WO2008041497A1 - Alarm device for vehicle and alarm method for vehicle - Google Patents
Alarm device for vehicle and alarm method for vehicle Download PDFInfo
- Publication number
- WO2008041497A1 WO2008041497A1 PCT/JP2007/068304 JP2007068304W WO2008041497A1 WO 2008041497 A1 WO2008041497 A1 WO 2008041497A1 JP 2007068304 W JP2007068304 W JP 2007068304W WO 2008041497 A1 WO2008041497 A1 WO 2008041497A1
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- WIPO (PCT)
- Prior art keywords
- alarm
- vehicle
- unit
- driver
- obstacle
- Prior art date
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/18—Eye characteristics, e.g. of the iris
- G06V40/19—Sensors therefor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30264—Parking
Definitions
- the present invention relates to a vehicle alarm device and a vehicle alarm method.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2001-199296 (Page 6-10, FIG. 1)
- the present invention has been made in view of such conventional problems, and it is an object of the present invention to provide a vehicular alarm device and a vehicular alarm method capable of appropriately issuing a warning to a driver. Do.
- the alarm device for a vehicle comprises an obstacle detection unit for detecting an obstacle located behind the vehicle, and the obstacle detection unit.
- an alarm output unit that outputs an alarm
- a mirror that reflects the image of the obstacle
- a gaze direction discrimination unit that discriminates the gaze direction of the driver of the vehicle
- the gaze direction discrimination A determination unit that determines whether or not the driver's gaze is directed toward the mirror based on the gaze direction determined by the unit; and the alarm output according to the determination result of the determination unit.
- a warning level setting unit for setting the level of the warning output from the unit.
- the determination unit determines whether the line of sight of the driver is directed to the mirror or not based on the line of sight direction determined by the line of sight direction determining unit.
- the alarm level setting unit determines the degree to which the line of sight of the person is pointing in the direction of the mirror; The level of the alarm output by the alarm output unit may be set based on the degree determined by the determination unit.
- the alarm level setting unit may reduce the level of the alarm output from the alarm output unit when the degree is increased.
- the determination unit may determine whether the driver's gaze is directed to the mirror! /, Based on the time that the driver's gaze is directed to the mirror.
- the obstacle detection unit detects the obstacle and acquires position information of the obstacle with respect to the host vehicle, and the determination unit determines the driver as determined by the gaze direction determination unit.
- the obstacle is reflected in the mirror based on the direction of the line of sight, the area reflected in the mirror, and the determined area and the position information acquired by the obstacle detection unit. If the line of sight of the driver faces in the direction of the mirror! /, The degree of! /, May be determined based on the determined proportion! /, .
- the apparatus further comprises a storage unit storing a table in which the level of the alarm output by the alarm output unit is set, and the alarm level setting unit refers to the table stored in the storage unit to determine the alarm. You may set the level of
- the information processing apparatus may further include an operation information acquisition unit that acquires operation information when the driver of the host vehicle operates the turn signal, and the alarm level setting unit acquires the operation information acquired by the operation information acquisition unit.
- the level of the alarm output by the alarm output unit may be set in consideration of the above.
- the warning level setting unit determines that the warning output unit outputs the most warning. You may set it to a high level! /.
- An alarm device for a vehicle detects an obstacle located behind the vehicle and measures the distance between the vehicle and the detected obstacle.
- the alarm output unit outputs based on a detection unit, an alarm output unit that outputs an alarm when the obstacle is detected by the obstacle detection unit, and the distance measured by the obstacle detection unit.
- an alarm level setting unit that sets an alarm level.
- an obstacle inspection for detecting an obstacle located behind the own vehicle And an alarm output step for outputting an alarm when the obstacle is detected, a line-of-sight direction determination step for determining the line-of-sight direction of the driver of the vehicle, and the determined line-of-sight direction.
- an alarm level setting step of setting for setting.
- an alarm can be appropriately output to the driver.
- FIG. 1 is a block diagram showing a configuration of a vehicle alarm device according to an embodiment of the present invention.
- FIG. 2 is a view for explaining an outline operation of the alarm device for a vehicle shown in FIG. 1;
- FIG. 3 is a diagram showing the configuration of the vehicle.
- FIG. 4 is a diagram for explaining detection of another vehicle.
- FIG. 5 is a view showing a table for setting an alarm level.
- FIG. 6 is a diagram showing the operation of acquiring the face direction and the gaze direction of the driver, in which (a) shows the reference face and eyes and (b) shows the face only sideways The state is shown, and (c) shows the state when the face and the eye are turned to the side.
- FIG. 7 A diagram showing an operation of acquiring the line of sight of the driver.
- FIG. 8 is a diagram showing an operation of specifying a mirror reflection area.
- FIG. 9 is a diagram for explaining the amount of reflection of other vehicles.
- FIG. 10 is a flowchart showing a vehicle alarm process executed by the CPU shown in FIG. 1;
- FIG. 11 is a view showing a specific operation (1) of the alarm device for a vehicle.
- FIG. 12 A diagram showing an alarm level in the case of the specific operation (1) shown in FIG. 11, (a) shows an alarm level of voice output from a speaker, (b) shows a display unit Indicates the message to be displayed.
- FIG. 13 is a view showing a specific operation (2) of the alarm device for a vehicle.
- FIG. 14 A diagram showing an alarm level in the case of the specific operation (2) shown in FIG. 13, (a) shows an alarm level of voice output from a speaker, (b), (c) , The message displayed by the display unit An example of the page is shown.
- FIG. 1 The configuration of the alarm device for a vehicle according to the present embodiment is shown in FIG.
- the alarm device 1 for a vehicle includes a radar 11, a camera 12, an image processing unit 13, and the like.
- Operation information acquisition unit 14 display unit 15, speaker 16, time measurement unit 17, RAM 18,
- the ROM 19 and the CPU 20 are provided.
- the vehicle alarm device 1 allows the driver of the own vehicle 41 to approach the other vehicle 42. An alarm is issued when it is determined that the vehicle is not recognized.
- the alarm device 1 for a vehicle is configured to set the level (alarm level) of the alarm to be output according to the degree that the driver recognizes the other vehicle 42 in order to appropriately issue the alarm. ing.
- door mirrors 51L and 51R for reflecting the image of the other vehicle 42 are provided on the left and right of the own vehicle 41, respectively, for the driver 2 to confirm the rear of the own vehicle 41.
- the radar 11 detects the other vehicle 42 as an obstacle approaching from behind, measures the distance between the own vehicle 41 and the other vehicle 42, and detects the position information of the other vehicle 42 relative to the own vehicle 41.
- a laser radar, a millimeter wave radar, an ultrasonic radar, a doppler sound wave radar or the like is used.
- the radar 11 is attached to the rear of the vehicle 41 as shown in FIG.
- the radar 11 detects, for example, another vehicle 42 in the right and rear of the own vehicle 41 within the range of the detection angle ⁇ 1 and, as its position information, for example, The distance in the direction orthogonal to the rear side surface of the car 41 (for example, 10 m) and the distance in the direction orthogonal to the right side surface of the vehicle 41 (for example, 3 m) are detected.
- the radar 11 detects the other vehicle 42, the radar 11 supplies the CPU 20 with distance information between the own vehicle 41 and the other vehicle 42, together with information indicating that the other vehicle 42 has been detected, to the CPU 20.
- the camera 12 is for photographing the face of the driver 2 of the host vehicle 41.
- the camera 12 is attached to the rod 53 of the handle, as shown in FIG.
- the image processing unit 13 performs image processing on the face image of the driver 2 obtained by the camera 12 by photographing.
- the image processing unit 13 binarizes the face image as image processing to generate a binary image, and further performs edge processing to generate an edge image.
- the image processing unit 13 acquires a face image in which at least the outline of the face, the eyes, and the nose are represented by edges as general feature points of the driver 2.
- the image processing unit 13 obtains the pupil center of the driver 2 and the Purkinje image from the face image of the driver 2.
- Purkinje's image is an image of a point light source (camera) reflected on the surface of the eye
- the vehicle 41 further includes a motor 51 M, switches 51 S and 52 S, and a seat position sensor 54.
- the motor 51M is a motor for driving the door mirrors 51L, 51R vertically and horizontally, and is equipped with an encoder for detecting a rotational angle.
- the switch 51S is a switch for driving the door mirrors 51L and 51R, and is operated by the driver 2. Power supply (not shown) and the motor 51M.
- the switch 52S is a switch for operating when the driver 2 makes a lane change.
- the power supply When operated by the driver 2, the power supply is connected to the left direction win force 52Lf, 52Lb or the right direction win force 52Rf, 52Rb.
- the seat position sensor 54 is for detecting the position of the seat of the driver 2 with respect to the camera 12.
- the operation information acquisition unit 14 acquires operation information of the driver 2.
- the operation information acquisition unit 14 detects the rotation angle of the motor 51M when the driver 2 operates the switch 51S, thereby detecting the upper, lower, left, and right angles of the door mirrors 51L, 51R.
- the operation information acquisition unit 14 also acquires operation information when the driver 2 operates the switch 52S. In addition, the operation information acquisition unit 14 acquires sheet position information from the sheet position sensor 54. The operation information acquisition unit 14 supplies the operation information to the CPU 20.
- the display unit 15 includes, for example, a liquid crystal display and performs various displays, and is used as an alarm device with a display for alerting the driver 2 of the host vehicle 41.
- the display unit 15 may be for a car navigation device.
- the display unit 15 is controlled by the CPU 20 and performs display according to the set alarm level as an alarm output.
- the speaker 16 emits car audio and radio sound, and is used as an alarm device by sound.
- the speaker 16 is controlled by the CPU 20 and outputs an alarm at a volume according to the set alarm level.
- the time measuring unit 17 measures time.
- the RAM 18 is a working memory for storing data necessary for the CPU 20 to perform processing.
- the ROM 19 is for storing data such as a program for the CPU 20 to execute processing and message data.
- the ROM 19 stores program data of vehicle alarm processing described later as program data.
- the ROM 19 stores a table for setting alarm levels as shown in FIG.
- the amount of reflection X indicates the percentage (%) in which other vehicles are reflected with respect to the reflection area of the door mirror 51L or 51R (the area reflected on the door mirror 51L or 51R viewed by the driver 2).
- the gaze time t is a time when the line of sight of the driver 2 is directed to the door mirror 51L or 51R. This gaze time t may be the time when the line of sight of the driver 2 is continuously directed toward the door mirror 51L or 51R! /, And the total time of the time frequently turned to a certain time It may be
- This table shows the relationship between the reflection amount X and the fixation time t and the alarm level, and the alarm level is set to 0 to 10. And the smaller this number, the lower the alarm level.
- the CPU 20 is for controlling the alarm device 1 for a vehicle.
- the CPU 20 determines the line-of-sight direction ⁇ ⁇ 2 of the driver 2 shown in FIG. In order to determine the line-of-sight direction 2 of the driver 2, the CPU 20 acquires an edged face image of the driver 2 from the image processing unit 13.
- the ROM 19 stores in advance the correspondence between the face angle of the driver 2 and the face image.
- the CPU 20 refers to the correspondence relationship stored in the ROM 19 to acquire the face angle.
- the CPU 20 calculates the angle of the eye of the driver 2.
- the face angle is based on the position of the camera 12 and the eye angle is based on the face direction.
- the CPU 20 calculates the angle of the line of sight from the relative positional relationship between the pupil center and the Purkinje image acquired by the image processing unit 13.
- the CPU 20 determines the line of sight from the positional relationship between the central coordinates O of the pupil 63 in the image and the central coordinates of the Purkinje image 64. Calculate the direction ⁇ 2.
- the CPU 20 determines the final driver 2's gaze direction based on the face angle and the eyeball angle. Determine ⁇ 2.
- the CPU 20 determines that the line of sight of the driver 2 does not point in any direction of the door mirrors 51L and 51R, the CPU 20 refers to the table of the ROM 19.
- the alarm level is 10 regardless of the ratio of the reflection amount X.
- the CPU 20 sets the alarm level to 10.
- the CPU 20 sets the alarm level. The degree to which the line of sight of the driver 2 points in the direction of the door mirror 51L or 51R is determined.
- the CPU 20 reflects the reflection amount X of the other vehicle 42 against the mirror reflection area and the driver 2's line of sight toward the door mirror 51 L or 51 R This degree is determined based on the fixation time t.
- the CPU 20 detects a three-dimensional face position based on the image of the driver 2 shown in the camera 12 and the sheet position information supplied from the operation information acquisition unit 14.
- the CPU 20 When detecting the three-dimensional face position, the CPU 20 detects the line of sight direction 2 of the driver 2, the three-dimensional face position, and the top, bottom, left, and right directions of the door mirrors 51L and 51R supplied from the operation information acquisition unit 14. Based on the direction of the mirror angle, as shown in FIG. 8, the mirror reflection area when the driver 2 looks at the door mirror 51L or 51R is determined. In the example of FIG. 8, a mirror reflection area A1 when the driver 2 looks at the door mirror 51R is shown.
- the CPU 20 determines the mirror reflection area A1
- the CPU 20 obtains the position information of the other vehicle 42 previously acquired. Using the information, as shown in FIG. 9, the amount of reflection x (%) of the other vehicle 42 to the mirror reflection area A1 is obtained.
- the CPU 20 acquires a watching time t in which the line of sight of the driver 2 is directed to the door mirror 51L or 51R.
- the CPU 20 acquires from the time measuring unit 17 the time when the driver 2 of the own vehicle 41 looks at the door mirror 51 L or 51 R and the time when the driver 2 looks away.
- the PU 20 obtains the gaze time t at which the driver 2 looks at the door mirror 51 L or 51 R from these acquired times.
- the CPU 20 When the CPU 20 obtains the reflection amount x (%) of the other vehicle 42 and the gaze time t, the CPU 20 refers to the table in the ROM 19 and sets the alarm level.
- the CPU 20 controls the display unit 15 and the speed 16 so as to output an alarm at the set alarm level.
- the CPU 20 When the detection information is supplied from the radar 11, the CPU 20 reads data of a program for alarm processing for a vehicle from the ROM 19, and executes this processing according to the flowchart shown in FIG.
- the CPU 20 obtains the position information of the other vehicle behind based on the distance information from the radar 11 (step S11).
- the CPU 20 acquires the face image of the driver 2 from the image processing unit 13, and detects the line-of-sight direction 2 of the driver 2 based on the acquired face image (step S12).
- the CPU 20 determines whether the line of sight of the driver 2 is directed to the door mirror 51L or 51R based on the detected line of sight direction 2 of the driver 2 (step S13).
- the CPU 20 refers to the table of the ROM 19 (step S14).
- the CPU 20 sets the alarm level to 10 because the gaze time t is 0 (step S15).
- the CPU 20 controls the display unit 15 and the speed 16 to output an alarm in accordance with the set alarm level (step S16). Then, the CPU 20 ends this operation.
- step S 13 when it is determined that the line of sight of the driver 2 is directed to the door mirror 51 L or 51 R (Yes in step S 13), the CPU 20 receives the operation information supplied from the operation information acquisition unit 14. Whether or not the switch 52S for the win forces 52Lf, 52Lb, 52Rf, 52Rb is operated is determined based on (step S17).
- step S17 If it is determined that the switch 52S has been operated (Yes in step S17), the CPU 20 sets the alarm level to 0 (step S18), and terminates the vehicle alarm process.
- step S17 when it is determined that the switch 52S is not operated (No in step S17), the CPU 20 controls the image of the driver 2 captured by the camera 12 and the sheet position information supplied from the operation information acquisition unit 14 Based on! /, Detect 3D face position (step S 19).
- the CPU 20 detects the mirror angle of the door mirror 51L or 51R in the vertical and horizontal directions (step S20).
- the CPU 20 controls the line of sight direction 2 of the driver 2, the detected three-dimensional face position, and the mirror angle of the door mirror 51L or 51R supplied from the operation information acquisition unit 14 in the vertical and horizontal directions.
- the CPU 20 obtains the reflection amount x of the other vehicle 42 reflected in the mirror reflection area A1 (step S22).
- the CPU 20 acquires from the time measuring unit 17 the start time and the end time at which the driver 2 gazes at the door mirror 51L or 51R, and acquires the gaze time t of the door mirror 51L or 51R based on the acquired times. (Step S23).
- the CPU 20 refers to the table of the ROM 19 (step S24).
- the CPU 20 sets the alarm level in accordance with the contents of the table referred to (step S2).
- the CPU 20 controls the display unit 15 and speed 16 so as to output an alarm according to the set alarm level (step S16). Then, the CPU 20 ends this operation.
- the mirror reflection amount X is 20% and Suppose that the gaze time t is 2 ⁇ 0 seconds.
- the CPU 20 refers to the table shown in FIG. 5 (processing of step S24). Therefore, the CPU 20 sets the alarm level Lv to "4" (processing of step S25). Then, the CPU 20 controls the display unit 15 and the speaker 16 to output an alarm at this alarm level Lv (processing of step S16).
- the speaker 16 outputs a voice whose alarm level Lv is set to “4” as shown in FIG. 12 (a), and the display unit 15 outputs a message as shown in FIG. 12 (b).
- the mirror reflection amount X is 10%
- the gaze time t is 0 ⁇ 5 ⁇ t 0l. 0 (seconds) It shall be.
- the CPU 20 refers to the table shown in FIG. 5 (processing of step S24)
- the alarm level Lv is “9”.
- the CPU 20 sets the alarm level Lv to "9" (processing of step S25).
- the CPU 20 controls the display unit 15 and the speaker 16 to output an alarm at this alarm level Lv (processing of step S16).
- the speaker 16 outputs, for example, a voice whose alarm level Lv is set to “9” as shown in FIG. 14 (a) (for example, the volume is larger than that of the alarm level Lv “4”).
- the display unit 15 may, for example, blink display characters as shown in FIG. 14 (b) or, as shown in FIG. The display is made in such a manner as to draw more attention to the driver 2 as compared with the case of FIG.
- the CPU 20 acquires the gaze direction ⁇ ⁇ 2 of the driver 2 and looks at it.
- the alarm level is set based on time t and the mirror reflection amount X of the other vehicle 42.
- the CPU 20 refers to the table of the ROM 19 and sets the alarm level based on the gaze time t and the amount of reflection X.
- the CPU 20 sets the alarm level based only on the fixation time t or only on the reflection amount X. You can also.
- the data in the table shown in FIG. 5 is also an example, and it is not limited to the gaze time t, the amount of reflection, and the alarm level.
- the CPU 20 determines an alarm level based on the information of the distance measured by the radar 11. It may be set. That is, when the position of the other vehicle 42 is far from the host vehicle 41, the CPU 20 sets the alarm level low, and raises the alarm level as it approaches.
- the calculation method of the gaze direction ⁇ 2 in the above embodiment is not limited to this.
- the detailed angle of the face can also be determined by finding the line of sight direction ⁇ 2 by detecting where the center point of the line connecting the center of the right eye and the center of the left eye is located. it can.
- the obstacle is described as a vehicle.
- obstacles are not limited to vehicles.
- the obstacle may be a road installation such as a utility pole, a tree, or a planting, and the present embodiment can be applied when the vehicle is retracted.
- the radar 11 is used to detect the other vehicle 42 as an obstacle.
- a camera may be used to detect other vehicles 42.
- the mirror that reflects the image of the obstacle may be a side mirror or a room mirror other than the door mirror.
- the rearview mirror it is possible to cope with other vehicles located behind the host vehicle and not behind.
- a door mirror and a rearview mirror may be combined.
- the display unit and the speaker are used as means for outputting an alarm.
- the vehicle alarm device sets the light intensity and the blinking interval of the light emitter according to the set alarm level, and the light emitter emits light such as an LED (Light Emitting Diode). You may make it blink.
- LED Light Emitting Diode
- the alarm device for a vehicle can also output an alarm by combining the display unit, the speaker, and the! / Shift force of the light emitter based on the set alarm level.
- the present invention can issue an alarm at an appropriate level according to the situation when an obstacle behind the vehicle is detected. Therefore, the present invention is useful as an alarm device mounted on a vehicle such as an automobile or a motorcycle. Very expensive.
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Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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CN2007800345397A CN101536057B (zh) | 2006-09-29 | 2007-09-20 | 车辆用警报装置及车辆用警报方法 |
US12/441,863 US8013758B2 (en) | 2006-09-29 | 2007-09-20 | Warning device and method for vehicle |
EP07807656A EP2061016B1 (en) | 2006-09-29 | 2007-09-20 | Alarm device for vehicle and alarm method for vehicle |
JP2008537451A JP4924611B2 (ja) | 2006-09-29 | 2007-09-20 | 車両用警報装置及び車両用警報方法 |
Applications Claiming Priority (2)
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JP2006-268799 | 2006-09-29 | ||
JP2006268799 | 2006-09-29 |
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WO2008041497A1 true WO2008041497A1 (en) | 2008-04-10 |
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PCT/JP2007/068304 WO2008041497A1 (en) | 2006-09-29 | 2007-09-20 | Alarm device for vehicle and alarm method for vehicle |
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US (1) | US8013758B2 (ja) |
EP (1) | EP2061016B1 (ja) |
JP (1) | JP4924611B2 (ja) |
CN (1) | CN101536057B (ja) |
WO (1) | WO2008041497A1 (ja) |
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JPWO2011064831A1 (ja) * | 2009-11-30 | 2013-04-11 | 富士通株式会社 | 診断装置及び診断方法 |
WO2020031695A1 (ja) * | 2018-08-09 | 2020-02-13 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、移動体、情報処理方法及びプログラム |
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US20130113614A1 (en) * | 2011-11-03 | 2013-05-09 | Ford Global Technologies, Llc | Systems and methods for vehicle door clearance zone projection |
JP5972332B2 (ja) * | 2014-09-26 | 2016-08-17 | 本田技研工業株式会社 | 鞍乗型車両の接近報知装置 |
JP6303975B2 (ja) * | 2014-10-22 | 2018-04-04 | 株式会社デンソー | 障害物警報装置 |
CN107662559A (zh) * | 2016-07-28 | 2018-02-06 | 奥迪股份公司 | 警告控制装置及方法 |
CN110525337B (zh) * | 2019-09-11 | 2021-09-21 | 北京经纬恒润科技股份有限公司 | 车辆安全控制装置及方法 |
JP2021174054A (ja) * | 2020-04-20 | 2021-11-01 | 株式会社小松製作所 | 作業機械の障害物報知システムおよび作業機械の障害物報知方法 |
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- 2007-09-20 US US12/441,863 patent/US8013758B2/en not_active Expired - Fee Related
- 2007-09-20 JP JP2008537451A patent/JP4924611B2/ja not_active Expired - Fee Related
- 2007-09-20 WO PCT/JP2007/068304 patent/WO2008041497A1/ja active Application Filing
- 2007-09-20 CN CN2007800345397A patent/CN101536057B/zh not_active Expired - Fee Related
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPWO2011064831A1 (ja) * | 2009-11-30 | 2013-04-11 | 富士通株式会社 | 診断装置及び診断方法 |
JP2012014639A (ja) * | 2010-07-05 | 2012-01-19 | Denso Corp | 障害物探索システム |
JP2012128665A (ja) * | 2010-12-15 | 2012-07-05 | Fujitsu Ltd | 運転支援装置、運転支援方法及び運転支援プログラム |
WO2020031695A1 (ja) * | 2018-08-09 | 2020-02-13 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、移動体、情報処理方法及びプログラム |
JPWO2020031695A1 (ja) * | 2018-08-09 | 2021-08-10 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、移動体、情報処理方法及びプログラム |
US11590985B2 (en) | 2018-08-09 | 2023-02-28 | Sony Semiconductor Solutions Corporation | Information processing device, moving body, information processing method, and program |
JP7382327B2 (ja) | 2018-08-09 | 2023-11-16 | ソニーセミコンダクタソリューションズ株式会社 | 情報処理装置、移動体、情報処理方法及びプログラム |
WO2023203706A1 (ja) * | 2022-04-21 | 2023-10-26 | 三菱電機株式会社 | 乗員監視装置及び乗員監視方法 |
Also Published As
Publication number | Publication date |
---|---|
US20100060440A1 (en) | 2010-03-11 |
CN101536057B (zh) | 2011-03-02 |
JPWO2008041497A1 (ja) | 2010-02-04 |
CN101536057A (zh) | 2009-09-16 |
EP2061016B1 (en) | 2012-05-16 |
EP2061016A1 (en) | 2009-05-20 |
JP4924611B2 (ja) | 2012-04-25 |
US8013758B2 (en) | 2011-09-06 |
EP2061016A4 (en) | 2011-03-09 |
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