Abstract: An obstacle in a periphery of the vehicle is detected using a peripheral monitoring sensor for monitoring the periphery of the vehicle. It is sequentially determined whether an avoidance of the obstacle is necessary, according to a route of the vehicle. A warning device is controlled to issue a warning when determining that the avoidance of the obstacle is necessary. In a case where determining that the avoidance of the obstacle is unnecessary after starting the warning, the warning device is controlled to continue issuing the warning when an obstacle distance is less than a predetermined threshold value set in advance.

Abstract: A vehicle alert apparatus acquires an object distance between an object and a vehicle, presumes a predicted moving route of the vehicle when the object distance is shorter than or equal to a threshold object distance. The vehicle alert apparatus calculates a collision distance which the vehicle has moves along the predicted moving route until the vehicle collides with the object or the vehicle has moved to a position closest to the object when determining that the vehicle potentially collides with the object, based on the predicted moving route. The vehicle alert apparatus performs a first alert when the collision distance is larger than a threshold collision distance. The vehicle alert apparatus performs a second alert having a higher alert level of alerting the driver than the alert level of the first alert when the collision distance is shorter than or equal to the threshold collision distance.

Abstract: A vehicle control apparatus is provided with a reliability determination unit that determines a reliability related to an own vehicle location as a current location of the own vehicle being in a parking place, using a detection result of a parking space or a parked vehicle around an own vehicle based on image data around the own vehicle captured by a camera; and an own vehicle location determination unit that determines whether the own vehicle location is in the parking place, using a determination result of the reliability determined by the reliability determination unit.

Abstract: In an apparatus for identifying an obstacle around a vehicle, an acquirer is configured to acquire an image captured by a camera mounted to the vehicle. An extractor is configured to extract feature points of the image. A generator is configured to generate an optical flow that is a movement vector from each of the feature points of the image acquired before the current time to a corresponding feature point of the image acquired at the current time. A classifier configured to classify the optical flows into groups each corresponding to an object in the image based on pixel positions of the feature points. An identifier is configured to, for each of the groups that the optical flows are classified by the classifier into, identify whether an object corresponding to the group in the image is a stationary object or a moving object based on a degree of variability in lengths of the optical flows of the group.

Abstract: A vehicle control apparatus is mounted in a vehicle and includes: an object detecting unit that detects an object in a travelling direction of the vehicle; and a suppressing unit that suppresses driving force of the vehicle when the object detecting unit detects the object. The suppressing unit performs a first process to gradually increase the driving force when a command to move in the travelling direction is issued and the vehicle is stopped in a state in which the driving force of the vehicle is suppressed, and after the vehicle starts to move from the stopped state, performs a second process to gradually increase the driving force with an amount of increase per time in the driving force that is less than that in the first process.

Abstract: A vehicle alert apparatus acquires an object distance between an object and a vehicle, presumes a predicted moving route of the vehicle when the object distance is shorter than or equal to a threshold object distance. The vehicle alert apparatus calculates a collision distance which the vehicle has moves along the predicted moving route until the vehicle collides with the object or the vehicle has moved to a position closest to the object when determining that the vehicle potentially collides with the object, based on the predicted moving route. The vehicle alert apparatus performs a first alert when the collision distance is larger than a threshold collision distance. The vehicle alert apparatus performs a second alert having a higher alert level of alerting the driver than the alert level of the first alert when the collision distance is shorter than or equal to the threshold collision distance.

Abstract: An obstacle recognition device of a vehicle provided with a camera capturing an image around the vehicle, includes an acquiring unit sequentially acquiring the image captured by the camera; a feature point extracting unit extracting a plurality of feature points of an object included in the image; a calculation unit calculating each motion distance of the plurality of feature points between the image previously acquired and the image currently acquired by the acquiring unit; a first determination unit determining whether each motion distance of the feature points is larger than or equal to a first threshold; a second determination unit determining whether each motion distance of the feature points is larger than or equal to a second threshold; and an obstacle recognition unit recognizing an obstacle.

Abstract: An object detection device is configured to be mounted to an own vehicle to detect an object present around the own vehicle. The object detection device includes a coordinate acquisition section and an object recognition section. The coordinate acquisition section acquires position coordinates of a detection point corresponding to the object on the basis of a plurality of images captured at different positions along with movement of the own vehicle by one imaging section mounted to the own vehicle. The object recognition section recognizes the object without using position coordinates of a movement point that is a detection point corresponding to a moving object but using position coordinates of a stop point that is a detection point different from the movement point.

Abstract: A moving object determination device applied to a vehicle, the device includes at least a predicted time calculation unit, a time difference calculation unit, and a moving/stationary determination unit. The predicted time calculation unit calculates a predicted time from when an obstacle starts to be detected by the first sensor to when the obstacle will no longer be detected by the second sensor based on a traveling speed of the obstacle and a length of the obstacle. The time difference calculation unit calculates a real time from when the obstacle has been detected by the first sensor to when the obstacle has no longer been detected by the second sensor, and calculates a time difference between the real time and the predicted time. The moving/stationary determination unit determines that the obstacle is a stationary object in response to the time difference being equal to or greater than a predetermined value.

Abstract: A control device to be applied to a vehicle equipped with an imaging device, a ranging device, and a safety device is configured to, based on moving-object detection information around the vehicle acquired from images captured by the imaging device, perform a first actuation process directed to moving objects to actuate the safety device, and based on stationary-object detection information around the vehicle acquired from measurements made by the ranging device, perform a second actuation process directed to stationary objects to actuate the safety device. In the control device, a mask region setting unit is configured to set at least either neighborhood-of-stationary-object regions or far-side regions as a mask region. An actuation restriction unit is configured to, in response to the moving object determined to be present around the vehicle being present in the mask area, restrict performance of the first actuation process on the moving object.

Abstract: A control device to be applied to a vehicle equipped with an imaging device and a safety device is configured to, based on moving-object detection information detected from images captured by the imaging device, actuate the safety device for a moving object. In the control device, a control unit is configured to, in response to any of certain information that it is certain that the object is a moving object and uncertain information indicating that it is not certain whether the object is a moving object being acquired as moving-object detection information, actuate the safety device based on a position of the object subjected to detection with the certain information or the uncertain information. An actuation region setting unit is configured to, when the moving-object detection information is the uncertain information, narrow an actuation region as compared to when the moving-object detection information is the certain information.

Abstract: An obstacle in a periphery of the vehicle is detected using a peripheral monitoring sensor for monitoring the periphery of the vehicle. It is sequentially determined whether an avoidance of the obstacle is necessary, according to a route of the vehicle. A warning device is controlled to issue a warning when determining that the avoidance of the obstacle is necessary. In a case where determining that the avoidance of the obstacle is unnecessary after starting the warning, the warning device is controlled to continue issuing the warning when an obstacle distance is less than a predetermined threshold value set in advance.

Abstract: An obstacle identification apparatus acquires an image that is captured by a camera that is mounted to a vehicle. The obstacle identification apparatus calculates a first gradient that is a gradient in a first direction of a luminance value of pixels in the image and a second gradient that is a gradient of the luminance value in a second direction orthogonal to the first direction of the first gradient. Based on the first gradient and the second gradient, the obstacle identification apparatus estimates a shadow boundary that is a boundary between an own-vehicle shadow that is a shadow of the own vehicle and an object outside the vehicle. Based on the estimated shadow boundary, the obstacle identification apparatus estimates the own-vehicle shadow.

Abstract: A vehicle alert apparatus acquires an object distance between an object and a vehicle, presumes a predicted moving route of the vehicle when the object distance is shorter than or equal to a threshold object distance. The vehicle alert apparatus calculates a collision distance which the vehicle has moves along the predicted moving route until the vehicle collides with the object or the vehicle has moved to a position closest to the object when determining that the vehicle potentially collides with the object, based on the predicted moving route. The vehicle alert apparatus performs a first alert when the collision distance is larger than a threshold collision distance. The vehicle alert apparatus performs a second alert having a higher alert level of alerting the driver than the alert level of the first alert when the collision distance is shorter than or equal to the threshold collision distance.

Abstract: In a vehicle collision determination apparatus, a position calculation unit calculates a trajectory of a target that is a movement trajectory of the target, and calculates an entrainment trajectory of the vehicle that is a movement trajectory of the vehicle during a turn, and calculate a position of collision where a collision is likely to occur between the vehicle and the target based on the trajectory of the target and the entrainment trajectory of the vehicle. A time calculation unit calculates a time to collision (TTC) that is a time it takes for the target to reach the position of collision. In response to the time to collision being equal to or less than a predefined determination threshold, a risk determination unit determines that there is a risk of collision between the vehicle and the target.

Abstract: An object detection apparatus is mounted to a moving body to which a plurality of distance measurement sensors are mounted, and detects an object that is present in a vicinity of the moving body. In response to direct waves and indirect waves being received, the object detection apparatus acquires a relative position of an object to a moving body based on principles of triangulation using distance measurement information based on the direct waves and distance measurement information based on the indirect waves. In response to the received waves being reflected waves from an object of which the relative position has been already acquired and only either of the direct waves and the indirect waves being received as received waves, the object detection apparatus estimates the relative position of the object to the moving body based on a reference position that is the relative position that has been already acquired.

Abstract: Provided is an obstacle detecting unit that acquires a detection signal based on a distance between a vehicle and an obstacle around the vehicle; an image acquiring unit that acquires an image signal corresponding to an image around the vehicle; and a control unit that executes, based on the detection signal and the image signal, an automatic parking process detecting the parking space and parking the vehicle in the parking space. The control unit is configured to execute, when executing the automatic parking process, a fault handling process depending on a state of the automatic parking process in the case where a fault occurs in either the obstacle detecting unit or the image acquiring unit.

Abstract: An alert apparatus of a vehicle generates an alert to a driver when an object is a target alert object that is is an object that is present in one of predetermined areas around the vehicle and that has object distance equal to or shorter than a first distance threshold. The alert apparatus sets each one or more of said predetermined areas to a high level alert area based on a current shift range, and set each of the rest of said predetermined areas to a low level alert area.

Abstract: A driving assistance apparatus operates a collision avoidance apparatus that is mounted in a vehicle based on a distance to an object that is positioned ahead of the vehicle in a travelling direction. The driving assistance apparatus includes: a resistance determining unit that determines whether or not running resistance that suppresses rolling of wheels forward in the travelling direction of the vehicle is present; an operation determining unit that determines whether or not an accelerator operation by a driver of the vehicle is being performed; and a distance setting unit that sets an operation distance that is a distance at which the collision avoidance apparatus is operated. When the resistance determining unit determines that the running resistance is present and when the operation determining unit determines that the accelerator operation is being performed, the distance setting unit sets the operation distance to a value that is less than that when the running resistance is not present.

Abstract: An obstacle identification apparatus acquires an image that is captured by a camera that is mounted to a vehicle. The obstacle identification apparatus calculates a first gradient that is a gradient in a first direction of a luminance value of pixels in the image and a second gradient that is a gradient of the luminance value in a second direction orthogonal to the first direction of the first gradient. Based on the first gradient and the second gradient, the obstacle identification apparatus estimates a shadow boundary that is a boundary between an own-vehicle shadow that is a shadow of the own vehicle and an object outside the vehicle. Based on the estimated shadow boundary, the obstacle identification apparatus estimates the own-vehicle shadow.