Abstract: In an object detection apparatus, a captured image of a scene around a host vehicle, information indicating a travel state of the host vehicle, and information indicating a surrounding situation around the host vehicle are obtained; risk areas in each of which an object is likely to exist, and area risk degrees of the risk areas are estimated based on the obtained information; posture risk degrees of respective postures are estimated based on a relation between each of the risk areas and the postures of the object assumed to exist in the risk area; a window image is extracted from a search range in the captured image, which corresponds to each of the risk areas, according to descending order of overall risk degrees; and it is identified whether the window image is an image showing the object, by comparing an identification model with the window image.

Abstract: The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver's vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver's vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage.

Abstract: A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.

Abstract: A driving assist apparatus for a vehicle that guides the vehicle to a target position is provided. On the basis of the present direction of the vehicle and the direction of the vehicle at the target position, a basic path that changes the vehicle direction so as to coincide with the target direction of the vehicle at the target position is computed. A path from the present position to the target position is computed by adding a straight-line path to the basic path under a predetermined condition.