Abstract: The apparatus of the present disclosure detects a preceding vehicle and a white dashed line provided at regular intervals along a road from an image captured by a monocular camera. In addition, the apparatus of the present disclosure acquires speed information of the host vehicle. Then, the apparatus of the present disclosure counts the number of white dashed lines included in the section from the vertical position of the preceding vehicle to the lower fixed reference position of the vertical position in the camera image, and detects the deceleration of the preceding vehicle based on the time-series transition of the number of white dashed lines and the speed information of the host vehicle.

Abstract: An on-board sensor system includes: a first sensor configured to detect a situation around a vehicle; a second sensor having a higher angular resolution than the first sensor; an acquisition unit configured to acquire a detection result of the first sensor; and a range decision unit configured to decide, based on the detection result, an observation range to be observed by the second sensor around the vehicle.

Abstract: A traffic sign recognition device includes a storage device configured to store a camera image from a movable body and pieces of three-dimensional point group data, and a processor. The processor is configured to: estimate a relative position of the traffic sign candidate to the movable body; specify a set of three-dimensional point group data; and specify an image region of an object corresponding to a set region indicative of a region where the set is specified, the object including the traffic sign candidate. The processor is configured to calculate a percentage of a predetermined color component constituting a guide sign among color components constituting an image of the object. In a case where the percentage of the predetermined color component is equal to or more than a threshold, the processor recognizes the object including the traffic sign candidate to be the guide sign.

Abstract: An on-board sensor system includes: a first sensor configured to detect a situation around a vehicle; a second sensor having a higher angular resolution than the first sensor; an acquisition unit configured to acquire a detection result of the first sensor; and a range decision unit configured to decide, based on the detection result, an observation range to be observed by the second sensor around the vehicle.

Abstract: An object identifying apparatus (13) has: a first determining device (131) configured to determine a first region (231) including an object in an image; a second determining device (134) configured to determining a specific border portion (302) in the first region from a border (301) of the object at which a degree of gradient of image characteristics amount is equal to or larger than a predetermined amount, the specific border portion is a portion at which a direction of the gradient of the image characteristics amount is one direction and a distribution range of the specific border portion in the first region is larger than that of another border portion at which the direction of the gradient of the image characteristics amount is another direction different from the one direction; and an identifying device (136) configured to identify the object on the basis of a first parameter (A) representing a length of the first region and a second parameter (B) representing a length of the specific border portion.

Abstract: An object identifying apparatus (13) has: a first determining device (131) configured to determine a first region (231) including an object in an image; a second determining device (134) configured to determining a specific border portion (302) in the first region from a border (301) of the object at which a degree of gradient of image characteristics amount is equal to or larger than a predetermined amount, the specific border portion is a portion at which a direction of the gradient of the image characteristics amount is one direction and a distribution range of the specific border portion in the first region is larger than that of another border portion at which the direction of the gradient of the image characteristics amount is another direction different from the one direction; and an identifying device (136) configured to identify the object on the basis of a first parameter (A) representing a length of the first region and a second parameter (B) representing a length of the specific border portion.