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公开(公告)号：EP3611541B1
公开(公告)日：2024-07-03
申请号：EP18189410.6
申请日：2018-08-16
CPC分类号： G01S7/2921 , G01S7/2955 , G01S13/42 , G01S13/584 , G01S13/589 , G01S13/726 , G01S13/931 , G01S2013/9327420200101 , G01S2013/9327120200101 , G01S2013/93220200101
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公开(公告)号：EP3351963A1
公开(公告)日：2018-07-25
申请号：EP18151554.5
申请日：2018-01-15
申请人： Novatron Oy
IPC分类号： G01S17/89 , G01S17/02 , E02F3/84 , E02F9/26 , G01S17/42 , G01S7/295 , G01S13/42 , G01S13/86 , G01S13/89
CPC分类号： E02F9/264 , E02F3/32 , E02F3/842 , E02F9/26 , E02F9/261 , G01S7/2955 , G01S13/42 , G01S13/86 , G01S13/89 , G01S17/023 , G01S17/42 , G01S17/89
摘要： The invention relates to a mobile earth moving machine comprising a carrier, at least one machine element movable relative to the carrier, a positioning system for determining 3D position and orientation data of the earth moving machine, at least one sensing device for determining position and orientation data of the movable machine element, at least one range finder device for detecting at least one object in a field of the range finder device and providing point cloud output of the object, and at least one control unit configured to receive and process the produced data. The range finder device is a solid-state device without internal movable mechanical elements, whereby the device is without internal scanning equipment. The range finder device is arranged on the movable machine element and is configured to be moved together with the movable machine element.
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3.发明公开SEMICONDUCTOR DEVICE, CONTROL SYSTEM AND OBSERVATION METHOD 审中-公开哈勃宝宝保健品，STEUERUNGSSYSTEM UND BEOBACHTUNGSVERFAHREN
公开(公告)号：EP3115803A3
公开(公告)日：2017-01-18
申请号：EP16178630.6
申请日：2016-07-08
发明人： KAJIWARA, Yuki
CPC分类号： G01S13/87 , G01S7/04 , G01S7/2955 , G01S7/298 , G01S13/878 , G01S13/89 , G01S13/931 , G01S2013/9342 , G01S2013/9346 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G01S2013/9389
摘要： A semiconductor device includes a data obtaining unit that obtains a plurality of data items each indicating a result of observation from a plurality of radars for observing surroundings, converts the plurality of data items into data items in a polar coordinate format, and stores them in a storage unit, an axial position converting unit that performs conversion on the plurality of data items in the polar coordinate data format stored in the storage unit so that their axial positions will be the same, generates the plurality of data items on which axial position conversion has been performed, and stores them in the storage unit, a data superimposing unit that superimposes the plurality of data items on which the axial position conversion has been performed to generate superimposed data, and a coordinate converting unit that converts the superimposed data into data in a Cartesian coordinate format.
摘要翻译： 半导体器件包括数据获取单元，其从多个用于观察周围的雷达获得各自指示观测结果的多个数据项，并将该多个数据项转换为极坐标格式的数据项，并将其存储在 存储单元，轴向位置转换单元，其以存储在存储单元中的极坐标数据格式对多个数据项执行转换，使得其轴向位置相同，生成轴数位置转换具有的多个数据项 并将它们存储在存储单元中，数据叠加单元，叠加已经进行了轴向位置转换的多个数据项以产生叠加数据;以及坐标转换单元，其将叠加的数据转换为数据 笛卡尔坐标格式。
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公开(公告)号：EP3115803A2
公开(公告)日：2017-01-11
申请号：EP16178630.6
申请日：2016-07-08
发明人： KAJIWARA, Yuki
CPC分类号： G01S13/87 , G01S7/04 , G01S7/2955 , G01S7/298 , G01S13/878 , G01S13/89 , G01S13/931 , G01S2013/9342 , G01S2013/9346 , G01S2013/9375 , G01S2013/9378 , G01S2013/9385 , G01S2013/9389
摘要： A semiconductor device includes a data obtaining unit that obtains a plurality of data items each indicating a result of observation from a plurality of radars for observing surroundings, converts the plurality of data items into data items in a polar coordinate format, and stores them in a storage unit, an axial position converting unit that performs conversion on the plurality of data items in the polar coordinate data format stored in the storage unit so that their axial positions will be the same, generates the plurality of data items on which axial position conversion has been performed, and stores them in the storage unit, a data superimposing unit that superimposes the plurality of data items on which the axial position conversion has been performed to generate superimposed data, and a coordinate converting unit that converts the superimposed data into data in a Cartesian coordinate format.
摘要翻译： 半导体器件包括数据获取单元，该数据获取单元从多个用于观测周围环境的雷达获得各自指示观测结果的多个数据项，将该多个数据项转换为极坐标格式的数据项，并将它们存储在 存储单元;轴存储单元;存储在存储单元中的极坐标数据格式的多个数据项以使它们的轴向位置相同的方式执行转换的轴位置转换单元产生轴位置转换具有的多个数据项 并将它们存储在存储单元中;数据叠加单元，叠加已经执行了轴位置转换的多个数据项以生成叠加数据;以及坐标转换单元，将叠加数据转换为 笛卡尔坐标格式。
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5.发明公开A method for monitoring a traffic stream and a traffic monitoring device 有权Verfahren zurÜberwachungeines Verkehrsstrom und eineVerkehrsüberwachungsvorrichtung
公开(公告)号：EP2660625A1
公开(公告)日：2013-11-06
申请号：EP13166089.6
申请日：2013-04-30
发明人： Messely, Pieter , Favoreel, Wouter
CPC分类号： H04N7/183 , G01S7/2955 , G01S7/4026 , G01S13/867 , G01S13/92 , G08G1/04
摘要： A traffic monitoring device comprising a radar and a camera, said radar having a radar field of view extending around a radar central axis and said camera having a camera field of view extending around a camera central axis in such a manner that said radar field of view is situated within said camera field of view. The radar and the camera are so positioned that their central axis of their field of view make a predetermined angle with respect to each other, said radar being provided for determining coordinates of moving objects within said radar field of view, said device comprises selecting means provided for selecting within said image an image section representing at least part of said radar field of view, said device further comprising transformation means provided for transforming said coordinates of said moving object within said image portion into further coordinates relative to an image reference frame and for displaying within said image portion an identifier at said further coordinates.
摘要翻译： 一种包括雷达和相机的交通监控装置，所述雷达具有围绕雷达中心轴延伸的雷达视野，并且所述相机具有围绕照相机中心轴延伸的照相机视场，使得所述雷达视野 位于所述照相机视场内。 雷达和摄像机的定位使得它们的视野的中心轴相对于彼此形成预定的角度，所述雷达被提供用于确定所述雷达视野内的运动物体的坐标，所述装置包括提供的选择装置 用于在所述图像内选择表示所述雷达视场的至少一部分的图像部分，所述装置还包括变换装置，用于将所述图像部分内的所述移动物体的所述坐标变换为相对于图像参考帧的更多坐标，并用于显示 在所述图像部分内的所述另外的坐标处的标识符。
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6.发明公开Road configuration estimation apparatus, computer program, and road configuration estimation method 有权Straßenkonfigurationsschätzungsvorrichtung，Computerprogramm undStraßenkonfigurationsschätzungsverfahren
公开(公告)号：EP2390745A1
公开(公告)日：2011-11-30
申请号：EP11002691.1
申请日：2011-03-31
CPC分类号： G06K9/00798 , G01S7/2955 , G01S7/411 , G01S13/931 , G01S2013/9353
摘要： There is provided a road configuration estimation apparatus that precludes influences of erroneous detection of an object and erroneous still determination and estimates a road configuration.
A radar (peripheral object observation device) 110 repeatedly observes a relative position of an object relative to the moving object, which is located in the vicinity of a moving object. A stationary object identification unit (stationary object determination unit) 130 determines whether or not the object the relative positions of which have been observed by the radar 110 is still. A road approximate curve temporary computation unit (object correlation unit) 140 determines a plurality of the relative positions of an identical object observed by the radar 110 from among the relative positions observed by the radar 110. A road approximate curve main computation unit (approximate curve computation unit) 160 computes an approximate curve that approximates the configuration of a road on which the moving object is located, based on a result of the determination by the stationary object identification unit 130 and a result of the determination by the road approximate curve computation unit 140.摘要翻译： 提供了一种排除物体的错误检测和错误的静止判定的影响并估计道路配置的道路配置估计装置。 雷达（周边物体观察装置）110重复地观察物体相对于位于运动物体附近的运动物体的相对位置。 静止物体识别单元（静止物体确定单元）130确定雷达110的相对位置是否仍然被观察到的物体。 道路近似曲线临时计算单元（物体相关单元）140从雷达110观察到的相对位置中确定由雷达110观察到的相同物体的多个相对位置。道路近似曲线主计算单元（近似曲线 计算单元）160基于静止对象识别单元130的确定结果和道路近似曲线计算单元的确定结果来计算近似运动对象所在的道路的构造的近似曲线 140。
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公开(公告)号：EP0981055A3
公开(公告)日：2000-03-22
申请号：EP99203841.4
申请日：1995-01-12
发明人： Kitayoshi, Hitoshi
IPC分类号： G01S13/89 , G01R23/163
CPC分类号： G01R29/08 , G01R29/0892 , G01R31/312 , G01S7/02 , G01S7/024 , G01S7/062 , G01S7/068 , G01S7/20 , G01S7/2955 , G01S13/87 , G01S13/89 , G01S15/89
摘要： Non-contact type wave signal observation apparatus takes measurements of electromagnetic waves received on an observation plane and performs hologram reconstruction calculations to reconstruct characteristics of the corresponding electromagnetic wave information at points in the observed space. The invention provides apparatus for measuring transfer functions (and, if desired, waveforms) at any point on a network containing a transmission line having distributed properties and having internal signal sources - the processing takes into account fluctuations occurring in the electromagnetic radiation given off by the network. A display for displaying complex three-dimensional data such as interference data of electromagnetic waves may be used to display data produced by the apparatus according to the invention. The complex data is converted from orthogonal co-ordinates to polar co-ordinates, the phase information is converted to hue information in a hue converter and the amplitude information is used to modulate the brightness of the displayed signal; corresponding colour signals are displayed on a colour display unit.
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公开(公告)号：EP3575827B1
公开(公告)日：2024-07-31
申请号：EP18175505.9
申请日：2018-06-01
IPC分类号： G01S13/931 , G01S13/42 , G01S13/58 , G01S7/292 , G01S7/295
CPC分类号： G01S7/2921 , G01S7/2955 , G01S13/42 , G01S13/584 , G01S13/589 , G01S13/931 , G01S2013/9327420200101 , G01S2013/9327120200101 , G01S2013/93220200101
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公开(公告)号：EP4382954A2
公开(公告)日：2024-06-12
申请号：EP23209458.1
申请日：2023-11-13
发明人： YOU, Zhenxing , SUN, Li , YUAN, Hongyuan , REN, Shaoqing
CPC分类号： G01S7/4808 , G01S17/931 , G01S17/42 , G01S17/86 , G01S7/497 , G01S17/89 , G01S7/2955 , G01S7/295 , G01C21/1652
摘要： The disclosure relates to the field of autonomous driving technologies, and specifically provides a Lidar odometry implementation method, a computer device, a storage medium, and a vehicle, which are intended to improve the real-time performance and precision of mapping and localization. For this purpose, the method provided in the disclosure includes: obtaining a motion states prediction of a vehicle in a current cycle based on measurement data of an IMU on the vehicle in a previous cycle; obtaining a first motion states observation of the vehicle in the current cycle based on a point cloud data frame of a Lidar on the vehicle in the current cycle; obtaining a second motion states observation of the vehicle in the current cycle based on measurement data of a wheel odometer on the vehicle in the current cycle; and updating the motion states prediction based on the first motion states observation and the second motion states observation, to determine an optimal motion state of the vehicle. With the above method, the optimal motion state of the vehicle can be obtained quickly and accurately, such that the real-time performance, precision and robustness of mapping and localization can be significantly improved.
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10.发明公开A traffic monitoring device and a method for monitoring a traffic stream. 审中-公开Verkehrsüberwachungsvorrichtungund Verfahren zurÜberwachungeines Verkehrsstroms
公开(公告)号：EP2660624A1
公开(公告)日：2013-11-06
申请号：EP12166237.3
申请日：2012-04-30
发明人： Messely, Pieter , Favoreel, Wouter
CPC分类号： H04N7/183 , G01S7/2955 , G01S7/4026 , G01S13/867 , G01S13/92 , G08G1/04
摘要： A traffic monitoring device comprising a radar and a camera, said radar having a radar field of view extending around a radar central axis and said camera having a camera field of view extending around a camera central axis in such a manner that said radar field of view is situated within said camera field of view. The radar and the camera are so positioned that their central axis of their field of view make a predetermined angle with respect to each other, said radar being provided for determining coordinates of moving objects within said radar field of view, said device comprises selecting means provided for selecting within said image an image section representing at least part of said radar field of view, said device further comprising transformation means provided for transforming said coordinates of said moving object within said image portion into further coordinates relative to an image reference frame and for displaying within said image portion an identifier at said further coordinates.
摘要翻译： 一种包括雷达和相机的交通监控装置，所述雷达具有围绕雷达中心轴延伸的雷达视野，并且所述相机具有围绕照相机中心轴延伸的照相机视场，使得所述雷达视野 位于所述照相机视场内。 雷达和摄像机的定位使得它们的视野的中心轴相对于彼此形成预定的角度，所述雷达被提供用于确定所述雷达视野内的运动物体的坐标，所述装置包括提供的选择装置 用于在所述图像内选择表示所述雷达视场的至少一部分的图像部分，所述装置还包括变换装置，用于将所述图像部分内的所述移动物体的所述坐标变换为相对于图像参考帧的更多坐标，并用于显示 在所述图像部分内的所述另外的坐标处的标识符。
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