The control apparatus (200) is an apparatus that controls the travel of a target vehicle (10). The control apparatus (200) detects a partial object (20) using a sensor. The partial object (20) is a part of an object riding on the target vehicle (10) and is jutting outside the target vehicle (10). Furthermore, the control apparatus (200) outputs information (travel information) relating to travel of the target vehicle (10) based on the detected partial object (20). For example, the travel information is control information for travel control of the target vehicle (10) and notification information indicating information relating to the partial object (20).

A system and method for providing online multi-LiDAR dynamic occupancy mapping that include receiving LiDAR data from each of a plurality of LiDAR sensors. The system and method also include processing a region of interest grid to compute a static occupancy map of a surrounding environment of the ego vehicle and processing a dynamic occupancy map. The system and method further include controlling the ego vehicle to be operated based on the dynamic occupancy map.

Aspects of the disclosure relate to training a labeling model to automatically generate labels for objects detected in a vehicle's environment. In this regard, one or more computing devices may receive sensor data corresponding to a series of frames perceived by the vehicle, each frame being captured at a different time point during a trip of the vehicle. The computing devices may also receive bounding boxes generated by a first labeling model for objects detected in the series of frames. The computing devices may receive user inputs including an adjustment to at least one of the bounding boxes, the adjustment corrects a displacement of the at least one of the bounding boxes caused by a sensing inaccuracy. The computing devices may train a second labeling model using the sensor data, the bounding boxes, and the adjustment to increase accuracy of the second labeling model when automatically generating bounding boxes.

Aspects of the disclosure relate to training a labeling model to automatically generate labels for objects detected in a vehicle's environment. In this regard, one or more computing devices may receive sensor data corresponding to a series of frames perceived by the vehicle, each frame being captured at a different time point during a trip of the vehicle. The computing devices may also receive bounding boxes generated by a first labeling model for objects detected in the series of frames. The computing devices may receive user inputs including an adjustment to at least one of the bounding boxes, the adjustment corrects a displacement of the at least one of the bounding boxes caused by a sensing inaccuracy. The computing devices may train a second labeling model using the sensor data, the bounding boxes, and the adjustment to increase accuracy of the second labeling model when automatically generating bounding boxes.

An object detection device includes: a light emitter that emits laser light as irradiation light; a light receiver that receives light including reflected light of the irradiation light; a plurality of constituents that perform operations to detect information on an object through operations of the light emitter and the light receiver and that have an increased current period in which a consumed current is a current larger than an average current; a common power supply that supplies power to the plurality of constituents; and a controller that controls the operations of the plurality of constituents so as to make a current output from the common power supply less than a predetermined upper-limit current.

An object detection device includes: a light emitter that emits laser light as irradiation light; a light receiver that receives light including reflected light of the irradiation light; a plurality of constituents that perform operations to detect information on an object through operations of the light emitter and the light receiver and that have an increased current period in which a consumed current is a current larger than an average current; a common power supply that supplies power to the plurality of constituents; and a controller that controls the operations of the plurality of constituents so as to make a current output from the common power supply less than a predetermined upper-limit current.

An object detecting system comprising: a first distance measuring device, configured to measure a first distance between a first part of an object and the first distance measuring device; a second distance measuring device, configured to measure a second distance between a second part of the object and the second distance measuring device; a uniform light source, configured to emit uniform light to the object; an optical sensor, configured to sense optical data of the object generated based on the uniform light; and a control circuit, configured to calculate a location of the object according to the first distance, the second distance and the optical data.

An object detecting system comprising: a first distance measuring device, configured to measure a first distance between a first part of an object and the first distance measuring device; a second distance measuring device, configured to measure a second distance between a second part of the object and the second distance measuring device; a uniform light source, configured to emit uniform light to the object; an optical sensor, configured to sense optical data of the object generated based on the uniform light; and a control circuit, configured to calculate a location of the object according to the first distance, the second distance and the optical data.

An electronic device may include a proximity sensor for detecting whether an external object is in the vicinity of the device. The proximity sensor may have a light detector and a light source that can be reused for data communications. The light detector may be coupled to optical receiver circuitry, whereas the light source may be coupled to optical transmitter circuitry. The optical transmitter circuitry may include encoding circuits configured to convert electrical signals to optical signals. The optical receiver circuitry may include decoding circuits configured to convert optical signals to electrical signals. The optical signals can be encoded and decoded using pulse width modulation schemes or amplitude modulation schemes.

An electronic device may include a proximity sensor for detecting whether an external object is in the vicinity of the device. The proximity sensor may have a light detector and a light source that can be reused for data communications. The light detector may be coupled to optical receiver circuitry, whereas the light source may be coupled to optical transmitter circuitry. The optical transmitter circuitry may include encoding circuits configured to convert electrical signals to optical signals. The optical receiver circuitry may include decoding circuits configured to convert optical signals to electrical signals. The optical signals can be encoded and decoded using pulse width modulation schemes or amplitude modulation schemes.