Abstract: A method includes: recognizing a signal candidate position around a vehicle by using a sensor mounted on the vehicle, the signal candidate position being a position a traffic light is possibly present, the vehicle including a light configured in such a manner that a light distribution state of the light changes; and performing a first light control process of controlling the light in response to recognition of the signal candidate position, the first light control process including at least one of: increasing an intensity of light emitted to the signal candidate position to a value higher than before the recognition of the signal candidate position; or making the intensity of the light emitted to the signal candidate position higher than an intensity of light emitted to an area other than the signal candidate position.

Abstract: A stop line detection apparatus recognizes a boundary line of a lane on which the host vehicle travels, and detect a stop line at an intersection in front of the host vehicle. The apparatus sets an intersection area corresponding to the intersection in the road on which the host vehicle travels on the basis of a captured image by a front camera of the host vehicle, detects a crosswalk in the intersection area, a stop line search area setting unit configured to set a stop line search area extending from the crosswalk toward a front side in the lane on which the host vehicle travels, and performs stop line detection in the stop line search area. A depth of the stop line search area in an extending direction of a traveling lane is smaller than twice a depth of the crosswalk.

Abstract: An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.

Abstract: An axis deviation detection device includes: a first detection unit that detects a first object from pickup information acquired by a camera disposed in an interior of a vehicle cabin of a vehicle; a second detection unit that detects a second object from point information acquired by a LIDAR disposed in an exterior of the vehicle cabin of the vehicle; and an axis deviation angle estimation unit that estimates an axis deviation angle of the LIDAR to the camera, and that estimates that the axis deviation angle of the LIDAR to the camera is a predetermined angle, in a case where a result of comparison between a detection result of the first detection unit and an after-rotation detection result from rotating a detection result of the second detection unit by the predetermined angle about an attachment position of the LIDAR on the vehicle satisfies a predetermined condition.

Abstract: If the sign of the relative speed of the non-fixed object is negative, the determination width for own lane is expanded in the lane-width direction. According to the expanded determination width for own lane, both the preceding vehicle on the adjacent lane and the preceding vehicle on the own lane are recognized as existing on the own lane. Therefore, if it is determined that the risk to collide with the preceding vehicle on the adjacent lane is high, the decelerating assist control is executed to prevent collision with this preceding vehicle. Also, if it is determined that the risk to collide with the preceding vehicle on the own lane is high, the decelerating assist control for preventing collision with this preceding vehicle is executed.

Abstract: A target-lane relationship recognition apparatus mounted on a vehicle includes a sensor that detects a situation around the vehicle, a memory device in which a map data indicating a boundary position of a lane on a map is stored, and a processing device. The processing device is configured to: (a) acquire, based on the sensor detection result, target information regarding a moving target and a stationary target around the vehicle; (b) acquire, based on the map data and position-orientation of the vehicle, lane geometry information indicating a lane geometry around the vehicle; (c) adjust the lane geometry to generate an adjusted lane geometry satisfying a condition that the moving target is located within a lane and the stationary target is located outside of any lane; and (d) generate target-lane relationship information indicating a positional relationship between the moving target and the adjusted lane geometry.

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: If the sign of the relative speed of the non-fixed object is negative, the determination width for own lane is expanded in the lane-width direction. According to the expanded determination width for own lane, both the preceding vehicle on the adjacent lane and the preceding vehicle on the own lane are recognized as existing on the own lane. Therefore, if it is determined that the risk to collide with the preceding vehicle on the adjacent lane is high, the decelerating assist control is executed to prevent collision with this preceding vehicle. Also, if it is determined that the risk to collide with the preceding vehicle on the own lane is high, the decelerating assist control for preventing collision with this preceding vehicle is executed.

Abstract: A target-lane relationship recognition apparatus mounted on a vehicle includes a sensor that detects a situation around the vehicle, a memory device in which a map data indicating a boundary position of a lane on a map is stored, and a processing device. The processing device is configured to: (a) acquire, based on the sensor detection result, target information regarding a moving target and a stationary target around the vehicle; (b) acquire, based on the map data and position-orientation of the vehicle, lane geometry information indicating a lane geometry around the vehicle; (c) adjust the lane geometry to generate an adjusted lane geometry satisfying a condition that the moving target is located within a lane and the stationary target is located outside of any lane; and (d) generate target-lane relationship information indicating a positional relationship between the moving target and the adjusted lane geometry.

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: Provided is an approaching object detection apparatus for a vehicle, which is configured to identify an object approaching the vehicle using optical flow vectors calculated based on two images. The apparatus can avoid a non-detection in which an approaching object is determined as a non-approaching object and an erroneous detection in which a non-approaching object is determined as an approaching object, which are caused by the change of horizontal components of the optical flow vectors when the vehicle changes its direction. An approaching object is identified based on a corrected vector obtained by correcting each optical flow vector with a turning correction vector, the turning correction vector being calculated based on a mean of the horizontal components of a pair of vectors among the optical flow vectors, the pair of vectors having starting points that are line-symmetric to each other with respect to a perpendicular line (virtual center line) passing through a focus of expansion.