Abstract: A total certainty factor indicating a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated based on a parking frame certainty degree indicating the degree of certainty that a parking frame is present in a travel direction of a vehicle, and a parking frame entering certainty degree indicating the degree of certainty that the vehicle enters the parking frame. When the total certainty factor is low, acceleration of the vehicle controlled according to an operation amount of an accelerator pedal for instructing a driving force by operation of a driver is suppressed with a low suppression degree, as compared with a case where the total certainty factor is high. Further, the acceleration of the vehicle is suppressed at a low suppression degree according to the travel direction of the vehicle.

Abstract: A three-dimensional object detection has an image capturing device, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit, first and second foreign matter detection units and a controller. The image capturing device captures images rearward of a vehicle. The three-dimensional object detection unit detects three-dimensional objects based on image information. The three-dimensional object assessment unit assesses whether or not a detected three-dimensional object is another vehicle. The foreign matter detection units detect whether or not foreign matter has adhered to a lens based on the change over time in luminance values for each predetermined pixel of the image capturing element and the change over time in the difference between an evaluation value and a reference value. The controller outputs control commands to the other means to suppress the assessment of foreign matter as another vehicle when foreign matter has been detected.

Abstract: A vehicle acceleration suppression device and a vehicle acceleration suppression method are provided to be capable of suppressing a degradation in a drive performance and suppressing acceleration at the time of an incorrect manipulation of an accelerator, at the time of parking. Based on a parking frame certainty degree indicative of a degree of certainty that there is a parking frame in a vehicle travel direction and a parking frame entering certainty degree indicative of a degree of certainty that the vehicle enters the parking frame, a total certainty degree indicative of a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is set. As the total certainty degree is higher, a suppression degree of the vehicle acceleration to be controlled in response to a manipulation amount of an accelerator pedal manipulated by a driver to instruct a drive force is increased.

Abstract: A water droplet detection device has an image capturing unit and a water droplet detection unit. The image capturing unit has a photographic optical system that an area captures an image of a predetermined area. The water droplet detection unit sets an arbitrary attention point in the captured image, a plurality of first reference points inside an imaginary circle of a predetermined radius having the attention point as a center the imaginary circle, and a plurality of second reference points corresponding to the first reference points outside the imaginary circle. The water droplet detection unit detects edge information between the first reference points and second reference points, and assesses a circularity strength of the edge information to detect a water droplet attached to the photographic optical system. The water droplet detection device can be used with an image conversion unit to form a three-dimensional object detection device.

Abstract: A three-dimensional object detection device has an image capturing unit, an object detection unit, a nighttime assessment unit, a luminance detection unit, a luminance peak detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The object detection unit detects a presence of an object from the captured images. The nighttime assessment unit assesses if nighttime has fallen. The luminance detection unit detects a luminance of image areas from the captured image. The luminance peak detection unit detects a peak in the luminance having a luminance gradient that is greater than or equal to a predetermined reference value from among the detected peaks in the luminance as a target luminance peak. The controller controls detection of the object in an image area in which the target luminance peak is detected when an assessment has been made that nighttime has fallen by the nighttime assessment unit.

Abstract: A parking frame drawn on a road surface is reliably detected. An imager (10) installed on a vehicle (1) captures an image (I) including at least a road surface around the vehicle (1). A candidate white-line area detector (30) detects, from the captured image (I), a candidate white-line area which is possibly a part of a parking frame. A parking-frame-similitude calculator (40) calculates the brightness distribution of the detected candidate white-line area and the surroundings of boundary points of a road surface. When the brightness distribution satisfies a certain condition, the parking-frame similitude or the degree to which the candidate white-line area forms a parking frame, is determined to be low. When a parking-frame similitude of the candidate white-line area forming a parking frame is detected in the image (I) by a parking-frame detector (60), the credibility (U) for the detected parking frame is set low.

Abstract: A three-dimensional object detection device includes an image capturing unit, a detection area setting unit, an image conversion unit, a three-dimensional object detection unit, and a relative movement speed calculation unit. The detection area setting unit sets a detection area in a lateral direction rearward of the host vehicle. The image conversion unit converts a viewpoint of the images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within the detection area by vehicle width direction detection processing. The detection area setting unit widens the detection area rearward with respect to a direction of vehicle progress when the three-dimensional object is detected in the detection area and the relative movement speed of the three-dimensional object, as calculated by relative movement speed calculation unit, is at a predetermined value or greater.

Abstract: A vehicle-mounted camera device that is mounted on a vehicle and captures a surrounding image from which lights are collected by a lens, in which the lens is set so as to have the surface having a contact angle less than or equal to 100°, preferably less than or equal to 60° so that water attached on the surface is made into a form of a film. For this reason, the surface of the lens has high hydrophilicity, and if water droplets are attached when it is raining, the water droplets extend over the surface of the lens to form a water film. Thus, if mud or other attached matter is attached on the surface of the lens, it is possible to remove the attached matter without delay, and it is possible to always keep the surface of the lens in a clean state.

Abstract: A total certainty factor indicating a total degree of certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated based on a parking frame certainty degree indicating the degree of certainty that a parking frame is present in a travel direction of a vehicle, and a parking frame entering certainty degree indicating the degree of certainty that the vehicle enters the parking frame. When the total certainty factor is low, acceleration of the vehicle controlled according to an operation amount of an accelerator pedal for instructing a driving force by operation of a driver is suppressed with a low suppression degree, as compared with a case where the total certainty factor is high. Further, the acceleration of the vehicle is suppressed with a lower suppression degree as the vehicle speed of the vehicle is higher.

Abstract: Based on a parking frame certainty degree indicative of a degree of certainty about a presence is a parking frame in the travel direction of the vehicle and a parking frame entering certainty degree indicative of a degree of certainty about whether the vehicle enters the parking frame, a total certainty degree indicative of a total degree of the certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated. Acceleration of the vehicle is controlled depending on a manipulation amount of an accelerator pedal manipulated by a drive to instruct a driving force and is suppressed in a lower suppression degree when the total certainty degree is lower than when the total certainty degree is higher. Furthermore, the acceleration of the vehicle is suppressed in the suppression degree decreased depending on the travel direction of the vehicle.

Abstract: Based on a parking frame certainty degree indicative of a degree of certainty about a presence is a parking frame in the travel direction of the vehicle and a parking frame entering certainty degree indicative of a degree of certainty about whether the vehicle enters the parking frame, a total certainty degree indicative of a total degree of the certainty of the parking frame certainty degree and the parking frame entering certainty degree is calculated. Acceleration of the vehicle is controlled depending on a manipulation amount of an accelerator pedal manipulated by a drive to instruct a driving force and is suppressed in a higher suppression degree as the total certainty degree is higher. Furthermore, the acceleration of the vehicle is suppressed in a lower suppression degree as the vehicle speed of the vehicle is higher.

Abstract: A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit and a control unit. The image conversion unit converts images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within a detection area based on differential waveform information or edge information. The stationary three-dimensional object assessment unit assesses whether the detected three-dimensional object is a shadow of a tree along a road traveled by the host vehicle. The three-dimensional object assessment unit assesses whether the three-dimensional object detected is a vehicle within the detection area.

Abstract: A driving assistance device improves the accuracy of driving assistance for parking. A traveling controller detects a line positioned on a road surface from a captured image captured by a camera. A parking frame is extracted from the detected line and acceleration suppression control of a vehicle is executed based on the extracted parking frame. At this time, the acceleration suppression control is cancelled if a crossing is detected based on the captured image.

Abstract: A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a light source detection unit a degree-of-certainty assessment unit and a control unit. The degree-of-certainty assessment unit assesses a degree of certainty that a light source is headlights of another vehicle in two lanes over. The control unit sets a threshold value so that the three-dimensional object is more difficult to detect in a forward area of a line connecting the light source and the image capturing unit in the detection frame when the degree of certainty is at a predetermined value or higher, and sets a threshold value so that the three-dimensional object is more difficult to detect in progression from a center side toward front or rear ends of the detection frame when the degree of certainty is less than a predetermined value.

Abstract: An image processing device includes: an image acquisition unit that obtains a photographic image of an area outside of a vehicle captured and output by a camera; a sun decision unit that calculates a sun position which indicates, at least, a solar elevation and makes a decision as to whether or not the solar elevation is equal to or lower than a predetermined elevation; an opacity detection unit that detects clouding of a lens surface of the camera; a vehicle detection unit that detects another vehicle, different from the vehicle, based upon image information of a first image area in the photographic image; and a control unit that suspends detection of the other vehicle by the vehicle detection unit if the opacity detection unit detects opacity in, at least, the first image area and the sun decision unit decides that the solar elevation is equal to or lower than the predetermined elevation.

Abstract: A solid object detection device detects solid objects in the periphery of a vehicle. A camera captures images including detection regions set in adjacent traffic lanes to the rear of the vehicle. A solid object assessment unit assesses whether or not a solid object is present in the detection regions. A lateral position detection unit detects a distance between the vehicle position and a dividing line that divides traffic lanes. A region setting unit enlarges the detection region on the side of the dividing line by a greater amount correspondingly with respect to an increase in the distance to the dividing line. A traffic lane change detection unit detects a traffic lane change made by the vehicle. Upon detecting a traffic lane change by the vehicle, a smaller enlarged amount is used when enlarging the size of the predetermined region outward in the vehicle-width direction.

Abstract: A turbidity degree calculating unit calculates a degree of the white turbidity U on a surface of the lens based on a brightness gradient g of an image I (x, y), and a lens cleaning control unit sets a lens cleaning mode for spraying at least one of the cleaning fluid and the compressed air, which is performed by the lens cleaning unit, based on the calculated turbidity degree U.

Abstract: An in-vehicle image recognizer effectively detects a moving object from an image even when a lens has grime. In a detection sensitivity adjustor (50) which adjusts detection sensitivity to be increased according to a white turbidity level (U), the detection sensitivity of a vehicle detector (70) (image recognition application execution unit), which detects the other vehicle (6) (moving object) existing in the surrounding area of a vehicle (5) with a predetermined detection sensitivity from the image obtained by an imaging unit (10) disposed in the vehicle (5) to observe the surrounding area of the vehicle (5) through a lens (12) and convert the light signal of the observed surrounding area of the vehicle (5) into an image signal, is corrected based on the attachment level M of the attached matter such as dirt or water drops to the lens (12), which is calculated by an attachment level calculator (26).

Abstract: A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.

Abstract: A three-dimensional object detection device is provided with an image capturing device, a three-dimensional object detection unit, a rainfall state detection unit, a three-dimensional object assessment unit and a controller. The image capturing device captures an area rearward of a vehicle. The three-dimensional object detection unit detects a three-dimensional object rearward of the vehicle and calculating a traveling speed of the three-dimensional object, based on images obtained by the image capturing device. The rainfall state detection unit detects a state of rainfall including cases of rainfall or formation of a water film on a road surface due to rainfall. The three-dimensional object assessment unit accesses the three-dimensional object to be another vehicle when the traveling speed of the detected three-dimensional object lies within a preset setting range. The controller changes the traveling speed setting range to be narrower when the rainfall state detection unit has detected a rainfall state.