Abstract: In a ship control system of one embodiment, a route command unit outputs a route command including a target ship position and a target bow direction of a ship. An information detector detects ship information including an actual ship position and an actual bow direction of a ship. An external force vector estimation unit estimates an external force vector received by a ship, using the ship information and a hull motion model related to a hull motion of the ship. A control command unit controls both rotational frequency of a main engine and a rudder angle of a ship, based on the route command, the ship information, and the external force vector.

Abstract: A ship monitoring system includes: a shipboard information processing apparatus and including a shipboard communication unit and an information acquisition unit; and a support information processing apparatus and including: a support side communication unit capable of communicating with the shipboard communication unit; a time lag identification unit; and a state prediction unit. The time lag identification unit identifies a time from transmission of the ship motion information from the shipboard communication unit to reception of the ship motion information by the support side communication unit as a reception time lag. The state prediction unit inputs the ship motion information and the reception time lag to a ship motion model related to the ship motion of the ship to predict a motion state of the ship ahead of a motion state of the ship indicated by the ship motion information by a period of time based on the reception time lag.

Abstract: In a ship control system of one embodiment, a main engine controller performs, when controlling the rotational frequency of a main engine based on a target ship speed of a ship, feedback control of an actual ship speed of the ship to perform ship speed control for bringing the actual ship speed closer to the target ship speed. A turning judgment unit judges whether or not the ship will turn. A control change unit performs, when the turning judgment unit has judged that the ship will turn, lowering processing for lowering the responsiveness of the ship speed control.

Abstract: An image capturing apparatus includes an image sensor that captures an image of an object formed by an imaging optical system, at least one processor, and a memory coupled to the at least one processor. The memory stores instructions that, when executed by the at least one processor, cause the at least one processor to execute noise reduction processing on a first image captured by the image sensor based on a plurality of second images, acquire an evaluation value indicating contrast of the first image on which the noise reduction processing has been executed, and control movement of a focus position of the imaging optical system based on the evaluation value. The movement is controlled so that the movement is stopped for a time period having a length corresponding to an intensity of the noise reduction processing in a case where a predetermined condition is satisfied.

Abstract: A shield method includes the steps: providing a first cylindrical frame 31 at a position where an entrance 12 is to be formed in an inner surface of an earth retaining wall 11 of a shaft 1; excavating a horizontal hole 5 in the underground by a shield machine 2, and sequentially adding and building, in the excavation direction, a plurality of segments 4 on an inner diameter side of the horizontal hole 5 while forming the entrance 12 in the shaft 1; temporarily stopping water from a gap between the entrance 12 and the shield machine 2, and removing excavated soil and pieces 6 that enter the first cylindrical frame 31 as the entrance 12 is formed; and coupling a second cylindrical frame 32 having a sealing member 35 attached thereto to an inner open end of the first cylindrical frame 31.

Abstract: A shield method includes the steps: providing a first cylindrical frame 31 at a position where an entrance 12 is to be formed in an inner surface of an earth retaining wall 11 of a shaft 1; excavating a horizontal hole 5 in the underground by a shield machine 2, and sequentially adding and building, in the excavation direction, a plurality of segments 4 on an inner diameter side of the horizontal hole 5 while forming the entrance 12 in the shaft 1; temporarily stopping water from a gap between the entrance 12 and the shield machine 2, and removing excavated soil and pieces 6 that enter the first cylindrical frame 31 as the entrance 12 is formed; and coupling a second cylindrical frame 32 having a sealing member 35 attached thereto to an inner open end of the first cylindrical frame 31.

Abstract: An in-vehicle radar device includes a transmission section, a reception section, an analysis section, an extraction section, a speed calculation section, a distance calculation section, and a folding detection section. The folding detection section detects occurrence of erroneous calculation of a distance, when reflection intensity at a frequency peak obtained by the extraction section is smaller than a preset intensity threshold for a distance calculated by the distance calculation section and a frequency width in a frequency spectrum calculated by the analysis section is smaller than a preset width threshold.

Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.

Abstract: In a boundary line recognition apparatus, based on luminance levels of an image captured by a camera, candidate edge points of a boundary line sectioning a travel road are extracted, and a candidate line of the boundary line is extracted. An apparent width of the candidate line on an image is calculated, from a width of the candidate line in a horizontal direction of the image and an angle of the candidate line relative to a vertical direction of the image. A probability of a candidate line being a boundary line is calculated to be higher, as a degree of the candidate line having characteristics as a boundary line is higher. The calculated probabilities are integrated in respect of a plurality of characteristics to recognize a boundary line. The characteristics include a ratio of the calculated apparent width to an image blur degree is larger than a predetermined value.

Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.

Abstract: A lane detecting apparatus is provided which obtains at least one type of parameters associated with lane lines on the road and selects one of the lane lines as a reference line using one of the parameters which is most useful in determining the configuration of a lane on a road. The lane detecting apparatus also calculates a lane boundary line using the reference lane line.

Abstract: An in-vehicle radar device includes a transmission section, a reception section, an analysis section, an extraction section, a speed calculation section, a distance calculation section, and a folding detection section. The folding detection section detects occurrence of erroneous calculation of a distance, when reflection intensity at a frequency peak obtained by the extraction section is smaller than a preset intensity threshold for a distance calculated by the distance calculation section and a frequency width in a frequency spectrum calculated by the analysis section is smaller than a preset width threshold.

Abstract: A course estimator has a first estimating means, a second estimating means and a determining means. The first estimating means obtains first information and estimating a first radius of a first forward traveling path on the basis of the obtained first information, the first forward traveling path being a part of a forward traveling path to which a vehicle is going to travel. The second estimating means obtains second information and estimating a second radius of a second forward traveling path on the basis of the obtained second information, the second forward traveling path being a part of the forward traveling path to which a vehicle is going to travel, the second forward traveling path being farther from the vehicle than the first traveling being.

Abstract: A position identifying apparatus includes a position detecting unit; an information acquiring unit; a feature extracting unit; an index value calculating unit; a feature selecting unit; a correlating unit; a weight setting unit; and a correcting unit. The position detecting unit performs a map matching to detect a vehicle position on a map. The information acquiring unit acquires road information from the map. The feature extracting unit extracts features of a ground object. The index value calculating unit calculates an index value representing a likelihood of a stationary object. The feature selecting unit selects feature candidates among the features having the index values larger than or equal to a predetermined likelihood of the stationary object. The correlating unit correlates the feature candidates with the road information. The weight setting unit sets weights of the feature candidates. The correcting unit corrects the position of the vehicle using the weights.

Abstract: An estimating device includes: a movement amount computing section that, on the basis of a position of a predetermined region within an image picked-up at a first time, and a position of a region that corresponds to the predetermined region and is within an image picked-up in a same direction at a second time that is after the first time, computing a movement amount of the predetermined region in a vertical direction; a movement amount integrating section that computes an integrated value of the movement amounts, each time the movement amount is computed; a correcting section that corrects the integrated value of a current point in time on the basis of time series data of the integrated values of the movement amounts within a past predetermined time period; and an estimating section that estimates a pitch angle of the vehicle on the basis of a corrected integrated value.

Abstract: In a location estimation device, a change detection unit detects a point of change in the width of a roadside structure as a width change point. A width correction unit calculates a width deviation between a first relative location of the roadside structure on a map data segment and a second relative location of the roadside structure obtained based on shape information of the roadside structure in the width direction of a vehicle. The width correction unit corrects, as a function of the width deviation and a positional accuracy of the vehicle in the travelling direction, an estimated location of the vehicle in the width direction when it is determined that there is the point of change in the width of the roadside structure in the travelling direction of the vehicle.

Abstract: An information processing device includes a buffer that stores data blocks of a plurality of flows and from which the data blocks are sequentially read; a processor coupled to the buffer and configured to: monitor an input rate that is a sum of data amounts of the plurality of flows input to the buffer per unit of time, and suppress flowing of a data block into the buffer for one or more of the plurality of flows based on a result of monitoring the input rate.

Abstract: A road shape recognition apparatus is mounted in a vehicle. The road shape recognition apparatus acquires a road image, determines a road shape using the road image, recognizes the road shape based on the road image within a predetermined recognition range, and estimates the road shape outside of the recognition range based on the road shape within the recognition range. The road shape recognition apparatus estimates the road shape outside of the recognition range and within a first distance as a curved line of which a curvature change rate is constant, and the road shape farther than the first distance as a curved line of which a curvature is constant.

Abstract: In a lane boundary line information acquiring device, a detection unit detects lane boundary lines. A driving environment acquiring unit acquires a driving environment. A probability information acquiring unit acquires probability information containing a probability of presence of a lane boundary line, etc. based on the detected lane boundary lines and the acquired driving environment. A position information acquiring unit acquires position information of the own vehicle. A memory unit associates the probability information with the position information of the own vehicle. Where the position information is acquired by the position information acquiring unit at a time when the probability information acquiring unit acquires the probability information, and stores the probability information associated with the position information into the memory unit. A readout unit reads out the probability information associated with the position information at a location in front of the own vehicle.

Abstract: A road parameter calculator is provided which is equipped with an edge-point extracting unit, a road parameter calculating unit, a gradient detecting unit, and a modeling unit. The image acquiring unit. The edge-point extracting unit extracts edge points from an image of a frontal view of a vehicle. The parameter calculating unit calculates a road parameter using the edge points through a Kalman filter. The gradient detecting unit detects a change in gradient of the road in front of the vehicle. The modeling unit is responsive to a change in gradient to make a model as extending more straight than when the change in gradient is not detected. This minimizes adverse effects of the change in gradient of the road on the calculation of the road parameter.