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    • 19. 发明授权
    • Vehicle surroundings monitoring apparatus
    • 车辆周边监控装置
    • US06862527B2
    • 2005-03-01
    • US10629707
    • 2003-07-30
    • Shigekazu OkamuraMinoru Nishida
    • Shigekazu OkamuraMinoru Nishida
    • B60R21/00G01S7/41G01S13/60G01S13/93G01S17/93G08G1/16G06F17/00G01S17/10
    • G01S13/931G01S7/412G01S7/414G01S2013/9325G01S2013/9353G01S2013/9367
    • A laser radar scanningly irradiates electromagnetic waves around a subject vehicle detects the electromagnetic waves reflected from objects around the subject vehicle, and outputs detected distances from the subject vehicle to the objects in the respective directions of scanning irradiation. A recognition unit detects, based on the detection results of the laser radar, a relative position and a relative speed of each of the objects around the subject vehicle with respect to the subject vehicle. The recognition unit stores whether or not detection points data (i.e., a direction of scanning irradiation and a detected distance in that direction) exists and determines attributes such as positions, sizes, etc., of the objects lying around the subject vehicle. In coordination with the recognition unit, an object tracker calculates relative speeds as between the vehicle and detected objects, with particular reference to objects exhibiting a greater difference in relative speed over time.
    • 激光雷达扫描地照射本体车辆周围的电磁波,检测从本车辆周围的物体反射的电磁波,并且将检测出的距离从本车辆输出到扫描照射的各个方向的物体。 识别单元基于激光雷达的检测结果检测本车辆周围的每个物体相对于本车辆的相对位置和相对速度。 识别单元存储检测点数据(即,扫描方向和扫描方向的检测距离)是否存在,并确定位于本车辆周围的物体的位置,尺寸等属性。 与识别单元协调,对象跟踪器计算车辆与被检测物体之间的相对速度,特别是参考相对速度随时间变化较大的物体。