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: A parking assist apparatus 1 of the present invention assists parallel parking of an own vehicle 21. The parking assist apparatus 1 includes: a first route calculation unit 11 configured to calculate a first route for moving the own vehicle 21 from a target parking position P1 to a virtual departure position P3 based on a parking space and a constraint condition of own vehicle behavior; a second route calculation unit 12 configured to calculate a second route for moving the own vehicle 21 from an initial position P0 where parking assistance is started to the virtual departure position P3; and a parking route setting unit 13 configured to set a parking route of the own vehicle 21 with use of the first route and the second route.

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

Abstract: The obstacle detection device comprises: a first camera installed on a moving vehicle used for photographing a frontward or rearward view of the vehicle; a second camera installed on the vehicle used for photographing a sideward view of the vehicle; a parking space detection unit for detecting a parking space on the basis of an image obtained by photographing by the first camera; a memory unit for storing a real-space area of the parking space; a motion acquisition unit for acquiring information about behaviors of the vehicle; an obstacle calculation unit for calculating information about an obstacle present in the vicinity of the parking space on the basis of multiple images obtained by photographing by the second camera at different points in time; and a processing area setting unit for controlling, the calculation by the obstacle calculation unit.

Abstract: A position of a moving object is reliably detected with high accuracy using only an image around a vehicle. A rear camera mounted on a vehicle obtains an original image around the vehicle, a movement region detector detects a moving object from the original image, and a difference calculator detects the moving object from a bird's-eye view image of the vehicle generated by a bird's-eye view image processor. A moving object position identifying part identifies a position of the moving object based on a distance from the vehicle to the moving object detected by the movement region detector or the difference calculator, a lateral direction position of the moving object, and an actual width of the moving object detected by the movement region detector when a detected object determination part determines that the moving objects detected by the movement region detector and the difference calculator are the same moving object.

Abstract: A tracking device includes: an imaging unit that inputs an image into an image input unit; a first moving body detection unit that calculates an optical flow and detects a position and a direction of movement of a moving body based on the calculated optical flow; a second moving body detection unit that detects a position and a direction of movement based on a plurality of overhead images generated; a third moving body detection unit that detects a position and a direction of movement by integrating detection results from the first and second moving body detection units; a tracked moving body confirmation unit that determines a moving body to be tracked based on detection results from the first to third moving body detection units; an estimation unit that estimates a future position and direction of movement; and a tracking unit that tracks the tracked moving body and identifies a position.

Abstract: The objective of the present invention is to provide an object detection method such that an object such as a vehicle can be detected from an image captured by an on-board camera even when a lens of the on-board camera is dirty. In order to achieve the objective, in this object detection method for detecting an object included in a captured image, an original image including the object to be detected is prepared from the captured image, a processed image is generated from the prepared original image by applying predetermined processing to the original image, and learning regarding restoration of an image of the object to be detected is performed using the original image and the processed image.

Abstract: The obstacle detection device comprises: a first camera installed on a moving vehicle used for photographing a frontward or rearward view of the vehicle; a second camera installed on the vehicle used for photographing a sideward view of the vehicle; a parking space detection unit for detecting a parking space on the basis of an image obtained by photographing by the first camera; a memory unit for storing a real-space area of the parking space; a motion acquisition unit for acquiring information about behaviors of the vehicle; an obstacle calculation unit for calculating information about an obstacle present in the vicinity of the parking space on the basis of multiple images obtained by photographing by the second camera at different points in time; and a processing area setting unit for controlling, the calculation by the obstacle calculation unit.

Abstract: An on-vehicle control device includes: an image acquiring unit that acquires a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle; a judged range dividing unit that divides a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions; a feature point extracting unit that extracts a feature point having predetermined characteristics in the surroundings of the vehicle from the image acquired by the image acquiring unit; a point accumulating unit that accumulate points for a region where there is the feature point extracted by the feature point extracting unit, among the plurality of regions, for a plurality of images acquired by the image acquiring unit in time series; and a judging unit that judges whether a foreign matter is adhered to the image-capturing device based on scores resulting from accumulating points of the plurality of regions.

Abstract: An on-vehicle image processing apparatus includes: a photographing device configured to photograph a road surface around a vehicle; an image creation section configured to create an overhead view image showing a periphery of the vehicle when looked down from above the vehicle, based on the obtained photographed image; an extraction section configured to extract a road surface sign around the vehicle by using the created overhead view image; a detection section configured to detect one or more noises among at least a road surface noise, an obstruction noise, and an attached substance noise that are to be observed when the extraction section extracts the road surface sign; and a parking frame recognition section configured to recognize a parking frame based on one of a partial photographing region in the photographed image and a partial overhead view region in the overhead view image, depending on the detected noise.

Abstract: Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example.

Abstract: An on-vehicle control device includes: an image acquiring unit that acquires an image from an image-capturing device that captures the image of surroundings of a vehicle; an overhead view image generating unit that generates an overhead view image from the image acquired by the image acquiring unit, the overhead view image being a plan view of the surroundings of the vehicle seen from above the vehicle; a white line recognizing unit that recognizes possible white lines on a road surface in the overhead view image; a white line information saving unit that saves information including positional information of the possible white lines recognized by the white line recognizing unit; a white line position predicting unit that predicts a position of a possible white line to be reached, based on information about a previous possible white line saved by the white line information saving unit and vehicle behavior information; and a white line judging unit that excludes, among the possible white lines recognized by the

Abstract: Provided is a vehicle-mounted image processing device capable of recognizing the outside of a vehicle based on an image taken by a vehicle-mounted camera more precisely. A vehicle-mounted image processing device of the present invention includes: an image acquisition unit (12) that acquires through-images (21) to (24) taken by cameras (1) to (4) disposed on front, rear and sides of a vehicle (10); a bird's eye view image generation unit (13) that converts the acquired through images (21) to (24) to generate a bird's eye view image (25); a parking line recognition unit (15) that performs parking line recognition processing to recognize a parking line WL based on at least one of the through-images (21) to (24) and the bird's eye view image (25).

Abstract: An on-vehicle image processor includes an imager mounted on a vehicle, an image convertor and compositor that converts images imaged by the imager into overhead images, a white line candidate area detector that detects a white line candidate area estimated to constitute a parking frame, an endpoint position detector that detects positions of endpoints, a vehicle behavior measurer that measures a movement amount of the vehicle, an endpoint movement position predictor that predicts moved positions of the endpoints detected by endpoint position detector, an endpoint movement amount judger, an endpoint position storage, a distance calculator that judges a degree of proximity of the endpoints, an information output device, an endpoint position oblivion judger that deletes the position of the endpoints satisfying a predetermined condition, a parking frame detector that detects a parking frame from the image, an accelerator opening degree detector and a vehicle behavior controller.

Abstract: A position of a moving object is reliably detected with high accuracy using only an image around a vehicle. A rear camera mounted on a vehicle obtains an original image around the vehicle, a movement region detector detects a moving object from the original image, and a difference calculator detects the moving object from a bird's-eye view image of the vehicle generated by a bird's-eye view image processor. A moving object position identifying part identifies a position of the moving object based on a distance from the vehicle to the moving object detected by the movement region detector or the difference calculator, a lateral direction position of the moving object, and an actual width of the moving object detected by the movement region detector when a detected object determination part determines that the moving objects detected by the movement region detector and the difference calculator are the same moving object.

Abstract: Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example.

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: An external environment recognizing device for vehicle includes an image acquiring unit configured to acquire image obtained by picking up image of an area ahead of an own vehicle, a light-source extracting unit configured to extract light source from the acquired image, an own-vehicle-speed acquiring unit configured to acquire own vehicle speed, an oncoming-vehicle-presence-possible-region estimating unit configured to estimate oncoming vehicle presence possible region on the basis of own vehicle speed, and an oncoming-vehicle detecting unit configured to detect an oncoming vehicle on the basis of the oncoming vehicle presence possible region and the light source.

Abstract: An on-vehicle image processor includes an imager mounted on a vehicle, an image convertor and compositor that converts images imaged by the imager into overhead images, a white line candidate area detector that detects a white line candidate area estimated to constitute a parking frame, an endpoint position detector that detects positions of endpoints, a vehicle behavior measurer that measures a movement amount of the vehicle, an endpoint movement position predictor that predicts moved positions of the endpoints detected by endpoint position detector, an endpoint movement amount judger, an endpoint position storage, a distance calculator that judges a degree of proximity of the endpoints, an information output device, an endpoint position oblivion judger that deletes the position of the endpoints satisfying a predetermined condition, a parking frame detector that detects a parking frame from the image, an accelerator opening degree detector and a vehicle behavior controller.

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.