Abstract: An object detection device includes: a camera ECU that measures the bearing of an object by detecting the object from an image captured by a camera and identifying the direction toward the object; a sonar that measures the distance to the object existing around the vehicle; and a position identification unit that identifies the position of the object by combining the measured bearing data and distance data on a grid map that is based on a polar coordinate system and identifying the grid cell where the object exists on the grid map.

Abstract: A route generation device includes: an autonomous route generator configured to generate, based on surrounding information around an own vehicle detected by a vehicle-mounted detector, an expected autonomous route along which the own vehicle is to travel; a map route acquirer configured to acquire an expected map route along which the own vehicle is to travel based on map data; and an integrated route generator configured to generate an integrated route using the autonomous route and the map route.

Abstract: A self-location estimation device includes a landmark detection unit that detects a landmark from camera information, an association unit that associates the landmark detected by the landmark detection unit with a radar information group, a landmark sorting unit that performs sorting of the landmarks detected by the landmark detection unit based on the radar information groups associated with the landmarks by the association unit, and a positional relation calculation unit that calculates a positional relation between an own vehicle and the landmark employed by the landmark sorting unit, based on the radar information group associated with the landmark.

Abstract: In an occupancy grid map generation device for generating an occupancy grid map that indicates, for each of cells of a grid into which a region is divided, an occupancy probability that an object occupies the cell, an occupancy probability updating unit is configured to, based detection result data of an object therearound, successively update the occupancy probability for each of the cells calculated at a previous time to calculate a latest occupancy probability. An updating weight calculation unit is configured to acquire data about presence or absence of an object in each of the cells therearound based on map data, and determine a weight of the detection result data used by the occupancy probability updating unit to update the occupancy probability for the cell, based on a degree of match between the data about presence or absence of an object in the cell and the detection result data.

Abstract: An object detection device includes an azimuth sensor that measures an azimuth region of an object that is present around a vehicle, a plurality of distance sensors each of which measures a distance to the object, and an object determination section that calculates arcs of circles whose radii are the distances measured by the respective distance sensors and calculates intersection points of a tangent to adjacent ones of the arcs and the azimuth region measured by the azimuth sensor.

Abstract: In a localization apparatus for a vehicle, a landmark detector detects a landmark from camera information acquired from a camera mounted to the vehicle. An associator associates the landmark with a specific set of radar information by setting an error region in which the landmark may exist, selecting, from a radar observation point cluster formed of a set of radar observation points corresponding to a set of radar information acquired from a radar mounted to the vehicle, a radar observation point cluster formed of a set of radar observation points included in the error region, and associating the landmark with the specific set of radar information corresponding to the selected radar observation point cluster. A positional relationship calculator calculates a positional relationship between the landmark and the vehicle based on the specific set of radar information associated with the landmark.

Abstract: In an apparatus for localizing a center of an intersection, a data obtainer obtains, from a surrounding monitor that monitors a surrounding situation around a vehicle traveling on a road, data indicative of the surrounding situation. A road center identifier identifies a location of a center of the road based on the data indicative of the surrounding situation around the vehicle. A traffic light detector detects, based on the data indicative of the surrounding situation around the vehicle, at least two traffic light devices located in an intersection to which the road joins. A center localization unit detects an intersection point between the location of the center of the road identified by the road center identifier and a line connecting between the at least two traffic light devices detected by the traffic light detector, thus localizing the detected intersection point as a center of the intersection.

Abstract: An object detection device includes: a camera ECU that measures the bearing of an object by detecting the object from an image captured by a camera and identifying the direction toward the object; a sonar that measures the distance to the object existing around the vehicle; and a position identification unit that identifies the position of the object by combining the measured bearing data and distance data on a grid map that is based on a polar coordinate system and identifying the grid cell where the object exists on the grid map.

Abstract: A radar system includes an arithmetic processing unit, which calculates the second derivative of the intensity of a reflected wave and determines whether a target is an upper structure or a vehicle, based on the second derivative. Alternatively, the arithmetic processing unit decomposes the waveform of the intensity of the reflected wave into frequency components and determines whether the target is an upper structure or a vehicle, based on the intensity of a predetermined frequency component.

Abstract: A radar system includes an arithmetic processing unit, which sends a warning command to a warning device when a local minimum point of the intensity of the reflected wave from a target within a predetermined detection range is detected. By determining whether it is necessary to send a warning command based on whether there is a local minimum point of the intensity within the detection range, it is made possible to determine whether it is necessary to send a warning command more quickly as compared to the conventional system.

Abstract: A radar system includes an arithmetic processing unit, which sends a warning command to a warning device when a local minimum point of the intensity of the reflected wave from a target within a predetermined detection range is detected. By determining whether it is necessary to send a warning command based on whether there is a local minimum point of the intensity within the detection range, it is made possible to determine whether it is necessary to send a warning command more quickly as compared to the conventional system.

Abstract: A radar system includes an arithmetic processing unit, which calculates the second derivative of the intensity of a reflected wave and determines whether a target is an upper structure or a vehicle, based on the second derivative. Alternatively, the arithmetic processing unit decomposes the waveform of the intensity of the reflected wave into frequency components and determines whether the target is an upper structure or a vehicle, based on the intensity of a predetermined frequency component.

Abstract: An obstacle detection device includes; a primary device that determines the presence or absence of the target object on the basis of a comparison between the transmitted wave and the reception wave; a storage device that, when it is determined that the object is present, acquires a reception power of the reception wave at a control period determined beforehand, and stores the reception power as reception power time series data; a secondary device that determines whether a value relating to a time series change pattern of the data falls within a predetermined range set beforehand on the basis of phase interference, of the reception wave, that depends on a height of the object from a road; and a output device that determines the object to be an obstacle and outputs a result of this determination, when it is determined that the value relating to the pattern falls within the range.

Abstract: When there is a change in the content of a setting related to a function of an image forming device, including function parameters and system specifications, the information to be displayed on a liquid crystal display unit is determined according to the type of the change in the setting. A counter then counts the number of times each user uses the image forming device after information is selected for display on the liquid crystal display unit. When any particular user uses the image forming device, the information is displayed on the liquid crystal display unit (step T6) only if the value of the counter for that user (the number of times that user used the image forming device after information was selected for display) is 0 (step T4 returns Yes).