Abstract: An on-vehicle control device includes: an image acquiring unit that acquires an image from an image-capturing device that captures the image of surroundings of a vehicle; an overhead view image generating unit that generates an overhead view image from the image acquired by the image acquiring unit, the overhead view image being a plan view of the surroundings of the vehicle seen from above the vehicle; a white line recognizing unit that recognizes possible white lines on a road surface in the overhead view image; a white line information saving unit that saves information including positional information of the possible white lines recognized by the white line recognizing unit; a white line position predicting unit that predicts a position of a possible white line to be reached, based on information about a previous possible white line saved by the white line information saving unit and vehicle behavior information; and a white line judging unit that excludes, among the possible white lines recognized by the

Abstract: A turbidity degree calculating unit calculates a degree of the white turbidity U on a surface of the lens based on a brightness gradient g of an image I (x, y), and a lens cleaning control unit sets a lens cleaning mode for spraying at least one of the cleaning fluid and the compressed air, which is performed by the lens cleaning unit, based on the calculated turbidity degree U.

Abstract: An in-vehicle image recognizer effectively detects a moving object from an image even when a lens has grime. In a detection sensitivity adjustor (50) which adjusts detection sensitivity to be increased according to a white turbidity level (U), the detection sensitivity of a vehicle detector (70) (image recognition application execution unit), which detects the other vehicle (6) (moving object) existing in the surrounding area of a vehicle (5) with a predetermined detection sensitivity from the image obtained by an imaging unit (10) disposed in the vehicle (5) to observe the surrounding area of the vehicle (5) through a lens (12) and convert the light signal of the observed surrounding area of the vehicle (5) into an image signal, is corrected based on the attachment level M of the attached matter such as dirt or water drops to the lens (12), which is calculated by an attachment level calculator (26).

Abstract: A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.

Abstract: An in-vehicle surrounding environment recognition device includes: a photographic unit that photographs a road surface around a vehicle and acquires a photographic image; an application execution unit that recognizes another vehicle on the basis of the photographic image, and detects a relative speed of the other vehicle with respect to the vehicle; a reflection determination unit that, on the basis of the photographic image, determines upon presence or absence of a reflection of a background object from the road surface; a warning control unit that controls output of a warning signal on the basis of the result of recognition of the other vehicle; and a warning prevention adjustment unit that suppresses output of the warning signal on the basis of the relative speed of the other vehicle, if it has been determined that there is the reflection of the background object from the road surface.

Abstract: An environment recognition device includes: an image acquisition unit; a light spot feature amount extraction unit that extracts a feature amount of a light spot from the image; a lens dirtiness judgment unit that judges dirt adhering to a surface of a lens of the imaging unit; a headlight detection condition setting unit that sets, based on result of judgment by the lens dirtiness judgment unit, in a parameter that is preliminarily related, a detection condition under which a light spot extracted by the light spot feature amount extraction unit is judged to be a headlight; an approaching headlight judgment unit that judges a particular light spot out of the light spots that corresponds to the parameter as an approaching headlight based on the parameter; and a vehicle annunciation signal outputting unit that outputs a vehicle annunciation signal based on detection result of the approaching headlight judgment unit.