
Family
ID=67860536
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910155112.7A Pending CN110228428A (en) | 2018-03-05 | 2019-03-01 | Sensing system |
| CN201920260900.8U Active CN210970923U (en) | 2018-03-05 | 2019-03-01 | Sensor system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920260900.8U Active CN210970923U (en) | 2018-03-05 | 2019-03-01 | Sensor system |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN110228428A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08114446A (en) * | 1994-10-18 | 1996-05-07 | Mitsubishi Automob Eng Co Ltd | Structure for attaching distance measuring sensor to body |
| DE102007013501A1 (en) * | 2007-03-21 | 2008-09-25 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system for detecting road users or obstacles using two cameras, has camera, which provides two-dimensional image of vehicle anteroom and another camera provides three-dimensional image of vehicle anteroom |
| CN102427982A (en) * | 2009-05-19 | 2012-04-25 | 株式会社伊美吉内柯斯特 | Lane departure sensing method and apparatus using images that surround a vehicle |
| US20150278610A1 (en) * | 2012-08-29 | 2015-10-01 | Robert Bosch Gmbh | Method and device for detecting a position of a vehicle on a lane |
| JP2017134052A (en) * | 2016-01-22 | 2017-08-03 | 株式会社デンソー | Optical range finder |
-
2019
- 2019-03-01 CN CN201910155112.7A patent/CN110228428A/en active Pending
- 2019-03-01 CN CN201920260900.8U patent/CN210970923U/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08114446A (en) * | 1994-10-18 | 1996-05-07 | Mitsubishi Automob Eng Co Ltd | Structure for attaching distance measuring sensor to body |
| DE102007013501A1 (en) * | 2007-03-21 | 2008-09-25 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system for detecting road users or obstacles using two cameras, has camera, which provides two-dimensional image of vehicle anteroom and another camera provides three-dimensional image of vehicle anteroom |
| CN102427982A (en) * | 2009-05-19 | 2012-04-25 | 株式会社伊美吉内柯斯特 | Lane departure sensing method and apparatus using images that surround a vehicle |
| US20150278610A1 (en) * | 2012-08-29 | 2015-10-01 | Robert Bosch Gmbh | Method and device for detecting a position of a vehicle on a lane |
| JP2017134052A (en) * | 2016-01-22 | 2017-08-03 | 株式会社デンソー | Optical range finder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN210970923U (en) | 2020-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109690349B (en) | sensor system | |
| CN109690347A (en) | Sensing system | |
| US9505338B2 (en) | Vehicle driving environment recognition apparatus | |
| US10481271B2 (en) | Automotive lighting system for a vehicle | |
| US10421390B2 (en) | Lamp device | |
| JP5324310B2 (en) | In-vehicle illumination device, image processing device, and image display system | |
| US20150358540A1 (en) | Method and device for generating a surround-view image of the surroundings of a vehicle, method for providing at least one driver-assistance function for a vehicle, surround-view system for a vehicle | |
| EP2653346A1 (en) | Vehicle safety illumination arrangement and method | |
| US6840342B1 (en) | Sensor device for a motor vehicle used for detecting environmental parameters | |
| WO2018110389A1 (en) | Vehicle lighting system and vehicle | |
| CN210062890U (en) | Sensor module | |
| WO2016013167A1 (en) | Vehicle display control device | |
| US20190347829A1 (en) | In-vehicle camera | |
| JPWO2019172117A1 (en) | Sensor system and image data generator | |
| CN110228428A (en) | Sensing system | |
| CN210116465U (en) | Sensor system | |
| CN110360524B (en) | Lamp device | |
| CN111971527B (en) | Image pickup apparatus | |
| CN209955917U (en) | Sensor system | |
| CN113454418A (en) | Vehicle sensing system and vehicle | |
| CN113167889A (en) | Sensor system | |
| EP4303616A1 (en) | Sensor system | |
| KR20210076992A (en) | Vehicle vision system with self-calibrating imager | |
| CN211786115U (en) | Sensor system | |
| CN110505577B (en) | Sensor data generating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190913 |
|
| RJ01 | Rejection of invention patent application after publication |