Abstract: Captured PII is identified in sensor data, the sensor data being captured over time by a sensor of a vehicle of an environment surrounding the vehicle. The sensor data includes captured PII and non-PII. A notice zone surrounding the vehicle is identified, the notice zone defining an area in which a notice device of the vehicle provides notice to pedestrians that the sensor data is being captured. Any instances of the captured PII in the sensor data are obscured that are captured from the pedestrians that, over the time of the capture, did not enter the notice zone and receive the notice. The sensor data, as processed, is sent to a cloud server for storage.

Abstract: Disclosed are systems and method for automatic building material ordering based on determined measurements from a multi-dimensional building model. The multi-dimensional model may be based on a plurality of received images, such as ground-based images of a building. The multi-dimensional model may be scaled, or a scale extracted based on data of the model. The multi-dimensional model may comprise architectural elements, and the scale used to determine measurements of such architectural elements. With the scaled measurements of the architectural elements in the model, product information related to multi-dimensional model may be processed, such as confirming availability of the sizes and quantities associated with the architectural elements. Ordering manufacturer products may based on the processed information.

Abstract: Techniques are discussed herein for analyzing radar data to determine that radar noise from one or more target detections potentially conceals additional objects near the target detection. Determining whether an object may be concealed can be based at least in part on a radar noise level based on a target detection, as well as distributions of radar cross sections and/or doppler data associated with particular object types. For a location near a target detection, a radar system may determine estimated noise levels, and compare the estimated noise levels to radar cross section probabilities associated with object types to determine the likelihood that an object of the object type could be concealed at the location. Based on the analysis, the system may determine a vehicle trajectory or otherwise may control a vehicle based on the likelihood that an object may be concealed at the location.

Abstract: Systems, methods, and other embodiments associated with acoustic fingerprint identification of devices are described. In one embodiment, a method includes generating a target acoustic fingerprint from acoustic output of a target device. A similarity metric is generated that quantifies similarity of the target acoustic fingerprint to a reference acoustic fingerprint of a reference device. The similarity metric is compared to a threshold. In response to a first comparison result of the comparing of the similarity metric to the threshold, the target device is indicated to match the reference device. In response to a second comparison result of the comparing of the similarity metric to the threshold, it is indicated that the target device does not match the reference device.

Abstract: Embodiments described herein provide for a technique to enable sensor data gathered by multiple electronic devices, such as smart home devices, to be fused into a single coordinate space to enable a higher sensor resolution at each device. For example, multiple sensor equipped devices may communicate over a network to share sensor data between devices. Each device can combine local sensor data with remote sensor data received from other devices to increase the angular resolution of the detected sensor data. To enable this combination, motion characteristics of commonly detected objects can be used to enable the devices to determine a set of relative positions. Coordinate space transformations can then be computed based on the relative positions. Sensor data can be fused using the determined coordinate space transformations.

Abstract: An electronic device may comprise: an antenna module; a communication circuit; a processor; and a memory, wherein the memory stores instructions which, when executed, cause the processor to: output first beams each having a first beam width to a first spatial range around the electronic device; receive a first reflective pattern with respect to the first beams; determine at least one section in which the external object is disposed, among a plurality of sections configuring the first spatial range; output second beams each having a second beam width to the at least one section; receive a second reflective pattern with respect to the second beams; recognize the external object on the basis of the second reflective pattern of the second beams to authenticate a user; and output third beams to determine state information or motion information of the external object.

Abstract: Methods of defining a virtual fence and for detecting a body inside or outside a region of interest defined by the virtual fence and/or of determining a height for a body on a surface in a region of interest use radar signals and a configuration mode and a monitoring mode are disclosed. In the configuration mode coordinates for defining a virtual fence are determined and/or a topology of a surface in the region of interest is determined. In the monitoring mode, a location of a second body on the surface is detected to determine if the second body is inside or outside the virtual fence and/or a height of for the second body relative to the determined topology is determined.

Abstract: In an aspect, a radar controller determines a first transmission configuration for a reference radar signal on a first link from a first base station to a second base station, and a second transmission configuration for at least one target radar signal on at least one second link from the first base station to the second base station, the at least one target radar signal for sensing of at least one target, the first transmission configuration being different than the second transmission configuration. The radar controller transmits the first and second transmission configurations to the first and second base stations. The first base station transmits the reference radar signal and the at least one target radar signal in accordance with the respective transmission configurations.

Abstract: An integrated sensor assembly is described. The integrated sensor assembly can include a housing comprising a compartment. The housing can be arranged on a side surface of a cabin of an autonomous vehicle and within a threshold distance of a cabin roof of the autonomous vehicle. The assembly can include a first sensor arranged in the compartment, the first sensor configured to receive a first signal from a vehicle computer and collect information for mapping an environment of the autonomous vehicle. The assembly can include a light source arranged in the compartment. The light source configured to receive a second signal from the vehicle computer and emit a light pattern for visually indicating one of a hazard, a turn, or an autonomous mode. The light source can be arranged in the compartment to emit light to traffic toward a rear of the autonomous vehicle.

Abstract: A sensor fusion system and method are disclosed. One or more processors are operable to receive a plurality of object detection measurements from a plurality of sensors. Each of the plurality of object detection measurements are associated with a potential object detection track. A plurality of sensor confidence values associated with each of the plurality of sensors are received. A track confidence value is determined for each of the potential object detection tracks based on the received plurality of object detection measurements and the received plurality of sensor confidence values. An object detection for a potential object detection track that has a determined track confidence value meeting a predetermined detection threshold is then determined, or confirmed, and stored in a memory for subsequent use, and is relatively unaffected by a measurement from a sensor that has a field of view that omits or is occluded with respect to the given object detection track.

Abstract: An axial deviation of the sensor is corrected.

Abstract: A method and apparatus for enhancing aviation safety, ensuring that unmanned aircraft remain well clear of other flying objects, are disclosed. A control station acquires a direction of a path of a flying object and periodically transmits requests to a transponder of the flying object to acquire specific data. Upon receiving a response to a request, a range of the flying object from the control station is determined. Using data acquired from each three consecutive responses, the displacement magnitude, the speed, and angular displacements of the flying object are determined. The method assesses potential crossing of a protection zone surrounding a protected aircraft based on most recent acquired data.

Abstract: An information processing apparatus according to an embodiment of the present technology includes a first acquisition section, a second acquisition section, and a determination section. The first acquisition section acquires a camera-based position indicating a position of a real object, the camera-based position being determined on the basis of a captured image of a real space in which there exists the real object. The second acquisition section acquires an output-wave-based estimation position indicating the position of the real object, the output-wave-based estimation position being determined on the basis of an output wave that is output to the real space from a position that corresponds to the real object. The determination section determines a reference position used to represent virtual content related to the real object, on the basis of the camera-based position and the output-wave-based estimation position.

Abstract: An apparatus comprises a first and second coherent radar system on a first chip configured to operate in a terahertz range to provide a frequency modulated continuous wave, and having a first and second field of view, respectively. The apparatus further comprises a first processor in communication with the first coherent radar system and configured to include instructions to send a first signal to the first coherent radar system to scan a target with the first field of view, and a second processor in communication with the second coherent radar system and configured to collaborate with the first processor, and further configured to include instructions to send a second signal to the second coherent radar system to scan a target within the second field of view.

Abstract: An aspect of the present disclosure relates to a system implemented in a host vehicle, comprising: a radar based detection unit, comprising one or more radar sensors, for detecting one or more targets around the host vehicle; a vision based detection unit, comprising one or more image sensors, for detecting one or more targets in the field of view of the host vehicle; and a processing unit to: receive information corresponding to detected one or more targets from each of the radar based detection unit and the vision based detection unit; match each of the one or more targets detected by the radar based detection unit with one or more targets detected by vision based detection unit to identify a target as a matched target; categorize the matched target as a locked target; and track the locked target using information received from the radar based detection unit.

Abstract: A long-baseline and long depth-range stereo vision system is provided that is suitable for use in non-rigid assemblies where relative motion between two or more cameras of the system does not degrade estimates of a depth map. The stereo vision system may include a processor that tracks camera parameters as a function of time to rectify images from the cameras even during fast and slow perturbations to camera positions. Factory calibration of the system is not needed, and manual calibration during regular operation is not needed, thus simplifying manufacturing of the system.

Abstract: A test system for testing a radar sensor comprising a test chamber for encompassing a radar sensor to be tested. A test location is provided within the test chamber on which the radar sensor to be tested is placed for testing. Further, the test system comprises at least one antenna unit and at least one first radar target simulator connected to the antenna unit. The test system also comprises at least one antenna array different to the antenna unit and at least one second radar target simulator connected to the antenna array.

Abstract: An object detection device includes: a measurement unit configured to transmit a radio wave to measure, based on a reflected wave acquired from an object to be detected existing in a periphery of the moving body, a position and a doppler speed of the object as a reflection point; a grouping processing unit configured to execute grouping processing when a plurality of reflection points are acquired, and are determined to be acquired from the same object; a moving speed calculation unit configured to use the doppler speeds and the positions of the plurality of reflection points acquired from the same object, to thereby calculate a moving direction and a moving speed of the same object; and an output unit configured to output the calculated moving direction and moving speed as information on a position and a speed corresponding to detection results of the same object.

Abstract: A radar sensor system is provided that includes: multiple sensor units that each includes a radar receiver and a location sensor; and a processor that is configured to use location sensor-based information to determine differences between respective sensor unit nominal locations and respective sensor unit actual locations and to use the determined differences to fuse the radar data received at the radar receivers to produce a wide radar aperture.

Abstract: Various systems and methods for providing a vehicle control system are described herein. A system for managing a vehicle comprises: a vehicle control system of a vehicle having access to a network, including: a communication module to interface with at least one of: a mobile device, the vehicle, and environmental sensors coupled to the vehicle; and a configuration module to identify a mitigation operation to be taken when predetermined factors exist; wherein the vehicle control system is to identify a potential obstacle in a travel route of the vehicle and initiate a mitigation operation at the vehicle.

Abstract: The disclosure provides a micro-wave transducer and a manufacturing method thereof, and belongs to the technical field of communication. The micro-wave transducer includes: a dielectric layer having a first surface and a second surface oppositely arranged; a first electrode layer arranged on the first surface of the dielectric layer, and the reference electrode layer being provided with at least one first opening; at least one transducer electrode arranged on the second surface of the dielectric layer, wherein an orthographic projection of one transducer electrode on the dielectric layer is within an orthographic projection of one first opening on the dielectric layer; at least one first microstrip line arranged on the second surface of the dielectric layer, wherein one first microstrip line is configured to feed one transducer electrode.

Abstract: A system includes a housing configured to be secured to the casing string. The housing has a ring shape defining a central orifice for passage of the fluid and an interior surface facing the central orifice. A reflectometer is mounted on the interior surface and is configured to emit a microwave signal into the fluid in the central orifice, receive a reflected microwave signal from the central orifice, and determine a microwave reflection parameter. An acoustic transceiver is also mounted on the interior surface and is configured to emit an acoustic signal into the fluid in the central orifice, receive a reflected acoustic signal from the central orifice, and determine an acoustic reflection parameter. A processor is configured to determine the property of the fluid from the microwave reflection parameter and the acoustic reflection parameter.

Abstract: Methods of defining a virtual fence and for detecting a body inside or outside a region of interest defined by the virtual fence and/or of determining a height for a body on a surface in a region of interest use radar signals and a configuration mode and a monitoring mode are disclosed. In the configuration mode coordinates for defining a virtual fence are determined and/or a topology of a surface in the region of interest is determined. In the monitoring mode, a location of a second body on the surface is detected to determine if the second body is inside or outside the virtual fence and/or a height of for the second body relative to the determined topology is determined.

Abstract: A system and method is provided for automatic building material ordering that includes directing capture of building images of the building at a location, building a scaled multi-dimensional building model based on the building images, extracting, based on the scaled multi-dimensional building model, dimensions of at least one architectural feature from the scaled multi-dimensional building model, identifying a set of possible manufacturer products matching the dimensions of the at least one architectural feature, receiving user preferences related to the set of possible manufacturer products, auto-populating, based on the user preferences, a select list of the manufacturer products, auto-ordering manufacturer products from the select list of the manufacturer products and auto-tracking the ordered manufacturer products until delivery to the location.

Abstract: A data processing method, device and multi-sensor fusion method for multi-sensor fusion, which can group data captured by different sensors in different probe dimensions to simultaneous interpreting deep learning data based on pixel elements in the multi-dimensional matrix structure, thereby realize the more effective data mining and feature extraction to support more effective ability of environment perception and target detection.

Abstract: Methods, systems, and devices for wireless communications are described. In some systems, radio signals may reach a receiving antenna at a user equipment by two or more paths, which can cause interference (e.g., destructive multipath interference, constructive multipath interference, etc.). To reduce the interference, the user equipment may perform interference suppression, shaping, or both based on choosing radar waveform patterns that are varied across chirps. In one aspect, the user equipment (e.g., a vehicle) may identify waveform patterns selected by nearby vehicles based on side channel or centralized signaling and may suppress or shape interference by selecting waveform parameters based on this information. In one aspect, the pattern of waveform parameters is chosen from a codebook of patterns. The selected pattern can be broadcasted to the other vehicles using a side-communication channel.

Abstract: An analog tamper-detection apparatus (ATAMP) for onboard analysis of a target device includes a plurality of antennas, each antenna of the plurality of antennas disposed within the target device and being electrically isolated from components of the target device. The ATAMP device further includes radio frequency (RF) front-end (RFFE) transmitter circuitry coupled to the plurality of antennas, the RFFE transmitter circuitry configured to illuminate the target device with a plurality of electromagnetic signals emitted via the plurality of antennas, to generate a plurality of mixed RF signals. The ATAMP device further includes RFFE receiver circuitry configured to receive emissions from the target device based on the mixed RF signals, and processing circuitry configured to perform subsequent analysis and evaluation of the target device based on the received emissions. The processing circuitry further generates a notification of the subsequent analysis and evaluation.

Abstract: Exemplary practice of the present invention defines “sphibules” in computer-modeling the spread of a substance in a fluid medium. A “sphibule,” a modeling entity conceived and named by the present inventors, represents a discrete quantity of a substance that is propagative in a fluid medium. Every sphibule has the same size when created, the same constant geometric shape, the same constant mass, and a uniform density. Multiple sphibules are created at a prescribed rate at a source in the fluid medium. Several or many timesteps are performed to compute enlargement and relocation, in the fluid medium, of each sphibule that has been created. Through succeeding timesteps, each sphibule becomes less dense and more distant from the source. A sphibule ceases to exist when the sphibule is less dense than a prescribed minimum density of the sphibules, and/or when the sphibule travels beyond a prescribed spatial boundary of the fluid medium.

Abstract: A radio communication system for a vehicle includes a first radio unit to communicate using a first channel within a designated radio frequency band, a second radio unit to communicate using a second channel within the designated radio frequency band, a common receive antenna shared by the first and second radio units, a signal splitter having a splitter input port coupled to the antenna, a first splitter output port, and a second splitter output port, a first circulator, and a second circulator. The first circulator has an input port coupled to the first splitter output port, an output port coupled to the first radio unit, and a termination port coupled to a matched load. The second circulator has an input port coupled to the second splitter output port, an output port coupled to the second radio unit, and a termination port coupled to a second matched load.

Abstract: An object detection apparatus detects a target object present in a periphery of a moving body. The object detection apparatus derives recognition information indicating a state of a target object, and predicts a state of the target object at a next second observation timing, based on the recognition information derived at a first observation timing. The object detection apparatus derives a score based on a degree of difference between a state of the target object observed at the second observation timing and a next state of the target object predicted at the first observation timing. The object detection apparatus derives a reliability level by statistically processing scores related to the target object derived at a plurality of observation timings from past to present. In response to the reliability level satisfying a predetermined reference, the object detection apparatus determines that the target object related to the reliability level is actually present.

Abstract: A system for automatically maintaining focus while tracking remote flying objects includes an interface and processor. The interface is configured to receive two or more images. The processor is configured to determine a bounding box for an object in the two or more images; determine an estimated position for the object in a future image; and determine an estimated focus setting and an estimated pointing direction for a lens system.

Abstract: A driving assist device includes a first sensor, a second sensor, and a control device. The control device does not execute an inter-vehicle distance control under a predetermined first condition upon determination that at least one preceding object is detected based on the output of one of the first sensor and the second sensor without being detected based on the output of the other of the first and second sensors; and an environment of a non-detection sensor that is the other of the first and second sensors satisfies a first requirement for determination of a reliability of the output of the non-detection sensor; and the control device executes the inter-vehicle distance control under a predetermined second condition upon determination that the environment of the non-detection sensor satisfies a second requirement for determination of the reliability of the output of the non-detection sensor.

Abstract: Systems and methods for detection and reporting of small targets to an operational area. Exemplary embodiments are presented to detect targets such as avian species, UAS, UAV, and drones, and transmit unique small target identifier information via data link, such as ADS-B, to an operational area.

Abstract: Systems and methods for generating simulated LiDAR data using RADAR and image data are provided. An algorithm is trained using deep-learning techniques such as loss functions to generate simulated LiDAR data using RADAR and image data. Once trained, the algorithm can be implemented in a system, such as a vehicle, equipped with RADAR and image sensors in order to generate simulated LiDAR data describing the system's environment. The simulated LiDAR data may be used by a vehicle control system to determine, generate, and implement modified driving operations.

Abstract: A base station apparatus includes a first wireless communication unit configured to transmit a first beacon for performing wireless communication in a first channel, a second wireless communication unit configured to transmit a second beacon for performing wireless communication in a second channel, and a control unit configured to switch a channel in which the first beacon is transmitted to the second channel when a radar wave is detected in the first channel.

Abstract: A traffic safety control method is provided. The method includes obtaining first related information of a road when a vehicle is traveling on a road. Second related information is detected using a detecting device of the vehicle when the first related information indicates that there is the intersection in front of the vehicle on the road. The vehicle is controlled according to the first related information and the second related information.

Abstract: Embodiments described herein include systems and techniques for converting (i.e., transducing) a quantum-level (e.g., single photon) signal between the three wave forms (i.e., optical, acoustic, and microwave). A suspended crystalline structure is used at the nanometer scale to accomplish the desired behavior of the system as described in detail herein. Transducers that use a common acoustic intermediary transform optical signals to acoustic signals and vice versa as well as microwave signals to acoustic signals and vice versa. Other embodiments described herein include systems and techniques for storing a qubit in phonon memory having an extended coherence time. A suspended crystalline structure with specific geometric design is used at the nanometer scale to accomplish the desired behavior of the system.

Abstract: An antenna alignment system for a directional antenna may include an antenna alignment device to be temporarily mounted to the directional antenna to determine antenna positioning data therefor. The antenna alignment system may also include a technician tool mount associated with the antenna alignment device. The antenna alignment device may also include a technician tool configured to be temporarily mounted to the technician tool mount, and acquire an image looking in a direction outward from the directional antenna.

Abstract: Disclosed are a method and device for measuring a headcount by using a peak value distribution pattern of a radar reception signal according to the headcount. The method for counting people by using a UWB radar disclosed herein comprises: a step of computing, for each predetermined headcount, an amplitude probability density function based on the distance between a reflection point and a radar, by using a sample radar reception signal for the headcount; a step of calculating likelihood values with respect to the headcounts from a measured radio reception signal by using the probability density function; and a step of determining a headcount corresponding to the largest likelihood value among the calculated likelihood values, as a final headcount with respect to the measured radar reception signal.

Abstract: A surroundings detection system for motor vehicles, including multiple sensors which are sensitive to electromagnetic radiation in different ranges of the electromagnetic spectrum, and including associated evaluation modules for locating and/or classifying objects present in the surroundings based on the data supplied by the sensors, including a model module in which a surroundings model is stored which, in addition to the 3D position data of the objects, also contains data about the spectral reflection properties of surfaces of the objects, the model module being capable of providing these data to the evaluation modules.

Abstract: Aspects of the disclosure provide for a method of calibrating a vehicle's plurality of detection systems. To calibrate a first detection system, orientation data is collected using the first detection device when the vehicle faces a first direction and a second direction opposite the first direction. To calibrate a second detection system, data is collected using the second detection device while the vehicle moves in a repeatable pattern near a first object. To calibrate a third detection system, light reflected off a second object is detected using the third detection system as the vehicle is moved towards the second object. To calibrate a fourth detection system, data collected using the second detection system and the fourth detection system is compared. To calibrate a fifth detection system, radar signals reflected off a third object is received using the fifth detection system while the vehicle moves relative to the third object.

Abstract: The invention relates to a system to increase the effectiveness of direct fire weapon systems in targeting and destroying a target utilizing the military's existing direct fire weapon systems. The invention consists of a network which communicates with the devices of the invention and that are capable of directing the fire to a specific location.

Abstract: A method for increasing the reliability of determining the position of a vehicle on the basis of a plurality of detection points is described, the plurality of detection points being acquired using a radio-based and/or an optical sensor system, in particular a radar system, of a vehicle receiving electromagnetic signals from a vicinity of the vehicle, and each of the plurality of detection point representing a location in the vicinity of the vehicle, wherein the method comprises for each detection point of at least a subset of the plurality of detection points: determining at least one geometrical object associated with the detection point; determining at least one group of detection points from the subset sharing the at least one geometrical object; determining a quantity of detection points in the at least one group; evaluating a weight which represents the quantity of detection points in the at least one group on a predefined scale, and processing the detection point with respect to the weight.

Abstract: Systems and methods disclosed herein provide probabilistic decision support regarding detected obstacles in a working area. Real-time data sets are collected from obstacle sensors associated with at least one self-propelled work vehicle, corresponding to detected presence/absence of obstacles at given locations within the working area. The received real-time data sets are integrated in data storage comprising a priori data sets corresponding to the working area, to generate one or more new a priori data sets. Probabilities are determined for the detected presence or absence of the obstacle, and for each of one or more obstacle categories, based on the received real-time data set and at least an a priori data set corresponding to the work vehicle's location. An output corresponding to at least a most likely of the determined probabilities is generated as feedback to a user interface, and/or relevant machine control units.

Abstract: A drive assist device includes a display that displays an image around a vehicle imaged by an imaging device installed on the vehicle, a setting unit that sets a target designated by a user on the image as a recognition target, a detection unit that detects a state change of the recognition target on the image in a case where the recognition target is set, and a notification control unit that controls a notification device to notify the user of the detection result in a case where the state change of the set recognition target is detected.

Abstract: The purpose is to provide a radar apparatus which can create and display only necessary trail data. The radar apparatus may include an acquisition module, an echo data creation module, a memory, a trail data creation module, and a display unit. The acquisition module may acquire an echo based on a reflected wave from a target object, of a transmitted electromagnetic wave. The echo data creation module may create, based on the echo, echo data at least indicative of a position of the target object. The memory may store determination data set, for every given display area, whether trail data indicative of a moving trail of the target object is to be newly created based on the echo. The trail data creation module may create the trail data based on the echo and the determination data. The display unit may display the echo data and the trail data.

Abstract: Embodiments of the disclosure relate to a fifth generation (5G) or pre-5G communication system for supporting a higher data transmission rate beyond the fourth generation (4G) communication system, such as long term evolution (LTE) are provided. The method for managing a channel in a wireless local area network (WLAN) system includes detecting a radar signal and determining an optimal channel based on history information of a channel and the detected radar signal.

Abstract: The present disclosure relates to detecting road surface conditions. A road surface detector comprises a transmitter, receiver, and one or more processors. The transmitter is configured to transmit one or more radio frequency (RF) beams at a road surface. The receiver is configured to receive RF reflections of the one or more transmitted RF beams at two or more receive channels. The one or more processors are to determine a road surface condition based on a doppler signature of the received RF reflections. A method comprises transmitting one or more radio frequency (RF) beams at a road surface. RF reflections of the one or more transmitted RF beams are receives at two or more receive channels. The method includes determining a road surface condition based on a doppler signature of the received RF reflections.

Abstract: An antenna apparatus for transmitting and receiving electromagnetic waves via a cover member disposed outside, including: first and second antenna sections that are disposed adjacently to each other along a direction orthogonal to a predetermined direction to which the electromagnetic waves are transmitted and received and that transmit the electromagnetic waves, respectively; and first and second dielectric lenses that are disposed in the predetermined direction to which the first and second antenna sections transmit their electromagnetic waves and narrow beams of the electromagnetic waves transmitted by the first and second antennas, respectively, to transmit to the outside, in which an outer end face of first dielectric lens protrudes further forward in the predetermined direction than an outer end face of second dielectric lens.

Abstract: A vehicle surrounding information acquiring apparatus includes: a radar detector configured to detect an object around a vehicle by radio waves; a lidar detector configured to detect an object around the vehicle by light; and an image detector configured to capture a periphery of the vehicle and detect an object from the captured image. The apparatus comprises: a first processor configured to generate target information by combining a detection result of the radar detector and a detection result of the image detector; a second processor configured to generate target information by combining a detection result of the lidar detector and the detection result of the image detector; and a third processor configured to generate target information of the periphery of the vehicle by integrating the target information generated by the first processor and the target information generated by the second processor.