Sensing system and driving support system
Provided is a sensing system that performs set control with high sensing accuracy. The sensing system that outputs an object signal includes a solid-state imaging device that senses a first physical target from an object and a second physical target different from the first physical target, and an arithmetic operation unit that calculates an object signal using a first signal from the first physical target and a second signal from the second physical target. The arithmetic operation unit calculates an object signal using a reference signal from a device mounted with the sensing system.
1. A driving support system comprising:
a sensing system including a light source for emitting infrared light according to a light emission signal, a solid-state imaging device, and an arithmetic operation unit; and
a set controller, wherein:
the solid-state imaging device outputs a visible light imaging signal and a time-of-flight signal, the time-of-flight signal including: a first imaging signal generated through exposure of reflected light corresponding to the infrared light according to a first exposure signal; a second imaging signal generated through exposure of reflected light corresponding to the infrared light according to a second exposure signal; and a third imaging signal generated through exposure in a state in which the light emission signal is stopped, wherein timing of the second exposure signal is different from timing of the first exposure signal, and the third imaging signal corresponds to background light,
the arithmetic operation unit:
detects a specific object in an object using the visible light imaging signal and the time-of-flight signal;
calculates a distance to the specific object based on a ratio of light quantities of the first imaging signal and the second imaging signal, from which a light quantity of the third imaging signal is subtracted, respectively; and
outputs, to the set controller, the distance and an object signal indicating information on the specific object that is calculated from: a reference signal indicating at least one of position information of a transportation device, on which the driving support system is mounted, motion information of the transportation device, or operation information of the transportation device, obtained by a sensor of the transportation device; the first imaging signal; and the second imaging signal,
the information on the specific object is calculated using the visible light imaging signal and the time-of-flight signal, and includes at least one of a kind of the specific object, a dimension of the specific object, a shape of the specific object, a speed of the specific object, and
the set controller controls driving of the transportation device using the distance and the object signal transmitted from the arithmetic operation unit.
2. The driving support system according to claim 1 , wherein the sensing system performs sensing using at least one of reference signals representing position information of the transportation device, cloud information, and motion information or operation information of the transportation device, the reference signals being transmitted from the transportation device.
3. The driving support system according to claim 2 , wherein the cloud information is at least one piece of information representing a map in a horizontal direction and/or a vertical direction, and successive environment of a travelling place or a scheduled travelling place.
4. The driving support system according to claim 1 , wherein the arithmetic operation unit has an object arithmetic operation unit and a signal processor,
the object arithmetic operation unit obtains the specific object, calculates the plural pieces of information, and outputs the plural pieces of information as a primary object signal to a signal processor, and
the signal processor select a part or all of the plural pieces of information should be outputted, and outputs the part or all of the plurality of information as the object signal to the set controller.
5. The driving support system according to claim 1 , wherein the arithmetic operation unit executes at least one signal process of a noise subtracting process, a super-resolution process, a high-dynamic range synthesizing process, and a compression process.
6. The driving support system according to claim 1 , wherein
the arithmetic operation unit selects the visible light imaging signal or the time-of-flight signal, or corrects one of the visible light imaging signal and the time-of-flight signal using the other of the visible light imaging signal and the time-of-flight signal.
7. The driving support system according to claim 6 , wherein a distance image is generated using the time-of-flight signal.
8. The driving support system according to claim 6 , wherein the solid-state imaging device is a single-plate solid-state imaging device, and
the visible light imaging signal is generated from at least one pixel of R, G, B and BW, and the time-of-flight signal is generated from an IR pixel.
9. The driving support system according to claim 1 , wherein the plural pieces of information includes one or more selected from the group consisting of recognition of the specific object, a distance up to the specific object, a dimension of the specific object, a shape of the specific object, and a speed of the specific object.
10. The driving support system according to claim 1 , wherein the set controller executes at least one selected from the group consisting of an automatic brake operation, an emergency brake signal operation, an automatic steering operation and an automatic acceleration operation.
11. The driving support system according to claim 1 , wherein the driving support system is used for a sensing application inside the transportation device.
12. The driving support system according to claim 11 , wherein the specific object is a driver of the transportation device, and
the sensing application is a prevention of the driver's dozing or a prevention of inattentive driving.
13. The driving support system according to claim 1 , wherein the solid-state imaging device outputs the time-of-flight signal by using an exposure signal supplied from outside the solid-state imaging device.
14. A driving support system comprising:
a sensing system including a light source for emitting infrared light according to a light emission signal, a solid-state imaging device, and an arithmetic operation unit; and
a set controller, wherein:
the solid-state imaging device outputs a light imaging signal and a time-of-flight signal, the time-of-flight signal including: a first imaging signal generated through exposure of reflected light corresponding to the infrared light according to a first exposure signal; a second imaging signal generated through exposure of reflected light corresponding to the infrared light according to a second exposure signal; and a third imaging signal generated through exposure in a state in which the light emission signal is stopped, wherein timing of the second exposure signal is different from timing of the first exposure signal, and the third imaging signal corresponds to background light,
the arithmetic operation unit:
detects a specific object in an object using the light imaging signal and the time-of-flight signal;
calculates a distance to the specific object based on a ratio of light quantities of the first imaging signal and the second imaging signal, from which a light quantity of the third imaging signal is subtracted, respectively; and
outputs, to the set controller, the distance and an object signal indicating information on the specific object that is calculated from: a reference signal indicating at least one of position information of a transportation device, on which the driving support system is mounted, motion information of the transportation device, or operation information of the transportation device obtained by a sensor of the transportation device; the first imaging signal; and the second imaging signal,
the information on the specific object is calculated using the light imaging signal and the time-of-flight signal, and includes at least one of a kind of the specific object, a dimension of the specific object, a shape of the specific object, a speed of the specific object, and
the set controller controls driving of the transportation device using the distance and the object signal transmitted from the arithmetic operation unit.