Abstract: A position estimating apparatus including: a position estimating unit that compares a target in first coordinate system data indicating a position of the target by coordinates in a first coordinate system and a target in second coordinate system data indicating a position of the target present around a position estimation object by coordinates in a second coordinate system set based on a position and an attitude of the position estimation object at a predetermined starting timing, and estimates a position of the position estimation object in the first coordinate system based on a comparison result; and a comparison range adjusting unit that shrinks a coordinate range used for the comparison by the position estimating unit in the second coordinate system data when the position estimation object is turning.

Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.

Abstract: A parking assist apparatus comprises a position detection unit configured to detect a current position of a vehicle, a sensor provided to the vehicle to detect a periphery of the vehicle, a parking area detection unit configured to detect a parking area in which the vehicle can be parked based on information of the sensor, a parking path computing unit configured to calculate a path along which the vehicle is to be moved from a current position to the parking area based on a parking area detected by the parking area detection unit and a current position of the vehicle.

Abstract: An in-vehicle processing apparatus is capable of performing position estimation resistant to disturbance.

Abstract: A parking assist device according to the present invention includes a backward-direction-path calculation unit that calculates a backward-direction path for taking an own vehicle out from a target parking position B based on constraint conditions of a parking space and an own-vehicle behavior, a connection-candidate-position storage unit that sets a plurality of connection candidate positions D on the backward-direction path, a forward-direction-path calculation unit that calculates a forward-direction path leadable to one of the connection candidate positions D from a current position A of the own vehicle, and a parking-path setting unit that sets a parking path by combining the backward-direction path and the forward-direction path.

Abstract: A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E.

Abstract: A terminal device may display a designation screen on a display unit, store designation item information indicating a designation item in a memory, and send a restriction item request to a target printer. The terminal device may, in a case where the restriction item request is sent to the target printer, receive the restriction item information from the target printer, and determine whether the restriction item indicated by the received restriction item information includes the designation item indicated by the designation item information stored in the memory. The terminal device may, in a case where it is determined that the restriction item includes the designation item, send a print request that requests execution of printing according to the IPP to the target printer, wherein in a case where it is determined that the restriction item does not include the designation item, the print request is not sent.

Abstract: A parking support apparatus sets a plurality of candidate connection positions along a reverse direction route, calculates a first connection route, calculates a first parking route by using the first connection route and the reverse direction route, judges whether the candidate connection position exists within a recognition range or not; and if the candidate connection position does not exist within the recognition range, calculates a shortest steering wheel turning position, calculates a second connection route capable of reaching any one of the candidate connection positions calculates a second parking route by using the second connection route and the reverse direction route, when the second parking route can be calculated, the second parking route is selected as the parking route; otherwise, the first parking route is selected as the parking route.

Abstract: An object of the present invention is to provide a parking assistance device capable of computing a parking path that is suitable for given circumstances or user's needs. A parking assistance device of the present invention is a parking assistance device for assisting in parking a vehicle in a parking space provided on one side of a road, the parking assistance device being configured to compute a first parking path for starting moving the vehicle forward from the initial position thereof, and a second parking path for starting moving the vehicle backward from the initial position thereof, select one of the first parking path or the second parking path on the basis of a preset evaluation function, and set the selected path as a parking path to be used.

Abstract: The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus 120 according to the present invention includes a mode switching unit 121D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode 202 to acquire and store point group data in a storage unit when a vehicle 1 approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit 124; and a position estimation mode 203 to have a position estimation unit 121C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.

Abstract: A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.

Abstract: A parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. The parking assistance device includes a pull-out path computing unit that computes a pull-out path for pulling a vehicle out of a parking space based on parking space information and constraint conditions regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions the pull-out path, a reachable path computing unit that computes a reachable path that allows the vehicle to reach one of the plurality of candidate connection positions from the initial position, and a parking path setting unit that sets a parking path by connecting the pull-out path and the reachable path. The pull-out path computing unit computes the pull-out path based on the angle of inclination between the road orientation and the parking orientation.

Abstract: An autonomous driving control device and an autonomous driving path computation method capable of computing a driving path without extremely changing a movement of a steering wheel during autonomous driving. A parking control device computes a parking path for automatically parking a vehicle, and includes an acceleration section transition curve computing unit that computes an acceleration section transition curve based on a target steering speed set in advance and an acceleration section target vehicle speed, a deceleration section transition curve computing unit that computes a deceleration section transition curve based on the target steering speed and a deceleration target vehicle speed, and a parking path computing unit that computes a parking path using the acceleration section transition curve and the deceleration section transition curve. The parking path is computed by setting the deceleration section target vehicle speed faster than the acceleration section target vehicle speed.

Abstract: An in-vehicle processing device includes a storage part configured to store route information on routes on which a host vehicle has previously traveled; a candidate point generation part configured to generate a plurality of candidate points in a predetermined zone relative to a stored route of the route information stored in the storage part based on current peripheral information around the host vehicle and current information on the host vehicle; a candidate route generation part configured to generate a plurality of candidate routes by connecting the plurality of candidate points generated by the candidate point generation part; and a route selection part configured to select one of the plurality of candidate routes generated by the candidate route generation part.

Abstract: A parking assistance device assists in re-parking a vehicle that has been parked with its position and orientation deviated from ideal ones, by repositioning the vehicle to be at a correct position and in a correct orientation. A parking assistance device is adapted to assist in parking a vehicle in a parking space provided on one side of a road, and includes a parking path setting unit that sets a parking path of from the initial position of the vehicle on the road to a target parking position in the parking space, a positional deviation determination unit that determines whether there is any positional deviation between the vehicle and the parking space when the vehicle has been parked along the parking path, and a repositioning path computing unit configured to compute a repositioning path when a positional deviation is determined to be present.

Abstract: An overhead-view image generation device includes: a moving amount calculation unit that calculates a moving distance of a vehicle; a linear overhead-view image generation unit that generates an overhead-view image obtained by conversion of a viewpoint of a captured image of a camera into an overhead viewpoint, and generates a linear overhead-view image obtained by conversion of a shape of the generated overhead-view image into a linear shape; a distance-based turning angle generation unit that calculates, using a turning amount of the vehicle indicated by sensor data of a steering angle sensor and the moving distance calculated by the moving amount calculation unit, distance-based turning angle information indicating a turning angle of the vehicle based on the moving distance; and an overhead-view image reconstruction unit that reconstructs the overhead-view image using the linear overhead-view image and the distance-based turning angle information.

Abstract: An in-vehicle processing apparatus includes: a storage unit configured to store point group data, which is created based on output of a sensor for acquiring information about surroundings of a vehicle, including an environmental condition which is a condition for an ambient environment when the output of the sensor is acquired, and including a plurality of coordinates of points indicating parts of objects in a first coordinate system; a sensor input unit configured to acquire the output of the sensor; a current environment acquisition unit configured to acquire the environmental condition; a movement information acquisition unit configured to acquire information about movements of the vehicle; a local peripheral information creation unit configured to generate local peripheral information including a position of the vehicle in a second coordinate system and a plurality of coordinates of points indicating parts of objects in the second coordinate system on the basis of the information acquired by the sensor in

Abstract: A parking assist apparatus comprises a position detection unit configured to detect a current position of a vehicle, a sensor provided to the vehicle to detect a periphery of the vehicle, a parking area detection unit configured to detect a parking area in which the vehicle can be parked based on information of the sensor, a parking path computing unit configured to calculate a path along which the vehicle is to be moved from a current position to the parking area based on a parking area detected by the parking area detection unit and a current position of the vehicle.

Abstract: Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information.

Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.