JP6649865B2 - 物体検知装置 - Google Patents
物体検知装置 Download PDFInfo
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- JP6649865B2 JP6649865B2 JP2016210555A JP2016210555A JP6649865B2 JP 6649865 B2 JP6649865 B2 JP 6649865B2 JP 2016210555 A JP2016210555 A JP 2016210555A JP 2016210555 A JP2016210555 A JP 2016210555A JP 6649865 B2 JP6649865 B2 JP 6649865B2
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- 238000001514 detection method Methods 0.000 title claims description 69
- 230000035945 sensitivity Effects 0.000 claims description 62
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- 238000003384 imaging method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 13
- 238000013459 approach Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000015654 memory Effects 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 1
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- 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
- B60W40/04—Traffic conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
- G01S7/5276—Extracting wanted echo signals using analogue techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/529—Gain of receiver varied automatically during pulse-recurrence period
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/53—Means for transforming coordinates or for evaluating data, e.g. using computers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9323—Alternative operation using light waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2921—Extracting wanted echo-signals based on data belonging to one radar period
- G01S7/2922—Extracting wanted echo-signals based on data belonging to one radar period by using a controlled threshold
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
- Geophysics And Detection Of Objects (AREA)
Description
Claims (7)
- 車両(50)の周囲に探査波を送信し、その探査波の反射波を受信することで該車両の周囲に存在する物体までの距離を計測する測距センサ(10)と、前記車両の周囲を撮像する車載カメラ(20)とを備える前記車両に適用され、
前記車載カメラにより撮像された撮像画像を取得する画像取得部と、
前記撮像画像に基づいて認識された画像物体に、前記測距センサの反射波による物体検知が困難となる所定物体が含まれているか否かを判定する判定部と、
前記画像物体に前記所定物体が含まれていると判定された場合に、前記測距センサによる物体検知の感度を大きくする感度制御部と、
前記画像物体に前記所定物体が含まれていると判定された場合に、前記車両に対する前記所定物体の相対位置を推定する位置推定部と、
前記所定物体を対象物体として車両制御を実施する車両制御部と、
を備え、
前記車載カメラは、ステレオカメラ又は移動ステレオの原理を用いた単眼カメラであり、
前記感度制御部は、前記画像物体に前記所定物体が含まれていると判定された場合に、前記車両から前記所定物体までの距離方向において前記所定物体の相対位置を含む所定範囲内で、前記感度を大きくするとともに、前記撮像画像の前記所定物体にかかる特徴点の前記距離方向におけるばらつきに基づいて、前記所定範囲の大きさを設定する物体検知装置(30)。 - 前記判定部は、前記画像物体に前記所定物体が含まれているか否かの判定と、前記所定物体の種別判定とを実施するものであって、
前記感度制御部は、前記所定物体の種別に応じて、前記所定範囲を設定する請求項1に記載の物体検知装置。 - 前記車両の移動時において、前記所定物体の相対位置をトラッキングするトラッキング部を備え、
前記位置推定部は、前記トラッキング部によりトラッキングされた前記所定物体の相対位置に基づいて、前記所定物体の相対位置を更新する請求項1又は2に記載の物体検知装置。 - 前記判定部は、前記画像物体に前記所定物体が含まれているか否かの判定と、前記所定物体の種別判定とを実施するものであって、
前記感度制御部は、前記測距センサから出力される信号の強度を比較する検知閾値を下げることで、前記感度を大きくするものであって、前記判定部により判定された前記所定物体の種別に応じて、前記検知閾値を設定する請求項1乃至3のいずれか1項に記載の物体検知装置。 - 前記感度制御部は、前記車両に対する前記所定物体の距離が近いほど、前記感度を大きくする請求項1乃至4のいずれか1項に記載の物体検知装置。
- 前記車両に対する前記所定物体の距離が所定以下となる場合に、前記感度制御部による前記感度の変更を禁止する請求項1乃至5のいずれか1項に記載の物体検知装置。
- 前記感度制御部により前記感度が大きくされた後において、その状態で前記所定物体が検知されていないことを判定する検知判定部を備え、
前記検知判定部により前記所定物体が検知されていないと判定された場合に、前記感度制御部による前記感度の変更を禁止する請求項1乃至6のいずれか1項に記載の物体検知装置。
Priority Applications (5)
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JP2016210555A JP6649865B2 (ja) | 2016-10-27 | 2016-10-27 | 物体検知装置 |
CN201780066668.8A CN109891262B (zh) | 2016-10-27 | 2017-10-10 | 物体探测装置 |
DE112017005447.8T DE112017005447T5 (de) | 2016-10-27 | 2017-10-10 | Objekterfassungsvorrichtung |
PCT/JP2017/036714 WO2018079252A1 (ja) | 2016-10-27 | 2017-10-10 | 物体検知装置 |
US16/345,026 US11014566B2 (en) | 2016-10-27 | 2017-10-10 | Object detection apparatus |
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JP2016210555A JP6649865B2 (ja) | 2016-10-27 | 2016-10-27 | 物体検知装置 |
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JP2018072105A JP2018072105A (ja) | 2018-05-10 |
JP2018072105A5 JP2018072105A5 (ja) | 2018-12-13 |
JP6649865B2 true JP6649865B2 (ja) | 2020-02-19 |
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JP (1) | JP6649865B2 (ja) |
CN (1) | CN109891262B (ja) |
DE (1) | DE112017005447T5 (ja) |
WO (1) | WO2018079252A1 (ja) |
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JP6649865B2 (ja) * | 2016-10-27 | 2020-02-19 | 株式会社Soken | 物体検知装置 |
JP2019178971A (ja) * | 2018-03-30 | 2019-10-17 | パナソニックIpマネジメント株式会社 | 環境地図生成装置、環境地図生成方法、及び環境地図生成プログラム |
JP6735801B2 (ja) * | 2018-10-16 | 2020-08-05 | 三菱電機株式会社 | 物体認識装置およびこれを用いた車両制御装置並びに物体認識方法およびこれを用いた車両制御方法 |
JP2020071182A (ja) | 2018-11-01 | 2020-05-07 | パナソニックIpマネジメント株式会社 | 運転支援装置、車両および運転支援方法 |
JP6811913B2 (ja) * | 2018-11-22 | 2021-01-13 | 三菱電機株式会社 | 障害物検知装置 |
US10956755B2 (en) | 2019-02-19 | 2021-03-23 | Tesla, Inc. | Estimating object properties using visual image data |
JP7147648B2 (ja) * | 2019-03-20 | 2022-10-05 | トヨタ自動車株式会社 | 運転支援装置 |
CN110838125B (zh) * | 2019-11-08 | 2024-03-19 | 腾讯医疗健康(深圳)有限公司 | 医学图像的目标检测方法、装置、设备、存储介质 |
CN111323757B (zh) * | 2019-12-30 | 2022-04-05 | 北京海兰信数据科技股份有限公司 | 一种航海雷达目标检测方法及装置 |
CN113386742B (zh) * | 2021-05-28 | 2023-05-09 | 晋城鸿智纳米光机电研究院有限公司 | 制动辅助系统、方法及汽车 |
CN114627443B (zh) * | 2022-03-14 | 2023-06-09 | 小米汽车科技有限公司 | 目标检测方法、装置、存储介质、电子设备及车辆 |
CN116161051A (zh) * | 2022-12-27 | 2023-05-26 | 小米汽车科技有限公司 | 针对车辆驾驶员的警示方法、装置、设备、介质及车辆 |
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CN109891262B (zh) | 2022-11-11 |
WO2018079252A1 (ja) | 2018-05-03 |
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US11014566B2 (en) | 2021-05-25 |
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