Abstract: An obstacle detection device includes a traveling direction determination unit configured to determine a traveling direction of an own vehicle based on acquired steering angle information and shift position information, and an obstacle determination unit configured to set a detection range as a predetermined range around the own vehicle, determines, when an object detected based on sensor data is positioned inside the detection range, the object as an obstacle that obstructs traveling of the own vehicle, and outputs a control signal for stopping the traveling of the own vehicle or decelerating the own vehicle. The obstacle determination unit changes the detection range based on a determination result of the traveling direction determination unit.

Abstract: A parking assistance ECU is a device that assists parking of a subject vehicle and includes a route generation unit that generates a travel route on which the subject vehicle travels, a selection unit that selects, based on the travel route, a camera used for detection of an obstacle among a front camera, a right side camera, a left side camera, and a rear camera which capture an image of a surrounding of the subject vehicle, in a case where a turning action of the subject vehicle is included in the travel route, and an obstacle detection unit that detects an obstacle which possibly contacts with the subject vehicle from a captured image captured by the camera selected by the selection unit.

Abstract: An obstacle detection device includes a traveling direction determination unit configured to determine a traveling direction of an own vehicle based on acquired steering angle information and shift position information, and an obstacle determination unit configured to set a detection range as a predetermined range around the own vehicle, determines, when an object detected based on sensor data is positioned inside the detection range, the object as an obstacle that obstructs traveling of the own vehicle, and outputs a control signal for stopping the traveling of the own vehicle or decelerating the own vehicle. The obstacle determination unit changes the detection range based on a determination result of the traveling direction determination unit.

Abstract: An obstacle detection device includes an acquisition unit configured to acquire path information to a parking position and range information representing a position and a range of an object existing around an own vehicle, an operation control unit configured to generate a driving signal, for operating a traveling driving device that travels a vehicle, according to the path information and outputs the generated driving signal to the traveling driving device, an inside/outside determination unit configured to determine, when receiving surroundings information representing a situation around the own vehicle, whether a target object included in the received surroundings information is an object positioned inside the range represented by the range information or an object positioned outside the range, and an obstacle determination unit configured to determine whether or not the object that has been determined to be positioned outside the range is an obstacle to the own vehicle traveling in a parking path.

Abstract: An in-vehicle processing device includes an offset route generation part configured to generate an offset route by offsetting to an oncoming lane an outbound route in a street on which the host vehicle has previously traveled, a candidate point generation part configured to generate a plurality of candidate points that are candidates for a return route based on the offset route generated by the offset route generation part, a candidate route generation part configured to generate a plurality of candidate routes by connecting the candidate points generated by the candidate point generation part, and a route selection part configured to select the return route based on the plurality of candidate routes generated by the candidate route generation part.

Abstract: An in-vehicle processing device includes an offset route generation part configured to generate an offset route by offsetting to an oncoming lane an outbound route in a street on which the host vehicle has previously traveled, a candidate point generation part configured to generate a plurality of candidate points that are candidates for a return route based on the offset route generated by the offset route generation part, a candidate route generation part configured to generate a plurality of candidate routes by connecting the candidate points generated by the candidate point generation part, and a route selection part configured to select the return route based on the plurality of candidate routes generated by the candidate route generation part.

Abstract: A parking assistance ECU is a device that assists parking of a subject vehicle and includes a route generation unit that generates a travel route on which the subject vehicle travels, a selection unit that selects, based on the travel route, a camera used for detection of an obstacle among a front camera, a right side camera, a left side camera, and a rear camera which capture an image of a surrounding of the subject vehicle, in a case where a turning action of the subject vehicle is included in the travel route, and an obstacle detection unit that detects an obstacle which possibly contacts with the subject vehicle from a captured image captured by the camera selected by the selection unit.