Abstract: A travel amount estimation apparatus includes a vehicle travel amount calculation unit, a sensor travel amount calculation unit, an error cause determination unit, and a vehicle travel amount correction unit. The vehicle travel amount calculation unit acquires vehicle information and calculates a vehicle travel amount based on the vehicle information. The sensor travel amount calculation unit acquires sensor information from an external sensor and calculates a sensor travel amount based on the sensor information. The error cause determination unit determines an error cause of the vehicle travel amount. The vehicle travel amount correction unit corrects the vehicle travel amount by using the sensor travel amount in accordance with the error cause and estimates a travel amount of the vehicle on which it is mounted.

Abstract: A parking assistance device includes: a vehicle location acquiring unit for acquiring the current location of a vehicle; an object information acquiring unit for acquiring object information that includes information relating to locations of objects in the vicinity of the vehicle; and a target route setting unit for setting a plurality of routes between the current location and a predetermined parking space, identifying the route, of the plurality of routes, with the longest distance to the object, and, based on the identified route, setting a target route for the vehicle to travel from the current location to the predetermined parking space.

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: A travel amount estimation apparatus 10 includes a vehicle travel amount calculation unit 14, a sensor travel amount calculation unit 11, an error cause determination unit 16, and a vehicle travel amount correction unit 17. The vehicle travel amount calculation unit 14 acquires vehicle information 30 related to traveling of an own-vehicle and calculates a vehicle travel amount indicating a travel amount of the own-vehicle based on the vehicle information 30. The sensor travel amount calculation unit 11 acquires sensor information related to a surrounding environment of the own-vehicle from an external sensor 20 and calculates a sensor travel amount indicating a travel amount of the own-vehicle based on the sensor information. The error cause determination unit 16 determines an error cause of the vehicle travel amount.

Abstract: A position estimation apparatus includes: an image information calculation unit that extracts each of image feature points from a plurality of images which are sequentially captured and associates the image feature points with each other between the plurality of images; a travel amount calculation unit that estimates the position of the mobile object; a three-dimensional image feature point calculation unit that estimates a three-dimensional position of the image feature point in a real space on the basis of a result of associating the image feature points with each other and the position of the mobile object; a position correction unit that corrects the three-dimensional position and the position of the mobile object so as to reduce a position error between a position of the three-dimensional position, when the three-dimensional position is reprojected onto any one of the plurality of images, in the relevant image and the image feature point; a route regeneration judgment unit that judges whether or not to r

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.