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: A support control unit for determining a traveling condition of a host vehicle during an exit from a main road to an access road determines whether or not the condition of the host vehicle at a given point in time corresponds to an exit start scene or an exit completion scene for detecting the start of an exit or completion of the exit on the basis of a host vehicle position, route data, map rendering data, or lane information including at least road surface marking positions, and determines that an exit start timing or an exit completion timing of the host vehicle has arrived when the condition is determined to correspond to the exit start scene or the exit completion scene. Hence, during the exit from the main road to the access road, the traveling condition of the host vehicle can be determined accurately. The support control unit also determines the traveling condition of the host vehicle during convergence with the main road from the access road.

Abstract: A wrong-way-travel warning device comprising a vehicle speed detecting part configured to detect a vehicle speed of a vehicle, a part configured to detect a position of the vehicle, an angle detecting part configured to detect an angle of a vehicular longitudinal direction of the vehicle relative to a lane marking if the vehicle speed of the vehicle becomes less than or equal to a predetermined value, and a warning part configured to issue a warning to an occupant if the position of the vehicle is on a main lane of a highway and if the angle becomes about 90 degrees, is provided.

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: A wrong-way-travel warning device comprising a vehicle speed detecting part configured to detect a vehicle speed of a vehicle, a part configured to detect a position of the vehicle, an angle detecting part configured to detect an angle of a vehicular longitudinal direction of the vehicle relative to a lane marking if the vehicle speed of the vehicle becomes less than or equal to a predetermined value, and a warning part configured to issue a warning to an occupant if the position of the vehicle is on a main lane of a highway and if the angle becomes about 90 degrees, is provided.

Abstract: A support control unit for determining a traveling condition of a host vehicle during an exit from a main road to an access road determines whether or not the condition of the host vehicle at a given point in time corresponds to an exit start scene or an exit completion scene for detecting the start of an exit or completion of the exit on the basis of a host vehicle position, route data, map rendering data, or lane information including at least road surface marking positions, and determines that an exit start timing or an exit completion timing of the host vehicle has arrived when the condition is determined to correspond to the exit start scene or the exit completion scene. Hence, during the exit from the main road to the access road, the traveling condition of the host vehicle can be determined accurately. The support control unit also determines the traveling condition of the host vehicle during convergence with the main road from the access road.