MX2020012215A - Metodo y aparato para operar un sistema de camara-monitor para un vehiculo motorizado. - Google Patents

Metodo y aparato para operar un sistema de camara-monitor para un vehiculo motorizado.

Info

Publication number
MX2020012215A
MX2020012215A MX2020012215A MX2020012215A MX2020012215A MX 2020012215 A MX2020012215 A MX 2020012215A MX 2020012215 A MX2020012215 A MX 2020012215A MX 2020012215 A MX2020012215 A MX 2020012215A MX 2020012215 A MX2020012215 A MX 2020012215A
Authority
MX
Mexico
Prior art keywords
camera
motor vehicle
monitor system
operating
image
Prior art date
Application number
MX2020012215A
Other languages
English (en)
Inventor
Andreas Weinlich
Thomas Smits
Original Assignee
Continental Automotive Tech Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Continental Automotive Tech Gmbh filed Critical Continental Automotive Tech Gmbh
Publication of MX2020012215A publication Critical patent/MX2020012215A/es

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22Display screens
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/30Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B60R11/0229Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof for displays, e.g. cathodic tubes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/166Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00Television systems
    • H04N7/18Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30Services specially adapted for particular environments, situations or purposes
    • H04W4/40Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/46Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16Type of output information
    • B60K2360/176Camera images
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20Optical features of instruments
    • B60K2360/21Optical features of instruments using cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/20Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
    • B60R2300/202Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/301Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/304Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images
    • B60R2300/305Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using merged images, e.g. merging camera image with stored images merging camera image with lines or icons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/306Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using a re-scaling of images
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/307Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/50Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/8093Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for obstacle warning

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Instrument Panels (AREA)
  • Image Analysis (AREA)

Abstract

Un método para operar un sistema de cámara-monitor (100) para un vehículo de motor (101), en el que el sistema de cámara-monitor (100) tiene una cámara (102) que está diseñada para proporcionar una imagen de un entorno (105) del vehículo de motor (101) y tiene un monitor (104) para representar imágenes de la cámara (102), comprende: - proporcionar una imagen (201) de la cámara (102), - determinar un objeto de interés para la atención (103) en el entorno (105), - cambiar temporalmente por lo menos una propiedad de representación de la imagen (201) dependiendo del objeto determinado (103) para formar una imagen modificada (202). - representar la imagen modificada (202) en el monitor (102).
MX2020012215A 2018-05-17 2019-05-07 Metodo y aparato para operar un sistema de camara-monitor para un vehiculo motorizado. MX2020012215A (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102018207762 2018-05-17
DE102018209192.7A DE102018209192B3 (de) 2018-05-17 2018-06-08 Verfahren und Vorrichtung zum Betreiben eines Kamera-Monitor-Systems für ein Kraftfahrzeug
PCT/EP2019/061624 WO2019219440A1 (de) 2018-05-17 2019-05-07 Verfahren und vorrichtung zum betreiben eines kamera-monitor-systems für ein kraftfahrzeug

Publications (1)

Publication Number Publication Date
MX2020012215A true MX2020012215A (es) 2021-01-29

Family

ID=66179169

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2020012215A MX2020012215A (es) 2018-05-17 2019-05-07 Metodo y aparato para operar un sistema de camara-monitor para un vehiculo motorizado.

Country Status (9)

Country Link
US (1) US11766971B2 (es)
EP (1) EP3794500A1 (es)
JP (1) JP2021524105A (es)
KR (1) KR102468922B1 (es)
CN (1) CN112119398B (es)
CA (1) CA3097948A1 (es)
DE (1) DE102018209192B3 (es)
MX (1) MX2020012215A (es)
WO (1) WO2019219440A1 (es)

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* Cited by examiner, † Cited by third party
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DE102018209192B3 (de) * 2018-05-17 2019-05-09 Continental Automotive Gmbh Verfahren und Vorrichtung zum Betreiben eines Kamera-Monitor-Systems für ein Kraftfahrzeug
EP4149809B1 (en) * 2020-05-12 2023-10-11 C.R.F. Società Consortile per Azioni Motor-vehicle driving assistance in low meteorological visibility conditions, in particular with fog
JP7484591B2 (ja) * 2020-08-31 2024-05-16 トヨタ自動車株式会社 表示制御装置、表示制御方法及び表示制御プログラム
IT202100020852A1 (it) * 2021-08-03 2023-02-03 X Ender S R L Metodo di integrazione alla vista per un utente
DE102022105187B4 (de) 2022-03-04 2024-06-20 Audi Aktiengesellschaft Verfahren zum Darstellen einer Umgebung eines Fahrzeugs und Anzeigesystem

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JP4696339B2 (ja) * 2000-07-11 2011-06-08 マツダ株式会社 車両の制御装置
DE102005020772A1 (de) * 2005-05-02 2006-11-09 Siemens Ag Anzeigesystem zur Darstellung der Umgebung eines Kraftfahrzeuges
DE102006012773A1 (de) 2006-03-17 2006-11-30 Daimlerchrysler Ag Virtuelles Spotlight zur Kennzeichnung von interessierenden Objekten in Bilddaten
JP4940767B2 (ja) * 2006-06-05 2012-05-30 マツダ株式会社 車両周辺情報報知装置
DE102008017833A1 (de) 2008-02-06 2009-08-20 Daimler Ag Verfahren zum Betrieb einer Bildaufnahmevorrichtung und eine Bildaufnahmevorrichtung
JP2009205268A (ja) 2008-02-26 2009-09-10 Honda Motor Co Ltd 障害物表示装置
JP2011180873A (ja) * 2010-03-02 2011-09-15 Panasonic Corp 運転支援装置、及び運転支援方法
DE102012002149B3 (de) 2012-02-04 2013-06-20 Audi Ag Verfahren zur Visualisierung des Umfelds eines Kraftfahrzeugs und zugehöriges Kraftfahrzeug
DE102012006679A1 (de) * 2012-03-31 2012-09-20 Daimler Ag Verfahren zum Erfassen und Darstellen einer Fahrzeugumgebung eines Fahrzeugs
EP2903878B1 (de) * 2012-10-01 2022-09-21 Continental Autonomous Mobility Germany GmbH Verfahren zur unterstützung eines fahrers an einer ampel für ein fahrzeug
US9576208B2 (en) * 2013-12-11 2017-02-21 Continental Automotive Systems, Inc. Emergency vehicle detection with digital image sensor
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KR20170036077A (ko) * 2014-07-24 2017-03-31 엠.브루베이커 커티스 모바일 광고, 미디어, 및 통신 플랫폼에 크리티컬 매스를 발생시키기 위한 시스템, 방법, 및 디바이스
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DE102018209192B3 (de) * 2018-05-17 2019-05-09 Continental Automotive Gmbh Verfahren und Vorrichtung zum Betreiben eines Kamera-Monitor-Systems für ein Kraftfahrzeug
CN114942453A (zh) * 2019-03-08 2022-08-26 欧司朗股份有限公司 Lidar传感器系统、用于该系统的光学部件、传感器和方法

Also Published As

Publication number Publication date
DE102018209192B3 (de) 2019-05-09
KR102468922B1 (ko) 2022-11-21
JP2021524105A (ja) 2021-09-09
US11766971B2 (en) 2023-09-26
EP3794500A1 (de) 2021-03-24
WO2019219440A1 (de) 2019-11-21
US20210061184A1 (en) 2021-03-04
CN112119398A (zh) 2020-12-22
CA3097948A1 (en) 2019-11-21
CN112119398B (zh) 2024-06-04
KR20200142571A (ko) 2020-12-22

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