Abstract: A contact event occurring in a vicinity of a host vehicle equipped with an external sensor for detecting detection information of an external environment is recorded. It is determined whether the contact event occurs at a plurality of target objects including at least one type of a road user and a road installation object other than the host vehicle, based on a type, a moving speed, and overlap of the target objects. A pair of the target objects determined that the contact event occurs is tracked, and the detection information is recorded. A control parameter of the external sensor is adjusted according to the tracking of the pair while the host vehicle continues travelling.

Abstract: A parking assistance device includes a blind spot area calculation unit, a parking position determination unit, and a parking assistance unit. The blind spot area calculation unit is configured to calculate a size of a blind spot area of a subject vehicle created when the subject vehicle is parked at a specific position in a parking space scheduled for the subject vehicle. The parking position determination unit is configured to determine, as a parking position, the specific position where a predetermined condition related to the size of the blind spot area is satisfied. The parking assistance unit is configured to assist parking of the subject vehicle at the determined parking position.

Abstract: A travel route setting system is provided. A passage time estimation section estimates a passage time at which a vehicle passes each of stop lines located before traffic lights present in a traveling direction on each of routes from a vehicle position to a destination. A solar position calculation section calculates a position of the sun at the passage time of each of the stop lines based on the position and the passage time of each stop line. The backlight margin value calculation section calculates a backlight margin value. A route backlight margin value calculation section calculates a route backlight margin value based on the backlight margin value of each of the stop lines present on each of the routes from the vehicle position to the destination. A route determination section determines a travel route from the vehicle position to the destination using the route backlight margin values.