WO2021004062A1 - 驾驶辅助系统 - Google Patents

驾驶辅助系统 Download PDF

Info

Publication number
WO2021004062A1
WO2021004062A1 PCT/CN2020/074682 CN2020074682W WO2021004062A1 WO 2021004062 A1 WO2021004062 A1 WO 2021004062A1 CN 2020074682 W CN2020074682 W CN 2020074682W WO 2021004062 A1 WO2021004062 A1 WO 2021004062A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving assistance
assistance system
processing device
radar wave
radar
Prior art date
Application number
PCT/CN2020/074682
Other languages
English (en)
French (fr)
Inventor
李南辉
郭能安
Original Assignee
威盛电子股份有限公司
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 威盛电子股份有限公司 filed Critical 威盛电子股份有限公司
Publication of WO2021004062A1 publication Critical patent/WO2021004062A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical 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
    • B60R1/20—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
    • B60R1/22—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/24—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 for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical 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
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/08—Rear-view mirror arrangements involving special optical features, e.g. avoiding blind spots, e.g. convex mirrors; Side-by-side associations of rear-view and other mirrors
    • 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

Definitions

  • the present disclosure relates to a driving assistance system, and particularly to a driving assistance system combining radar and image.
  • a good driving assistance system can greatly improve driving safety.
  • some of them use images to be captured and displayed directly to display the surrounding conditions of the car.
  • the car-side photography and display system used on large vehicles is one of them;
  • the present disclosure provides a driving assistance system, which can allow the user to easily know the distances of objects near the vehicle, and assist the user to perform driving behaviors more easily.
  • the present disclosure provides a driving assistance system, which includes a radar wave transmitting and receiving device, a photographing device, a processing device, and a prompting device.
  • the radar wave transmitting and receiving device emits radar waves in a preset direction and receives the reflected radar waves generated after the radar waves are reflected by the object;
  • the photographing device shoots in the same direction to generate images;
  • the processing device calculates and The corresponding position of the object and the information related to the position of the object, and the objects located in the specific range around this position in the image are set as the objects detected by radar;
  • the prompt device is provided according to the processing result of the processing device Information related to the location of the object.
  • the above-mentioned prompting device includes a display device that displays the above-mentioned image and information related to the position of the object generated by the processing device.
  • the above-mentioned information related to the position of the object includes the distance between the object and the specific platform, the relative speed of the object and the specific platform, or the absolute speed of the object.
  • the above-mentioned specific platform is a vehicle equipped with a driving assistance system. Further, the vehicle may be a vehicle.
  • the driving assistance system proposed in the present disclosure can display objects using images and also mark information related to the position of the object, such as the distance between the object and the user and the moving speed of the object, the user is not only It is easy to know whether each detected object will affect itself, as well as the movement of each detected object and the distance from itself. Therefore, the driving assistance system proposed in the present disclosure can enable the user to easily control the surrounding driving environment and make appropriate responses when driving the vehicle.
  • Fig. 1 is a system block diagram of a driving assistance system according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic diagram of the front appearance of a prompt device according to an embodiment of the present disclosure.
  • 10 driving assistance system
  • 23 prompting device
  • 100 radar wave transmitting and receiving device
  • 110 photographing device
  • 120 processing device
  • 130 prompting device
  • 230 display device
  • 232 audio device
  • 234 function selection device
  • 236 Confirmation device
  • 2302, 2304, 2306 box.
  • the driving assistance system 10 includes a radar wave transmitting and receiving device 100, a photographing device 110, a processing device 120, and a prompting device 130.
  • the processing device 120 is electrically coupled to the radar wave transmitting and receiving device.
  • the radar wave transmitting and receiving device 100 is set to transmit radar waves in a certain preset direction and receive reflected radar waves generated after the radar waves are reflected by an object.
  • the photographing device 110 is set to also shoot in the aforementioned preset direction to cover the area covered by radar waves as much as possible within the shooting range, and to perform shooting operations and output shooting when the driving assistance system 10 is operating The resulting image.
  • Both the reflected radar waves received by the radar wave transmitting and receiving device 100 and the images generated by the photographing device 110 are transmitted to the processing device 120.
  • the processing device 120 determines the relative position and displacement of the object and the radar wave transmitting and receiving device 100 based on the difference between the reflected radar wave and the originally emitted radar wave and the receiving angle of the reflected radar wave.
  • the processing device 120 can also perform object recognition on the image and distinguish it according to the distance to briefly determine which interval the distance between each object and the photographing device 110 falls within.
  • the setting staff can set a ruler within the shooting range of the photographing device 110 and take the photograph by the photographing device 110, and then record the position of each ruler, so that it can be used
  • the position of the ruler recorded at this time is divided into blocks of different distances in the images obtained by subsequent shooting.
  • the processing device 120 can try to correspond each object represented by the reflected radar wave to an object in the image on. Since the processing device 120 can obtain the radar prediction position (including distance and angle, etc.) of the object related to the reflected radar wave by reading the reflected radar wave, and the image can be distinguished by the processing device 120 from blocks of different distances, so the processing The device 120 can find a point in the image that represents the predicted position of the radar. Next, the processing device 120 may search for possible objects in an area within a preset range near the point representing the radar predicted position in the image, and set the searched object to correspond to the object reflecting the radar wave object.
  • the various information related to the position of the object obtained after processing by the processing device 120 can be transmitted to the prompting device 130 together with the corresponding image.
  • the processing device 120 integrates the aforementioned information and images related to the position of the object, and then transmits the integrated result to the prompting device 130.
  • the prompting device 130 will perform corresponding prompts according to the information provided by the processing device 120.
  • the prompting device 23 includes a display device 230 for displaying images, an audio device 232 for emitting prompt sound effects, a function selection device 234 for providing function operation menus, and confirmation for selecting targets and confirming. Equipment 236.
  • the display device 230 can display the image provided by the processing device 120 of FIG. 1, and the processing device 120 in this embodiment integrates the information and the image related to the position of the object, and then The integrated result is transmitted to the display device 230. Therefore, the display device 230 can display the position information of each object currently detected while displaying the image.
  • the processing device 120 After processing by the processing device 120, it is found that there is a reflected radar wave showing a non-moving object at a distance of 150 meters on the left, and a tree at the same position at the same distance of 150 meters on the left side of the image Street trees, so the processing device 120 adds appropriate marks to the original image, and therefore causes the display device 230 to frame the sidewalk trees on the left side with a box 2302, and mark the difference between the sidewalk trees generated by the processing device 120 and Location-related information includes: a distance of 150 meters (m) and a moving speed of 0 kilometers per hour (km/hr).
  • the processing device 120 can also process the image in the same way and mark the images in boxes 2304 and 2306 respectively. Different objects, and corresponding information is also marked near the box 2304 and the box 2306.
  • this driving assistance system By installing the above-mentioned driving assistance system on a specific mobile platform, the user can easily obtain the distance between the object in the detection range of the driving assistance system and the mobile platform, the relative speed between the two, or The absolute speed of the detected object can be further obtained according to the moving speed of the mobile platform. Therefore, if this driving assistance system is installed in commonly used mobile vehicles, such as vehicles, ships or airplanes, this driving assistance system will allow the operator to easily obtain information about obstacles, reducing the number of operators in driving operations. The trouble caused by the inability to obtain enough obstacle information.
  • the driving assistance system proposed in the present disclosure can use images to display objects while also marking information related to the position of the object, so users can not only easily know whether each detected object will Affect yourself, and you can also know the movement of each detected object and the distance to yourself. Therefore, the driving assistance system proposed in the present disclosure can enable the user to easily control the surrounding driving environment and make appropriate responses when driving the vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

一种驾驶辅助系统，包括雷达波发射接收装置(100)、摄影装置(110)、处理装置(120)以及提示装置(130)。雷达波发射接收装置(100)朝预设方向发射雷达波并接收雷达波被物体反射后所产生的反射雷达波；摄影装置(110)朝同样的方向进行拍摄而产生影像；处理装置(120)根据反射雷达波计算出与此物体对应的位置及与此物体的位置相关的信息，且将影像中位于此位置周围的特定范围内的物件设定为被雷达侦测到的物体；提示装置(130)根据处理装置(120)的处理结果而提供与物体的位置相关的信息。由此，可以令使用者在驾驶载具时轻易地掌控四周的驾驶环境并进行适当的应对。

Description

驾驶辅助系统 技术领域
本公开有关于一种驾驶辅助系统，特别有关于一种结合雷达与影像的驾驶辅助系统。
背景技术
在复杂的行车环境中，一个良好的驾驶辅助系统可以大幅度的提升行车的安全性。在现有的驾驶辅助系统中，有一部分是采用拍摄影像并直接显示的方式来显示车子附近的状况，例如在大型车辆上使用的车侧摄影及显示系统就是其一；另一部分则以合并多个影像的方式来扩大可视范围，例如现在常见的环景系统；此外也有利用简易雷达侦测附近物体距离并以警示音进行提醒的系统，例如倒车雷达等。
然而，现有的各种驾驶辅助系统在使用上都存在很大的缺陷。以显示影像类型的驾驶辅助系统来说，使用者虽然可以从影像上看到车辆附近的物体，但在没有适当参照物的状况下，使用者很难判断出物体与车辆之间的距离；而以警示音表示物体距离的驾驶辅助系统则无法让使用者得知接近的物体是否会影响到行车安全，有时候反而会造成行车上的困扰。
发明内容
有鉴于此，本公开提供一种驾驶辅助系统，其可令使用者轻松知悉车辆附近物体的远近距离，辅助使用者能够更轻松的进行驾驶行为。
从一个方面来看，本公开提供一种驾驶辅助系统，此驾驶辅助系统包括雷达波发射接收装置、摄影装置、处理装置以及提示装置。其中，雷达波发射接收装置朝预设方向发射雷达波并接收雷达波被物体反射后所产生的反射雷达波；摄影装置朝同样的方向进行拍摄而产生影像；处理装置根据反射雷达波计算出与此物体对应的位置及与此物体的位置相关的信息，且将影像中位于此位置周围的特定范围内的物件设定为被雷达侦测到的物体；提示装置根据处理装置的处理结果而提供与物体的位置相关的信息。
在一个实施例中，上述的提示装置包括显示设备，此显示设备显示上 述影像以及由处理装置所产生的与物体的位置相关的信息。
在一个实施例中，上述与物体的位置相关的信息包括物体与特定平台的距离、物体与特定平台的相对速度或物体的绝对速度。
在一个实施例中，上述的特定平台为安装驾驶辅助系统的载具。进一步的，此载具可以为车辆。
根据上述，由于本公开所提出的驾驶辅助系统可以在利用影像显示物体的同时也标示出与此物体的位置相关的信息，例如物体与使用者的距离以及物体的移动速度等，所以使用者不但可以轻易的知悉每一个被侦测到的物体究竟是否会对自身造成影响，还可以获知每一个被侦测到的物体的动向以及与自身的距离。因此，本公开提出的驾驶辅助系统可以令使用者在驾驶载具时轻易地掌控四周的驾驶环境并进行适当的应对。
附图说明
图1为根据本公开一实施例的驾驶辅助系统的系统方块图。
图2为根据本公开一实施例的提示装置的正面外观示意图。
其中，附图中符号的简单说明如下：
10：驾驶辅助系统；23：提示装置；100：雷达波发射接收装置；110：摄影装置；120：处理装置；130：提示装置；230：显示设备；232：音频设备；234：功能选择设备；236：确认设备；2302、2304、2306：方框。
具体实施方式
请参照图1，其为根据本公开一实施例的驾驶辅助系统的系统方块图。在本实施例中，驾驶辅助系统10包括了一个雷达波发射接收装置100、一个摄影装置110、一个处理装置120以及一个提示装置130，其中，处理装置120分别电性耦接至雷达波发射接收装置100、摄影装置110以及提示装置130。雷达波发射接收装置100被设定为朝着某一个预设方向发射雷达波并接收雷达波被物体反射后所产生的反射雷达波。摄影装置110被设定为同样朝着前述的预设方向进行拍摄以尽可能的将雷达波笼罩的区域都涵盖至拍摄的范围内，并在驾驶辅助系统10运作的时候进行拍摄操作并输出拍摄所产生的影 像。
被雷达波发射接收装置100所接收的反射雷达波以及摄影装置110所产生的影像都会被传递至处理装置120。处理装置120通过反射雷达波与原本发出的雷达波之间的差异以及反射雷达波的接收角度来判断物体与雷达波发射接收装置100的相对位置及位移状况。同时，处理装置120也可以对影像进行物件识别并按照距离进行区分以简略判断各物件与摄影装置110之间的距离约略落在哪一个区间。举例来说，在安装好摄影装置110之后，设定人员可以通过在摄影装置110的拍摄范围内设置尺标并由摄影装置110进行拍摄，然后再记录各尺标所在的位置，如此即可利用此时记录的尺标位置在后续拍摄所得的影像中划分出不同距离的区块。
通过判读反射雷达波的位置以及辨识影像中的物件所在位置(后称为雷达预判位置)之后，处理装置120可以尝试将每一个反射雷达波所代表的物体对应到存在于影像中的一个物件上。由于处理装置120可以经由读取反射雷达波而获得与反射雷达波相关的物体的雷达预判位置(包含距离及角度等)，而且影像可以被处理装置120区分出不同距离的区块，因此处理装置120可以在影像中找到代表雷达预判位置的点。接下来，处理装置120可以在影像中代表雷达预判位置的点的附近一段预设范围以内的区域寻找可能的物件，并将寻找到的物件设定为与反射雷达波的物体相对应的对应物件。
前述经过处理装置120处理之后所得到的各种与物体的位置相关的信息，包括但不限于物体的距离、角度以及相对位移速度等，可以被连同对应的影像一起传送到提示装置130。甚或，在某些实施例方式中，处理装置120会将前述与物体的位置相关的信息及影像整合在一起，然后再把整合后的结果传送到提示装置130。最终，提示装置130会根据处理装置120所提供的信息来进行对应的提示。
请一并参照图2，其为根据本公开一实施例的提示装置的正面外观示意图。在本实施例中，提示装置23包括了用以显示影像的显示设备230、用以发出提示音效的音频设备232、用以提供功能操作菜单的功能选择设备234以及用以选择目标及确认的确认设备236。如图2所示，显示设备230可以显示由图1的处理装置120所提供的影像，而且在本实施例中的处理装置120会将与物体的位置相关的信息及影像整合在一起，然后再把整合后的结果传送到 显示设备230。于是，显示设备230在显示影像的同时，还可以显示目前侦测到的各物件的位置信息。例如，经过处理装置120的处理之后发现，有一道反射雷达波显示在左侧距离150公尺处存在的不移动的物体，同时在影像左侧同样距离150公尺的同样位置处辨识出一棵行道树，于是处理装置120在原本的影像中加入适当的标示，并因此使得显示设备230将偏左侧处的行道树以方框2302框出，并在其中标示由处理装置120所产生的与行道树的位置相关的信息，包括：距离为150公尺(m)以及移动速度为每小时0公里(km/hr)。类似的，当处理装置120判读其它的反射雷达波而发现在其侦测范围内存在其它物体，处理装置120也可依照同样的方式处理影像而分别以方框2304及方框2306标示出影像中不同的物件，并且同样在方框2304及方框2306的附近标示出对应的信息。
通过将上述的驾驶辅助系统安装在特定的移动平台上，使用者就可以轻易的得到位于驾驶辅助系统侦测范围内的物体与此移动平台之间的距离、两者之间的相对速度，或者还可以进一步依照移动平台的移动速度而获知所侦测到的物体的绝对速度。因此，若将此驾驶辅助系统安装在常用的移动载具，例如：车辆、船只或飞机，此驾驶辅助系统将可以让操作人员很轻松的获得障碍物的相关信息，减少操作人员在驾驶操作时因为无法取得足够的障碍物信息而产生的困扰。
综合上述，本公开所提出的驾驶辅助系统可以在利用影像显示物体的同时也标示出与此物体的位置相关的信息，所以使用者不但可以轻易的知悉每一个被侦测到的物体究竟是否会对自身造成影响，还可以获知每一个被侦测到的物体的动向以及与自身的距离。因此，本公开提出的驾驶辅助系统可以令使用者在驾驶载具时轻易地掌控四周的驾驶环境并进行适当的应对。
以上所述仅为本公开较佳实施例，然其并非用以限定本公开的范围，任何熟悉本项技术的人员，在不脱离本公开的精神和范围内，可在此基础上做进一步的改进和变化，因此本公开的保护范围当以本申请的权利要求书所界定的范围为准。

Claims (5)

  1. 一种驾驶辅助系统，其特征在于，包括：
    雷达波发射接收装置，朝预设方向发射雷达波并接收该雷达波被物体反射后所产生的反射雷达波；
    摄影装置，朝该预设方向进行拍摄而产生影像；
    处理装置，电性耦接至该雷达波发射接收装置及该摄影装置，其中，该处理装置根据该反射雷达波计算该物体的雷达预判位置，且该处理装置将该影像中位于该雷达预判位置的周围的预设范围内所涵盖的物件设定为该物体的对应物件，并根据该反射雷达波计算与该物体的位置相关的信息；以及
    提示装置，电性耦接至该处理装置以根据该处理装置的处理结果而提示与该物体的位置相关的信息。
  2. 根据权利要求1所述的驾驶辅助系统，其中该提示装置包括显示设备，该显示设备显示该影像以及由该处理装置所产生的与该物体的位置相关的信息。
  3. 根据权利要求1所述的驾驶辅助系统，其中与该物体的位置相关的信息包括该物体与特定平台的距离、该物体与该特定平台的相对速度或该物体的绝对速度。
  4. 根据权利要求3所述的驾驶辅助系统，其中该特定平台为安装该驾驶辅助系统的载具。
  5. 根据权利要求4所述的驾驶辅助系统，其中该载具为车辆。
PCT/CN2020/074682 2019-07-09 2020-02-11 驾驶辅助系统 WO2021004062A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962871812P 2019-07-09 2019-07-09
US62/871,812 2019-07-09

Publications (1)

Publication Number Publication Date
WO2021004062A1 true WO2021004062A1 (zh) 2021-01-14

Family

ID=71134218

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/074682 WO2021004062A1 (zh) 2019-07-09 2020-02-11 驾驶辅助系统

Country Status (2)

Country Link
TW (1) TWM593950U (zh)
WO (1) WO2021004062A1 (zh)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5617085A (en) * 1995-11-17 1997-04-01 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for monitoring the surroundings of a vehicle and for detecting failure of the monitoring apparatus
CN107798306A (zh) * 2017-11-01 2018-03-13 湖南星云智能科技有限公司 一种智能驾驶和远程可视化智能定损系统及方法
CN107972584A (zh) * 2017-11-23 2018-05-01 广东菲柯特电子科技有限公司 一种基于无线雷达和全景影像的辅助驾驶系统
CN207704502U (zh) * 2018-01-10 2018-08-07 重庆工业职业技术学院 多功能行车记录系统
CN108922188A (zh) * 2018-07-24 2018-11-30 河北德冠隆电子科技有限公司 雷达跟踪定位的四维实景交通路况感知预警监控管理系统
CN108944680A (zh) * 2018-05-21 2018-12-07 苏州工业园区职业技术学院 一种基于环视系统的雷达辅助行车系统
CN109085598A (zh) * 2018-08-13 2018-12-25 吉利汽车研究院（宁波）有限公司 用于车辆的障碍物探测系统
CN109255857A (zh) * 2018-08-23 2019-01-22 江苏罗思韦尔电气有限公司 一种带安全预警功能的记录仪

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5617085A (en) * 1995-11-17 1997-04-01 Mitsubishi Denki Kabushiki Kaisha Method and apparatus for monitoring the surroundings of a vehicle and for detecting failure of the monitoring apparatus
CN107798306A (zh) * 2017-11-01 2018-03-13 湖南星云智能科技有限公司 一种智能驾驶和远程可视化智能定损系统及方法
CN107972584A (zh) * 2017-11-23 2018-05-01 广东菲柯特电子科技有限公司 一种基于无线雷达和全景影像的辅助驾驶系统
CN207704502U (zh) * 2018-01-10 2018-08-07 重庆工业职业技术学院 多功能行车记录系统
CN108944680A (zh) * 2018-05-21 2018-12-07 苏州工业园区职业技术学院 一种基于环视系统的雷达辅助行车系统
CN108922188A (zh) * 2018-07-24 2018-11-30 河北德冠隆电子科技有限公司 雷达跟踪定位的四维实景交通路况感知预警监控管理系统
CN109085598A (zh) * 2018-08-13 2018-12-25 吉利汽车研究院（宁波）有限公司 用于车辆的障碍物探测系统
CN109255857A (zh) * 2018-08-23 2019-01-22 江苏罗思韦尔电气有限公司 一种带安全预警功能的记录仪

Also Published As

Publication number Publication date
TWM593950U (zh) 2020-04-21

Similar Documents

Publication Publication Date Title
JP6926917B2 (ja) オフライン検証システム
KR102614323B1 (ko) 수동 및 능동 측정을 이용한 장면의 3차원 지도 생성
US10099609B2 (en) Machine safety dome
JP4475308B2 (ja) 表示装置
JP3779280B2 (ja) 衝突予測装置
KR100521119B1 (ko) 차량용 장애물 검출장치
WO2014167700A1 (ja) 移動ロボット、及び、音源位置推定システム
JP4556742B2 (ja) 車両直下画像表示制御装置および車両直下画像表示制御プログラム
US10885353B2 (en) Information processing apparatus, moving object, information processing method, and computer program product
WO2018043028A1 (ja) 周辺監視装置及び周辺監視方法
JPWO2013140557A1 (ja) ナビゲーションシステム
KR102033118B1 (ko) 작업 현장의 위험을 경고하기 위한 장치, 이를 위한 방법 및 이 방법을 수행하는 프로그램이 기록된 컴퓨터 판독 가능한 기록매체
JP2007028363A (ja) トップビュー画像生成装置及びトップビュー画像表示方法
JP5446559B2 (ja) 車両位置演算装置及び車両位置演算方法
KR20180086794A (ko) 차량 주변의 객체를 나타내는 영상을 생성하는 방법 및 장치.
WO2021004062A1 (zh) 驾驶辅助系统
US9080723B2 (en) Personnel classification and response system
JP2021135149A (ja) 動的物標検出システム、動的物標検出方法、及びコンピュータが実行可能なプログラム
JP2007333616A (ja) レーダ計測システム
KR101373855B1 (ko) 번호인식기술을 활용한 과속감지 및 단속시스템
WO2021024685A1 (ja) 情報処理装置、情報処理方法及び情報処理プログラム
JP2019114183A (ja) 警告システム
JP4506299B2 (ja) 車両周辺監視装置
KR101566782B1 (ko) 정지선 및 속도 제한 위반 단속 시스템 및 그 제어방법
KR101824042B1 (ko) 카메라 일체형 레이저 검지 장치 및 그의 동작 방법

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20836469

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20836469

Country of ref document: EP

Kind code of ref document: A1