Abstract: When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount ?Ti of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount ?To of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount ?Ti, and the temperature increase amount ?To, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.

Abstract: When performing automatic control of a steering device that assists a host vehicle to be pulled into or out of a parking space, an electronic control unit performs the following procedure. When there is, as a path for pulling the vehicle into or out of the parking space, a path in which a predicted temperature of the steering device for when the automatic control is performed to move the vehicle along the path would be lower than an allowable upper limit value, the electronic control unit starts the automatic control to move the vehicle along the path. In contrast, when there is no path in which the predicted temperature is lower than the allowable upper limit value, the electronic control unit prohibits the automatic control.

Abstract: When starting automatic pulling-in control, an electronic control unit calculates a temperature increase amount ?Ti of a motor caused by the execution of the automatic pulling-in control and a temperature increase amount ?To of the motor caused by the execution of automatic pulling-out control. Based on the current temperature of the motor, the temperature increase amount ?Ti, and the temperature increase amount ?To, the electronic control unit obtains a predicted temperature of the motor of a case in which the automatic pulling-out control is executed subsequent to the automatic pulling-in control. When the predicted temperature is lower than an allowable upper limit, starting of the automatic pulling-in control is permitted. When the predicted temperature is higher than or equal to the allowable upper limit, starting of the automatic pulling-in control is prohibited.

Abstract: A parking assist device assists entry or exit of a vehicle with respect to a parking space through an automatic control of a steering device. The parking assist device includes: a calculator that obtains, to perform the automatic control of the steering device, a path for allowing the vehicle to enter or exit the parking space based on the parking space, calculates an amount of temperature rise of the steering device at the execution of the automatic control for allowing the vehicle to move along the obtained path, and calculates a predicted temperature of the steering device at the execution of the automatic control by adding the calculated amount of temperature rise to a current value of the temperature of the steering device; and a controller that inhibits the execution of the automatic control when the predicted temperature is equal to or higher than a determination value.

Abstract: In a collision surface determination computing section 27, a collision prediction ECU 2 selects a surface of an own vehicle where an opponent vehicle collides when the own vehicle and opponent vehicle collide with each other. A vehicle track intersection computing section 29 calculates an intersection between the own vehicle and the opponent vehicle. According to the intersection between the own vehicle and opponent vehicle and respective times when the own vehicle and opponent vehicle reach the intersection, a collision determining section 30 determines whether the own vehicle and opponent vehicle collide with each other or not. When it is determined that the own vehicle and opponent vehicle collide with each other, a collision position computing section 32 calculates a collision position of the own vehicle where the opponent vehicle collides according to the collision surface selected in the collision surface determination computing section 27.

Abstract: A parking assistance device includes an obstacle detection unit configured to detect an obstacle around a vehicle, a parking point detection unit configured to detect a parking target point where the vehicle can be parked based on the result of the obstacle detection, and a parking assistance control unit configured to guide the vehicle from a parking start point to the parking target point according to a guidance route based on the result of the obstacle detection and the result of the parking target point detection in a case where a traveling of the vehicle is detected during a period of time from a time when the vehicle reaches the parking start point to a time when a shift range is changed, the parking assistance control unit does not execute the guidance of the vehicle.

Abstract: An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

Abstract: An approaching vehicle detecting system that detects an approaching vehicle on the basis of sounds collected by a plurality of sound collectors mounted on a host vehicle determines whether a transverse moving direction of a sound source detected by the plurality of sound collectors is a direction approaching the host vehicle, determines whether a vertical position of the sound source detected using the plurality of sound collectors is in the same plane as that of the host vehicle, and detects that sound source as the approaching vehicle when it is determined that the transverse moving direction of the sound source is the direction approaching the host vehicle and the vertical position of the sound source is in the same plane as that of the host vehicle.

Abstract: A parking assist device assists entry or exit of a vehicle with respect to a parking space through an automatic control of a steering device. The parking assist device includes: a calculator that obtains, to perform the automatic control of the steering device, a path for allowing the vehicle to enter or exit the parking space based on the parking space, calculates an amount of temperature rise of the steering device at the execution of the automatic control for allowing the vehicle to move along the obtained path, and calculates a predicted temperature of the steering device at the execution of the automatic control by adding the calculated amount of temperature rise to a current value of the temperature of the steering device; and a controller that inhibits the execution of the automatic control when the predicted temperature is equal to or higher than a determination value.

Abstract: Provided is a device for detecting sound outside vehicle capable of detecting sounds outside the vehicle with high accuracy in various surrounding environments. A sound source direction detecting ECU 1 acquires sound collection information about sounds outside a vehicle which are collected by microphones 2A to 2G. The sound source direction detecting ECU 1 acquires traveling road information about the vicinity of a host vehicle on the basis of the acquired sound collection information. When the traveling road information is acquired, the sound source direction detecting ECU 1 adjusts the sound collection characteristics of the microphones 2A to 2G on the basis of the traveling road information.

Abstract: A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

Abstract: An object detecting apparatus for detecting an object by a plurality of radars, with improved accuracy of identity determination and acquisition of position information in fusion of detection results. The object detecting apparatus is arranged to obtain a moving path of a detected point by a radar and to perform pairing as follows: if a detected point by a radar exists in a region based on the moving path and if a relative velocity thereof is matched with that of the detected point of interest, the detected point is paired as a corresponding detected point.

Abstract: A reflection-point estimation section constituting an object detection apparatus first calculates a rotational correction angle for each estimated reflection point Pn by using the following equation, using the fact that the ratio of the amount of change in a detected distance dn to a movement amount In of a sonar is nearly equal to a tangent with respect to the direction normal to the surface of an object: Rotational correction angle?=a tan {(dn+1?dn)/In} in which n is a natural number. Subsequently, the reflection-point estimation section obtains estimated reflection points Pn? after correction, by rotating each estimated reflection point Pn based on the calculation result.

Abstract: A point-sequence approximation apparatus determines whether a proportion of a straight-line approximation region is high as compared to that of a curve approximation region. In addition, if it is determined that the proportion of the straight-line approximation region is high as compared to that of the curve approximation region, the point-sequence approximation apparatus repeatedly performs random setting of a candidate of an approximation straight line, and evaluation of approximation accuracy of the candidate of the approximation straight line based on distances between the candidate of the approximation straight line and the points constituting the point sequence. Moreover, the point-sequence approximation apparatus performs straight-line approximation by using the candidate of the approximation straight line with the best result of evaluation of the approximation accuracy as an approximation straight line.

Abstract: In a parking support device, a distance measuring unit measures a quantity equivalent to a distance from an automotive vehicle to an object existing in a predetermined direction. A storage unit stores a sequence of points indicating results of the measurement performed multiple times. A first object specifying unit generates first object information based on the sequence of points when a length of the sequence of points has exceeded a first reference length. A second object specifying unit generates second object information based on the sequence of points when a length of the sequence of points has exceeded a second, larger reference length. A target parking position is determined based on the first object information in a stage where the first object information is generated.

Abstract: In a collision surface determination computing section 27, a collision prediction ECU 2 selects a surface of an own vehicle where an opponent vehicle collides when the own vehicle and opponent vehicle collide with each other. A vehicle track intersection computing section 29 calculates an intersection between the own vehicle and the opponent vehicle. According to the intersection between the own vehicle and opponent vehicle and respective times when the own vehicle and opponent vehicle reach the intersection, a collision determining section 30 determines whether the own vehicle and opponent vehicle collide with each other or not. When it is determined that the own vehicle and opponent vehicle collide with each other, a collision position computing section 32 calculates a collision position of the own vehicle where the opponent vehicle collides according to the collision surface selected in the collision surface determination computing section 27.

Abstract: A parking assist device for assisting parking operation to a target parking position includes an initial position setting device for setting an initial position of the target parking position to park a vehicle, a designation display showing the target parking position, a display position calculation device for calculating an initial display position of the designation display showing the target parking position at a screen showing vehicle surroundings based on the initial position determined by the initial position setting device, and an initial display position shifting device for shifting the initial display position of the designation display to a position within a display range on the screen in case the initial display position calculated by the display position calculation device is positioned outside of the display range on the screen.

Abstract: A guiding device is disclosed for guiding a vehicle to a target position by controlling the steering angle while estimating the vehicle position at least based on a steering angle value, characterized in that, in estimating the vehicle position, a slowing operation with respect to a change dp in a moving distance of the vehicle is applied to a turning curvature g(Str(p)) estimated based on the steering angle value in order to compensate for the delay due to tire deformation, whereby the delay-compensated turning curvature y(p) is obtained.

Abstract: A target position setting device includes a distance meter, an imager, first and second calculating portions, a determination portion, and a setting portion. The distance meter measures a distance to an object around a vehicle. The imager takes an image of an environment around the vehicle. The first calculating portion calculates a first candidate of a target position of the vehicle according to a measuring result of the distance meter. The second calculating portion calculates a second candidate of the target position of the vehicle according to an imaging result of the imager. The determination portion determines whether a relationship between the first candidate and the second candidate meets a given condition. The setting portion sets the target position according to the second candidate of the target position when the determination portion determines that the relationship between the first candidate and the second candidate meets the given condition.

Abstract: To provide a parking assistance device for accurately detecting obstacles in the periphery of a parking zone; for detecting a parking space in which a vehicle can be parked without coming into contact with the obstacles; and for satisfactorily assisting a driving operation. The parking assistance device detects a stationary object present in the periphery of a vehicle, and assists in parking the vehicle.