Abstract: An engine device with high reliability and high safety even in use in cold regions, especially in arctic regions at ?20° C. or less, the engine device including: a heating portion (21, 22, 23, 24, 25, 26) configured to increase a temperature in a mixed region where an intake air flowing in a blow-by gas mixed joint (20, 20A, 20B, 20C, 20D) and a blow-by gas introduced from a returning hose (12) are mixed; and/or a pressure regulation portion (121, 125) having a blow-by gas passage in which the blow-by gas from a combustion chamber flows.

Abstract: An onboard environment recognition device is obtained with which it is possible to improve recognition performance within the headlight illumination range and outside the headlight illumination range of a vehicle with an onboard camera. This onboard environment recognition device has: an imaging unit 100 for imaging, using a camera installed in the vehicle, at a wider-angle range than the headlight illumination range; an in-illumination/out-of-illumination exposure adjustment unit for setting appropriate exposure conditions separately within the headlight illumination range and outside the headlight illumination range; and a recognition unit 500 for recognizing images on the basis of the acquired images. Therefore, it is possible to maintain high recognition performance in the boundary regions of the headlight illumination range, and outside the range, and the present invention can also be used for wide-angle sensing at night.

Abstract: An in-vehicle image processing device processes camera images to determine a parkable area and includes an overhead image generation section generating an overhead image relative to a road surface by converting the view point of an image of a nearby vehicle and the road surface taken by a vehicle-mounted camera; a tire recognition section recognizing the tires of the nearby vehicle; a three-dimensional object recognition section recognizing three-dimensional objects including the nearby vehicle; an area-under-vehicle recognition section calculating the ground contact position of the tire and the above-ground height from the ground contact position to the vehicle body and recognizing an area under the vehicle body on the road surface from the overhead image; and a parkable area recognition section for recognizing the area occupied by the vehicle body and the area under the vehicle body as a non-parking area and recognizing a parkable area on the road surface.

Abstract: A device for calculating one or more camera parameters of a camera mounted on a traveling vehicle includes a location information acquisition unit, a road width information acquisition unit, a scenery image acquisition unit, and a camera parameter calibration unit. The device calculates a height of a mount position of the camera and a direction of the camera. The device also converts a scenery image captured by the camera of a scenery including the road on which the traveling vehicle moves into an image that is displayed for navigation.

Abstract: The purpose of the present invention is to provide an object detection device conducive to carrying out control in an appropriate manner according to the surrounding environment, with consideration to the accuracy of locations of detected objects. The device is characterized by being provided with: a parallax information generation unit for generating parallax information from a plurality of parallax images acquired from a plurality of imaging units; an object detection unit for detecting objects contained in the parallax images; a location information generation unit for generating location information about the objects, on the basis of the parallax information; and a location accuracy information generation unit for generating location accuracy information pertaining to the accuracy of the location information, on the basis of the condition of generation of the parallax information.

Abstract: Provided are a travel route recognition device and a travel assistance system using the same, which are capable of precisely recognizing the positions of white lines and road boundaries even if, for example, there is a decrease in the accuracy of the detection of both white lines and road boundaries on the travel route. The direction of the travel route is estimated on the basis of the direction of a linear site included in an image obtained by imaging units, and the direction of the boundaries of a surface region included in a distance image comprising three-dimensional distance information generated on the basis of the images obtained by the imaging units or on the basis of distance information detected by the distance detection unit.

Abstract: An in-vehicle image processing device processes camera images to determine a parkable area and includes an overhead image generation section generating an overhead image relative to a road surface by converting the view point of an image of a nearby vehicle and the road surface taken by a vehicle-mounted camera; a tire recognition section recognizing the tires of the nearby vehicle; a three-dimensional object recognition section recognizing three-dimensional objects including the nearby vehicle; an area-under-vehicle recognition section calculating the ground contact position of the tire and the above-ground height from the ground contact position to the vehicle body and recognizing an area under the vehicle body on the road surface from the overhead image; and a parkable area recognition section for recognizing the area occupied by the vehicle body and the area under the vehicle body as a non-parking area and recognizing a parkable area on the road surface.

Abstract: The present invention addresses the problem of providing an imaging device that prevents mismatching in image matching for parallax calculation even if the sharpnesses of an end part and center part of a processing area differ. An imaging device 1 according to the present invention is provided with a means for equalizing the sharpnesses of the processing areas of a reference image and a comparison image.

Abstract: The purpose of the present invention is to provide an object detecting device which is capable of accurately detecting an object even far away, and of shortening processing time. Provided is an object detecting device (100), comprising: a disparity acquisition unit (116) which compares each image of two cameras (112, 113) and computes a disparity for each pixel; a near-far boundary setting unit (118) which, in a single image of one of the two cameras, sets a boundary (Rb) between a near region (R1) which is close to a vehicle (110) and a far region (R2) which is distant from the vehicle (110); a near object detecting unit (119) which detects objects (102, 104) of the near region (R1) on the basis of the disparity; and a far object detecting unit (120) which detects objects (103, 104) of the far region (R2) on the basis of the single image.

Abstract: The present invention addresses the problem of attaining an object recognition device that can change control of a vehicle in accordance with the reliability of detection of a target object. The object recognition device according to the present invention recognizes a target object around a vehicle and includes: a distance-information-based target object determination unit 106 that determines whether or not an object 303 is a target object by using distance information from the vehicle 301 to the object 303; an image-information-based target object determination unit 107 that determines whether or not the object 303 is a target object by using image information obtained by capturing an image of the object 303 from the vehicle 301; and a target object detection reliability calculation unit 108 that calculates the reliability of detection of a target object by using the distance information and the image information.

Abstract: To provide a moving object recognition apparatus that earlier detects a moving object crossing a road, the moving object recognition apparatus includes a left imaging unit 101, a right imaging unit 102, a moving object detection unit that detects a moving object based on images imaged by the left imaging unit and the right imaging unit, wherein, suppose that non-overlap regions in which an imaging region of the left imaging unit 101 and an imaging region of the right imaging unit 102 do not overlap are first regions 203, 204 and an overlap region in which the imaging region of the left imaging unit and the imaging region of the right imaging unit overlap is a second region 205, the moving object detection unit uses different methods of detecting the moving object between the first regions and the second region.

Abstract: In order to provide an object sensing device whereby, among limited computation resources, performance is improved in sensing an object when sense processing a plurality of objects to be sensed, an object sensing device includes image capture units which capture images external to a host vehicle, and a processing device which sense processes objects to be sensed from the images which are captured by the image capture units, said processing device further including: a scene analysis unit which analyzes a travel scene of the host vehicle; a process priority change unit which changes a sensing process priority of the object to be sensed on the basis of the travel scene which is analyzed by the scene analysis unit; and an object to be sensed sensing unit which carries out a sensing of the object to be sensed on the basis of the sensing process priority which is changed by the process priority change unit.

Abstract: The objective of the present invention is to obtain an external environment-recognizing apparatus with which it is possible to obtain detection results having a necessary accuracy when a plurality of target objects from a captured image are detected.

Abstract: A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.

Abstract: The present invention provides CPU load reduction and a method of efficient image data transfer. An image processing device, which comprises an image generating unit (203) which further comprises a plurality of processing units which process a plurality of instances of image information and in where the image generating unit (203) transfers accumulated data for each interrupt factor, comprises: data transfer units for each factor (208-212) which accept the interrupts from the image generating unit (203) for each interrupt factor and transfer the data for each interrupt factor, and notifies a CPU (207) of the interrupt when the transfer of the data to be transferred for each interrupt factor is completed; and a communication line (1) which is connected to the image generating unit (203) and the data transfer units for each factor (208-212).

Abstract: In order to provide an object sensing device whereby, among limited computation resources, performance is improved in sensing an object when sense processing a plurality of objects to be sensed, an object sensing device includes image capture units which capture images external to a host vehicle, and a processing device which sense processes objects to be sensed from the images which are captured by the image capture units, said processing device further including: a scene analysis unit which analyzes a travel scene of the host vehicle; a process priority change unit which changes a sensing process priority of the object to be sensed on the basis of the travel scene which is analyzed by the scene analysis unit; and an object to be sensed sensing unit which carries out a sensing of the object to be sensed on the basis of the sensing process priority which is changed by the process priority change unit.

Abstract: A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.

Abstract: An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.

Abstract: To provide a moving object recognition apparatus that earlier detects a moving object crossing a road, the moving object recognition apparatus includes a left imaging unit 101, a right imaging unit 102, a moving object detection unit that detects a moving object based on images imaged by the left imaging unit and the right imaging unit, wherein, suppose that non-overlap regions in which an imaging region of the left imaging unit 101 and an imaging region of the right imaging unit 102 do not overlap are first regions 203, 204 and an overlap region in which the imaging region of the left imaging unit and the imaging region of the right imaging unit overlap is a second region 205, the moving object detection unit uses different methods of detecting the moving object between the first regions and the second region.

Abstract: A device for calculating one or more camera parameters of a camera for converting a scenery image captured by the camera of a scenery including a road into an image for navigation, the one or more camera parameters representing a height of a mount position of the camera and a direction of the camera includes: a location information acquisition unit that acquires location information; a road width information acquisition unit that acquires road data corresponding to the current location based on the location information and acquires road width information at the current location from the road data; a scenery image acquisition unit that acquires the scenery image from the camera; and a camera parameter calibration unit that performs calibration calculation of the camera parameters based on the scenery image and the road width information.