CN209454640U - The sensory perceptual system and vehicle of vehicle - Google Patents
The sensory perceptual system and vehicle of vehicle Download PDFInfo
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- CN209454640U CN209454640U CN201822241045.4U CN201822241045U CN209454640U CN 209454640 U CN209454640 U CN 209454640U CN 201822241045 U CN201822241045 U CN 201822241045U CN 209454640 U CN209454640 U CN 209454640U
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Abstract
The application proposes the sensory perceptual system and vehicle of a kind of vehicle.The sensory perceptual system includes: multiple ultrasonic radars, is separately mounted to two sides, front-end and back-end of vehicle, and the angle between each ultrasonic radar and the first reference planes is predetermined angular, and the first reference planes are the plane vertical with the short transverse of vehicle；At least one camera is mounted on front end and is located at ultrasonic radar close to the side of the bottom of vehicle.The sensory perceptual system can accurately perceive barrier, parking stall and the lane of surrounding, and it is safer to further ensure the automatic Pilots technology such as autonomous parking.
Description
Technical field
This application involves automatic Pilot field more particularly to the sensory perceptual systems and vehicle of a kind of vehicle.
Background technique
In recent years, with the rapid development of deep learning, the further investigation of artificial intelligence also brings automotive industry revolution
The variation of property.By merging for vision and ultrasonic wave, become a main technical schemes for realizing Vehicular automatic driving.
But the sensor device on vehicle is difficult to accurately identify the barrier of surrounding, parking stall and lane in the prior art,
And then it is difficult to ensure the safety of automatic Pilot.
Therefore, a kind of barrier, parking stall and vehicle in lane that can accurately perceive surrounding is needed, so that automatic Pilot
It is safer.
Utility model content
The embodiment of the present application provides the sensory perceptual system and vehicle of a kind of vehicle, at least to solve the above skill in the prior art
Art problem.
In a first aspect, the embodiment of the present application provides a kind of sensory perceptual system of vehicle, comprising: multiple ultrasonic radars, point
It is not mounted on two sides, front-end and back-end of vehicle, the angle between each ultrasonic radar and the first reference planes is
Predetermined angular, first reference planes are the plane vertical with the short transverse of the vehicle；At least one camera, installation
In the front end and it is located at the ultrasonic radar close to the side of the bottom of the vehicle.
In a kind of possible embodiment, the camera is wide-angle camera, the camera lens angle of the wide-angle camera
Degree is more than or equal to 180 °, and one of them described wide-angle camera is mounted on the license plate of the vehicle.
In a kind of possible embodiment, the ultrasonic radar has 12~16, wherein 4 ultrasonic wave thunders
Up to being separately mounted on two sides, 4~6 ultrasonic radars are mounted on the front end, 4~6 ultrasounds
Wave radar is mounted on the rear end, and each predetermined angular is between 0~15 °.
In a kind of possible embodiment, 12~16 ultrasonic radars are symmetrical arranged along the second central axes, institute
State the central axes in the length of wagon direction that the second central axes are the vehicle.
In a kind of possible embodiment, the ultrasonic radar for being separately mounted to the front end and the rear end is
APA ultrasonic radar, the ultrasonic radar for being mounted on two sides is UPA ultrasonic radar.
In a kind of possible embodiment, the ultrasonic radar has 12, be mounted on the front end and along separate
The ultrasonic radar that the direction of second central axes is sequentially distributed is respectively the first ultrasonic radar and the second ultrasonic radar,
Being mounted on the side and being less than the ultrasonic radar at a distance from the rear end at a distance from the front end is third ultrasound
Wave radar；Wherein, the distance between two symmetrical described first ultrasonic radars be the first preset distance, described first
Ultrasonic radar at a distance from adjacent second ultrasonic radar be the second preset distance, the third ultrasonic radar with
The distance of adjacent second ultrasonic radar is third preset distance.
In a kind of possible embodiment, first preset distance is between 46~54cm, the second pre- spacing
From between 47~55cm, the third preset distance is between 52~60cm.
In a kind of possible embodiment, be mounted on the rear end and along the direction far from second central axes according to
2 ultrasonic radars of secondary distribution are respectively the 4th ultrasonic radar and the 5th ultrasonic radar, be mounted on the side and
It is the 6th ultrasonic radar with the ultrasonic radar at a distance from the front end is less than at a distance from the rear end, wherein right
The distance between two the 4th ultrasonic radars be referred to as the 4th preset distance, the 4th ultrasonic radar and adjacent
The distance of 5th ultrasonic radar is the 5th preset distance, the 6th ultrasonic radar and adjacent the 5th ultrasound
The distance of wave radar is the 6th preset distance.
In a kind of possible embodiment, the 4th preset distance is between 28~32cm, the 5th pre- spacing
From between 44.5~52.5cm, the 6th preset distance is between 46~54cm.
In a kind of possible embodiment, 6~8 ultrasonic radars are mounted on the front end and extend to
On the front bumper of two sides, remaining 6~8 ultrasonic radars are mounted on the rear end and extend to
On the rear bumper of two sides.
Second aspect, the embodiment of the present application provide a kind of vehicle, including sensory perceptual system, wherein the sensory perceptual system is
Any sensory perceptual system.
A technical solution in the technical solution has the following advantages that or the utility model has the advantages that the vehicle sensory perceptual system
In include multiple ultrasonic radars, and multiple ultrasonic radars are separately mounted to the front end, rear end and two sides of vehicle, i.e.,
It is assembled with ultrasonic radar in the surrounding of vehicle, vehicle front and side medium and long distance may be implemented in such sensory perceptual system
Static, dynamic disorder analyte detection and positioning.Realize the front obstacle monitoring in parking stall, when outbound and lane are kept, so that oneself
Main park waits automatic Pilots technology safer.
Another technical solution in the technical solution has the following advantages that or the utility model has the advantages that the sensory perceptual system further includes
It is mounted on the front end and is located at the ultrasonic radar close at least one camera of the side of the bottom of the vehicle, be somebody's turn to do
The ultrasonic radar detection that camera can make up front end well has the deficiency of blind area, so as to accurately perceive surrounding
It is safer to further ensure the automatic Pilots technology such as autonomous parking for barrier, parking stall and lane.
It is described to summarize the purpose for being merely to illustrate that book, it is not intended to be limited in any way.Except the description
Schematical aspect, except embodiment and feature, by reference to attached drawing and the following detailed description, the application is further
Aspect, embodiment and feature, which will be, to be readily apparent that.
Detailed description of the invention
In the accompanying drawings, unless specified otherwise herein, otherwise indicate the same or similar through the identical appended drawing reference of multiple attached drawings
Component or element.What these attached drawings were not necessarily to scale.It should be understood that these attached drawings are depicted only according to the application
Disclosed some embodiments, and should not be taken as the limitation to the application range.
Fig. 1 be include sensory perceptual system vehicle side view；
Fig. 2 is the main view of the vehicle in Fig. 1；
Fig. 3 is the top view of the vehicle in Fig. 1；
Fig. 4 is the schematic view of the mounting position of the portion of ultrasonic sound wave radar of the vehicle in Fig. 1；
Fig. 5 is the schematic view of the mounting position of another part ultrasonic radar of the vehicle in Fig. 1.
Wherein, the attached drawing includes the following drawings label:
10, ultrasonic radar；20, camera；11, the first ultrasonic radar；12, the second ultrasonic radar；13, third is super
Sound radar；14, the 4th ultrasonic radar；15, the 5th ultrasonic radar；16, the 6th ultrasonic radar；21, the first wide-angle is taken the photograph
As head；22, the second wide-angle camera；23, third wide-angle camera；24, the 4th wide-angle camera；30, front windshield；40,
Rearview mirror；50, bottom；60, wheel；70, front bumper；80, rear bumper；01, the first central axes；02, the second central axes.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the application, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
Fig. 1 and Fig. 2 shows the sensory perceptual system according to one embodiment of the application, which is installed on vehicle, the sense
Know that system includes:
Multiple ultrasonic radars 10 are separately mounted to two sides, front-end and back-end of vehicle, each ultrasonic radar
Angle between the first reference planes is predetermined angular, and first reference planes are vertical with the short transverse of the vehicle
Plane；
At least one camera 20 is mounted on the front end and is located at the ultrasonic radar close to the bottom of the vehicle
Side.
It include multiple ultrasonic radars in the vehicle sensory perceptual system, and multiple ultrasonic radars are separately mounted to vehicle
Front end, rear end and two sides.Since the surrounding in vehicle is assembled with ultrasonic radar, such sensory perceptual system can be with
The barrier etc. for perceiving vehicle periphery comprehensively and accurately realizes static state, the dynamic disorder of vehicle front and side medium and long distance
Analyte detection and positioning.Realize that the front obstacle in parking stall, when outbound and lane are kept monitors, so that autonomous parking etc. is driven automatically
It is safer to sail technology.
In addition, the sensory perceptual system further includes being mounted on the front end and being located at the ultrasonic radar close to the vehicle
At least one camera of the side of bottom.The ultrasonic radar detection that the camera can make up front end well has blind area
Deficiency further ensures autonomous parking etc. and drives automatically so as to accurately perceive barrier, parking stall and the lane of surrounding
It is safer to sail technology.
The camera of the application can be any available camera in the prior art, and those skilled in the art can
To select suitable camera according to the actual situation.In actual application process, in order to enable the visual range of camera compared with
Greatly, so as to more fully perceive the parking stall and lane around vehicle body situations such as, in a kind of possible implementation of the application
In mode, if Fig. 1 and Fig. 3 show, the camera 20 is wide-angle camera, and the angle lens of the wide-angle camera are more than or equal to
180°。
In order to facilitate the installation of wide-angle camera, in a kind of possible embodiment of the application, one of them is described wide
Angle camera is mounted on the preceding license plate of the vehicle, which is known as the first wide-angle camera 21, such as Fig. 2 and Fig. 3
It is shown.Fig. 2 also shows front windshield 30, which can also install camera according to the actual situation.
In order to more fully obtain the information such as lane line and parking stall around vehicle body using camera, it is further ensured that certainly
Main park waits the safety of automatic Pilots technology, in a kind of possible embodiment of the application, as shown in figure 3, the sensory perceptual system
In camera more than one, further include 22, third wide-angle cameras 23 of second wide-angle camera and one the 4th
Wide-angle camera 24 has one respectively.The installation of each camera for convenience, second wide-angle camera 22 are mounted on described
On the rear license plate of rear end, the third wide-angle camera 23 and the 4th wide-angle camera 24 are separately mounted to two sides
The side of the bottom 50 close to the vehicle of the rearview mirror 40 in face, the rearview mirror in the application refer both to outside rear-view mirror.
In a kind of possible embodiment, as shown in figure 3, first wide-angle camera 21 and second wide-angle are taken the photograph
Picture head 22 is symmetrical arranged about the first central axes 01, and first central axes 01 are along the vehicle-body width direction of the vehicle
Axis, the third wide-angle camera 23 and the 4th wide-angle camera 24 are symmetrical arranged about second central axes 02,
Such installation site may further ensure that wide-angle camera obtains parking stall and lane around vehicle body etc. more fully hereinafter
Information.
It when installing camera, not only needs to consider installation site, it is also necessary to consider setting angle, one kind of the application can
In the embodiment of energy, each camera is horizontally mounted, i.e., installs in the short transverse of vertical vehicle body.It in this way can be more
The case where efficiently and rapidly installing camera, and also ensuring parking stall and lane line around Overall Acquisition vehicle body.
In sensory perceptual system, this side of the case where setting of ultrasonic radar will not only consider around complete perception vehicle body
Face will also consider that in a kind of possible embodiment, the ultrasonic radar has 12~16 from cost this aspect,
In, 4 ultrasonic radars are separately mounted on two sides, and 4~6 ultrasonic radars are mounted on described
Front end, 4~6 ultrasonic radars are mounted on the rear end.
In order to make the ultrasonic radar on vehicle body more fully perceive barrier around etc. in simpler mode
Situation, in a kind of possible embodiment of the application, 12~16 ultrasonic radars are symmetrical arranged along the second central axes,
Second central axes are the central axes in the length of wagon direction of the vehicle.
In actual application process, it is also contemplated that the installation difficulty or ease of the equipment in sensory perceptual system, in order to enable ultrasonic wave
Radar is more efficiently and rapidly mounted on vehicle body, in a kind of possible embodiment of the application, 6~8 ultrasonic wave thunders
Up to being mounted on the front end and extend on the front bumper of two sides, remaining 6~8 ultrasonic wave thunders
Up to being mounted on the rear end and extend on the rear bumper of two sides.
As shown in figure 3, the ultrasonic radar 10 being symmetrically installed has 12, be mounted on the front end and along far from institute
Stating the ultrasonic radar that the directions of the second central axes 02 is sequentially distributed is respectively the first ultrasonic radar 11 and the second ultrasonic wave thunder
Up to 12, being mounted on the side and being less than the ultrasonic radar 10 at a distance from the rear end at a distance from the front end is the
Three ultrasonic radars 13；Be mounted on the rear end and be sequentially distributed along the direction far from second central axes 02 2 it is super
Sound radar is respectively the 4th ultrasonic radar 14 and the 5th ultrasonic radar 15, be mounted on the side and with the rear end
Distance to be less than the ultrasonic radar 10 at a distance from the front end be the 6th ultrasonic radar 16.
Wherein, as shown in figure 4, the distance between two symmetrical described first ultrasonic radars 11 are first predetermined
Distance d1, first ultrasonic radar 11 are the first preset distance at a distance from adjacent second ultrasonic radar 12
D2, the third ultrasonic radar 13 are third predetermined distance d 3 at a distance from adjacent second ultrasonic radar 12.Such as
Shown in Fig. 5, the distance between symmetrical two described 4th ultrasonic radars 14 are the 4th predetermined distance d 4, the 4th ultrasound
Wave radar 14 is the 5th predetermined distance d 5, the 6th ultrasonic radar at a distance from adjacent the 5th ultrasonic radar 15
16 be the 6th predetermined distance d 6 at a distance from adjacent the 5th ultrasonic radar 15.
In order to enable the ultrasonic radar 10 in sensory perceptual system can more fully perceive the obstacle of Chinese herbaceous peony end and two sides
Object, in a kind of possible embodiment of the application, for first predetermined distance d 1 between 46~54cm, described second is pre-
Set a distance d2 is between 47~55cm, and between 52~60cm, the 4th predetermined distance d 4 exists the third predetermined distance d 3
Between 28~32cm, the 5th predetermined distance d 5 between 44.5~52.5cm, the 6th predetermined distance d 6 46~
Between 54cm.
The ultrasonic radar being symmetrically installed in Fig. 4 and Fig. 5 be respectively positioned on front bumper 70 and rear bumper 80 on.
In order to cooperate with the first ultrasonic radar, the second ultrasonic radar and third ultrasonic radar, so that this 12
Ultrasonic radar can 360 ° of barriers etc. without dead angle perceived around vehicle body, a kind of possible embodiment of the application
In, for the 4th predetermined distance d 4 between 28~32cm, the 5th predetermined distance d 5 is described between 44.5~52.5cm
6th predetermined distance d 6 is between 46~54cm.
The numberical range of these above-mentioned preset distances is only exemplary rather than limitation, in practical application scene, Ke Yigen
It is neatly adjusted according to factors such as the actual size of vehicle body, the sizes of ultrasonic radar.
The ultrasonic radar of the application can be any ultrasonic radar in the prior art, a kind of possible embodiment
In, the ultrasonic radar positioned at the front end and the rear end is autonomous parking auxiliary (Automatic Parking
Assistant, abbreviation APA) ultrasonic radar, the ultrasonic radar positioned at two sides is that ultrasonic wave parking is auxiliary
Help (Ultrasonic Parking Assistant, abbreviation UPA) ultrasonic radar.The detection range one of APA ultrasonic radar
As between 30~500cm, it is bigger compared to the detection range of UPA, but field angle is narrow.The detection of UPA ultrasonic probe
Distance is shorter, but field angle is wider.The application is realized in vehicle front and side using 8 APA ultrasonic radar arrangements
Static, dynamic disorder analyte detection and positioning at a distance are realized in parking stall, front obstacle when outbound and lane are kept is supervised
It surveys.
In actual installation process, need to consider the mounting height of ultrasonic radar, in order to enable sensory perceptual system can
Situations such as barrier around vehicle body is perceived within the scope of the effective height for influencing safe driving, to be further ensured that vehicle
Driving safety, in a kind of possible embodiment of the application, between each ultrasonic radar and the second reference planes away from
From between 50~65cm.
In order to enable sensory perceptual system can perceive the obstacle around vehicle body within the scope of the effective height for influencing safe driving
Situations such as object, so that it is further ensured that the driving safety of vehicle, it is described the first to surpass in a kind of possible embodiment of the application
The distance between sound radar and the second reference planes are 53~61cm, and second ultrasonic radar and described second is with reference to flat
The distance between face is 51~59cm, the distance between the third ultrasonic radar and second reference planes for 54~
62cm；The distance between 4th ultrasonic radar and second reference planes are 51~59cm, the 5th ultrasonic wave
The distance between radar and second reference planes are 51~59cm, and the 6th ultrasonic radar and described second is with reference to flat
The distance between face is 51~59cm, and second reference planes are one far from the bottom 50 of wheel 60 described in Fig. 2
Plane where holding.
Certainly, the distance between these above-mentioned ultrasonic radars and the second reference planes range are only exemplary rather than limit
System, in practical application scene, can neatly be adjusted according to factors such as actual size, the sizes of ultrasonic radar of vehicle body
It is whole.
In actual installation process, the mounting height of ultrasonic radar is not only considered, it is also contemplated that ultrasonic radar
Setting angle so that the ultrasonic radar in sensory perceptual system can more fully perceive vehicle body ambient influence safe driving
Within the scope of effective height situations such as barrier, in a kind of possible embodiment of the application, each ultrasonic radar and
Angle between one reference planes is between 0~15 °.Further, the predetermined angular is between 4~10 °.
More specifically, the angle between first ultrasonic radar and first reference planes is between 9~10 °,
Angle between second ultrasonic radar and first reference planes is between 9~10 °, the third ultrasonic radar
Angle between first reference planes is between 9~10 °.4th ultrasonic radar and first reference planes
Between angle between 4~5 °, angle between the 5th ultrasonic radar and first reference planes 4~5 ° it
Between, the angle between the 6th ultrasonic radar and first reference planes is between 4~5 °, wherein first ginseng
Examining plane is the plane vertical with the short transverse of the vehicle；6th ultrasonic radar is to second central axes side
Inclination and the angle between reference line between 15~25 °, in this way can with further such that blind area reduce or be not present,
In, the direction of the reference line is identical as the short transverse of the vehicle body.
It should be noted that the angular range between above-mentioned these ultrasonic radars and the first reference planes is only example
Rather than limit, it, can be according to factors such as actual size, the sizes of ultrasonic radar of vehicle body neatly in practical application scene
It is adjusted.
It should be noted that the dotted line near camera 20 in described Fig. 1 and Fig. 3 indicates the visual model of camera 20
It encloses.
In another embodiment of the application, a kind of vehicle is provided, as shown in Figure 1 to Figure 3, which includes the sense
Know system.
The vehicle is due to including the sensory perceptual system, so as to which safer efficiently realize that autonomous parking etc. is automatic
Driving technology.
Specifically, during autonomous parking, ultrasonic radar obtain barrier information, the size including barrier with
And specific position etc., the multiple cameras installed on vehicle body can detecte the information to parking stall and lane line, predominantly with
The distance of vehicle, controller plan parking route according to the information of the information of barrier, parking stall and lane line, control vehicle
It parks according to the parking route of planning.
It certainly, can be with during the ultrasonic radar in the application and camera are not only used in autonomous parking
In other driving procedures.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present application, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.The integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In readable storage medium storing program for executing.The storage medium can be read-only memory, disk or CD etc..
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can readily occur in its various change or replacement,
These should all cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of the claim
It protects subject to range.
Claims (11)
1. a kind of sensory perceptual system of vehicle characterized by comprising
Multiple ultrasonic radars are separately mounted to two sides, front-end and back-end of vehicle, each ultrasonic radar and first
Angle between reference planes is predetermined angular, and first reference planes are vertical with the short transverse of the vehicle put down
Face；
At least one camera is mounted on the front end and is located at the ultrasonic radar close to the one of the bottom of the vehicle
Side.
2. sensory perceptual system according to claim 1, which is characterized in that the camera is wide-angle camera, the wide-angle
The angle lens of camera are more than or equal to 180 °, and one of them described wide-angle camera is mounted on the front truck of the vehicle
On board.
3. sensory perceptual system according to claim 1, which is characterized in that the ultrasonic radar has 12~16, wherein 4
A ultrasonic radar is separately mounted on two sides, and 4~6 ultrasonic radars are mounted on the front end, and 4
~6 ultrasonic radars are mounted on the rear end, and each predetermined angular is between 0~15 °.
4. sensory perceptual system according to claim 3, which is characterized in that 12~16 ultrasonic radars are along the second axis
Line is symmetrical arranged, and second central axes are the central axes in the length of wagon direction of the vehicle.
5. sensory perceptual system according to claim 4, which is characterized in that be separately mounted to the institute of the front end and the rear end
Stating ultrasonic radar is APA ultrasonic radar, and the ultrasonic radar for being mounted on two sides is UPA ultrasonic wave thunder
It reaches.
6. sensory perceptual system according to claim 4, which is characterized in that the ultrasonic radar has 12, is mounted on described
Front end and along the ultrasonic radar that is sequentially distributed of direction far from second central axes be respectively the first ultrasonic radar and
Second ultrasonic radar is mounted on the side and is less than the ultrasonic wave at a distance from the rear end at a distance from the front end
Radar is third ultrasonic radar；
Wherein, the distance between two symmetrical described first ultrasonic radars are the first preset distance, described the first to surpass
Sound radar is the second preset distance, the third ultrasonic radar and phase at a distance from adjacent second ultrasonic radar
The distance of adjacent second ultrasonic radar is third preset distance.
7. sensory perceptual system according to claim 6, which is characterized in that first preset distance between 46~54cm,
Second preset distance is between 47~55cm, and the third preset distance is between 52~60cm.
8. sensory perceptual system according to claim 4, which is characterized in that be mounted on the rear end and along far from described second
2 ultrasonic radars that the direction of central axes is sequentially distributed are respectively the 4th ultrasonic radar and the 5th ultrasonic radar, installation
Being less than the ultrasonic radar at a distance from the front end on the side and at a distance from the rear end is the 6th ultrasound
Wave radar,
Wherein, the distance between symmetrical two described 4th ultrasonic radars are the 4th preset distance, the 4th ultrasonic wave
Radar is the 5th preset distance, the 6th ultrasonic radar and adjacent at a distance from adjacent the 5th ultrasonic radar
The distance of 5th ultrasonic radar is the 6th preset distance.
9. sensory perceptual system according to claim 8, which is characterized in that the 4th preset distance between 28~32cm,
5th preset distance is between 44.5~52.5cm, and the 6th preset distance is between 46~54cm.
10. the sensory perceptual system according to any one of claim 3 to 9, which is characterized in that 6~8 ultrasonic radars
It is mounted on the front end and extends on the front bumper of two sides, remaining 6~8 ultrasonic radars
It is mounted on the rear end and extends on the rear bumper of two sides.
11. a kind of vehicle, including sensory perceptual system, which is characterized in that the sensory perceptual system is any one of claims 1 to 10 institute
The sensory perceptual system stated.
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| CN201822241045.4U CN209454640U (en) | 2018-12-28 | 2018-12-28 | The sensory perceptual system and vehicle of vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113850999A (en) * | 2021-09-03 | 2021-12-28 | 杭州海康威视数字技术股份有限公司 | Parking space detection device and camera device with radar for monitoring parking space |
-
2018
- 2018-12-28 CN CN201822241045.4U patent/CN209454640U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113850999A (en) * | 2021-09-03 | 2021-12-28 | 杭州海康威视数字技术股份有限公司 | Parking space detection device and camera device with radar for monitoring parking space |
| CN113850999B (en) * | 2021-09-03 | 2022-11-25 | 杭州海康威视数字技术股份有限公司 | Parking space detection device and camera device with radar for monitoring parking space |
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