Abstract: A parking support apparatus includes a storage that stores a manual parking path, and a processor that sets a safety region where the vehicle can pass. The processor causes the vehicle to perform automatic driving based on the generated automatic parking path, and the processor generates a parking path configured for driving within a range of the performance of the electric power steering and for the vehicle to pass inside the safety region.

Abstract: A parking support apparatus includes an instruction detection section that detects the occupant's parking instruction based on an operation of the occupant of the vehicle or a history of a motion of the vehicle, and a vehicle control section that performs the automatic parking of the vehicle. When the history indicates that the vehicle has stopped after steering and turning from a straight movement, and that the occupant has performed a predetermined parking instruction operation, the instruction detection section determines that the parking instruction is detected.

Abstract: A display processing device is installed in a vehicle. The display processing device includes a hardware processor coupled to a memory. The processor acquires an image obtained by capturing a periphery of the vehicle and generates a bird's-eye view image of the periphery of the vehicle. The processor estimates a movement amount of the vehicle and generates past images whose capturing times are past time points. The past images are generated on the basis of the movement amount of the vehicle and a past bird's-eye view image. The processor generates a display image to be displayed on a display device in the vehicle by combining the past images and the bird's-eye view image. When occurrence of a skid phenomenon of the wheel is detected, the processor generates the display image by performing, on the past images, processing indicating that the skid phenomenon has occurred.

Abstract: A driving assistance apparatus configured to support a driving of a vehicle at a time of pulling out of the vehicle, the driving assistance apparatus including: a control section configured to determine a movement path from a parking space to a predetermined position of a road region, and run the vehicle along the movement path on a basis of surroundings information of the vehicle when pulling out the vehicle from the parking space to the road region, wherein the control section leaves an accelerator operation for the vehicle to a user while automatically controlling a steering operation for the vehicle at least in a section in the movement path, and switches from an automated driving mode to a manual driving mode in response to the steering operation that is performed by the user when the vehicle travels in the section.

Abstract: A parking assistance device includes a hardware processor coupled to a memory. The hardware processor receives a camera image and performs image processing with the camera image as an input. The hardware processor senses a situation around a vehicle on the basis of the camera image or a sensing image generated by the image processing. The hardware processor performs parking assistance including a plurality of stages on the basis of the situation around the vehicle. The hardware processor restricts the image processing in accordance with the stages.

Abstract: A display processing device is installed in a vehicle. The display processing device includes a hardware processor coupled to a memory. The processor acquires an image obtained by capturing a periphery of the vehicle and generates a bird's-eye view image of the periphery of the vehicle. The processor estimates a movement amount of the vehicle and generates past images whose capturing times are past time points. The past images are generated on the basis of the movement amount of the vehicle and a past bird's-eye view image. The processor generates a display image to be displayed on a display device in the vehicle by combining the past images and the bird's-eye view image. When occurrence of a skid phenomenon of the wheel is detected, the processor generates the display image by performing, on the past images, processing indicating that the skid phenomenon has occurred.

Abstract: A vehicle including a vehicle control device is disclosed. The vehicle control device determines whether an object is a preceding vehicle and whether a brake light of the preceding vehicle is on or off. When the object is a preceding vehicle and its brake light is on, the vehicle control device transmits a braking request that instructs a braking control device to stop the vehicle at a position at which an inter-vehicle distance between the preceding vehicle and the vehicle is equal to or larger than a first distance. When the object is a preceding vehicle and its brake light is off, the vehicle control device transmits a braking request that instructs the braking control device to stop the vehicle at a position at which the inter-vehicle distance is equal to or larger than a second distance being smaller than the first distance.

Abstract: Provided is a display control apparatus including a vehicle detector and a processor, in which the processor performs projection conversion for projecting the plurality of captured images onto a projection plane, performs a visual point conversion process for converting at least one of the plurality of captured images into an image viewed from a virtual visual point, and sets a ground height of the virtual visual point when the surrounding vehicle is not detected in a predetermined region to be lower than a ground height of the virtual visual point when the surrounding vehicle is detected in the predetermined region.

Abstract: Provided is a display control apparatus including: an image inputter; a vehicle periphery image generator that generates a vehicle periphery image; a subject image outputter that outputs a subject image; and an image superimposer that generates a display image by superimposing the subject image on the vehicle periphery image. An azimuth of a first line of sight is substantially identical to an azimuth of a second line of sight.

Abstract: A display controller includes: an image generator configured to generate a three-dimensional image of surroundings of a vehicle and output a display image; an instruction determiner configured to determine an instruction of a user in accordance with a position operated by the user; and a viewpoint changer configured to change a viewpoint parameter related to generation of the three-dimensional image on a basis of the instruction of the user, wherein the instruction determiner sets a plurality of regions corresponding to different viewpoint parameters in the display image, the instruction determiner determines the instruction of the user on a basis of a region where the position operated by the user, the viewpoint changer changes the viewpoint parameter in accordance with the instruction of the user, and the instruction determiner sets the plurality of regions in the three-dimensional image after a change.

Abstract: The image processing device of the present disclosure generates an overhead view image in which a captured image capturing a periphery of a vehicle is converted into an image from a viewpoint above the vehicle, detects a straight line from the overhead view image, removes a straight line extending radially from the detected straight lines based on the position of a camera, and extracts a parking frame from the remaining straight lines. Accordingly, the image processing device compares the feature amount corrected based on the movement amount of the vehicle with the feature amount of the straight line of the overhead view image at a later time point, and removes the non-corresponding straight line to extract a parking frame and appropriately extract the parking frame.

Abstract: An obstacle detection device is configured to evaluate a ghost likelihood of a detection point to be high when a movement pattern of the detection point does not match a movement pattern of a detection point when a received carrier wave is a reflected wave from an obstacle, when the movement pattern of the detection point matches a movement pattern when the detection point is a ghost, when a characteristic of a strength or a degree of steepness of the carrier wave matches a characteristic of a strength or a degree of steepness when the detection point is a ghost, or when another detection point that has a direction and a speed correlated with a direction and a speed of the detection point and is different from the detection point, is present.

Abstract: A driving assistance device to be mounted on a vehicle which is capable of executing automatic steering control is disclosed. The driving assistance device includes a hardware processor connected to a memory. The hardware processor monitors a state of eyes of a driver of the vehicle and an awakening state of the driver. The hardware processor controls output of a predetermined warning to the driver. The warning is output in a case where: the automatic steering control is being executed in the vehicle, the eyes of the driver are closed, and the driver is not in a predetermined awakening state. The warning is not output to the driver in a case where: the automatic steering control is being executed in the vehicle, the eyes of the driver are closed, and the driver is in the predetermined awakening state.

Abstract: A parking support apparatus includes a display control unit, a confirmation reception unit, and a parking control unit that performs a parking support control of a vehicle when a confirmation reception unit receives a parking region confirmation and a confirmation required region confirmation, and the confirmation reception unit simultaneously receives a single operation of the driver of the vehicle as the parking region confirmation and the confirmation required region confirmation.

Abstract: A parking support device includes: an acquisition circuit configured to acquire first detection points related to obstacles around a vehicle before setting a parking direction, and acquire second detection points related to the obstacles after setting the parking direction; an analysis circuit configured to calculate first approximate straight lines and first variations for first detection point groups related to the first detection points, and calculate second approximate straight lines and second variations for second detection point groups related to the second detection points; a setting circuit configured to set a parking point based on the first detection points, and set the parking direction based on the first approximate straight lines and the first variations; and a correction circuit configured to correct the parking direction using a correction amount calculated using the second approximate straight lines weighted based on the second variations after setting the parking direction.

Abstract: A display control apparatus includes a vehicle detector and a processor, the processor generating a background image of a vehicle, setting, when a surrounding vehicle is detected in a predetermined region, a second projection plane to a position at which the surrounding vehicle is detected, generating a surrounding vehicle image by projecting a plurality of captured images onto the second projection plane, and superimposing the surrounding vehicle image on the background image.

Abstract: A vehicle control device is mountable on a vehicle. The vehicle control device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the vehicle control device to perform operations including: acquiring detection information obtained by detecting an obstacle around the vehicle; performing collision determination of evaluating a possibility of collision with the obstacle; generating, based on the detection information, information on an approaching object that is an obstacle approaching the vehicle and information on a detection point indicating an obstacle that does not move; estimating a position of a shielding object based on the information on the detection point; evaluating, based on the position of the shielding object and the information on the approaching object, a ghost likelihood indicating a possibility that the approaching object is a ghost; and excluding, based on the ghost likelihood, the approaching object from the collision determination.

Abstract: A vehicle control device is mountable on a vehicle. The vehicle control device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the vehicle control device to perform operations. The operations includes: acquiring detection information obtained by detecting an obstacle around the vehicle; performing collision determination of evaluating a possibility of collision with the obstacle, generating, based on the detection information, information on an approaching object that is an obstacle approaching the vehicle and information on a detection point group that is a set of detection points indicating an obstacle that does not move; and excluding the approaching object from collision determination in a case in which the detection point group has a shielding effect of shielding the vehicle from the approaching object. The shielding effect is evaluated by using a gap threshold that is set based on a vehicle width.

Abstract: A display control device includes a vehicle detection unit and an image processing unit, the image processing unit generating a rearward image of a vehicle, setting in the rear image a boundary region for blending the pixel values of two adjacent photographic images, and changing the position and width of the boundary region and/or a mixing ratio of the blend of the pixel values in accordance with the position and/or width of vehicles in the periphery.

Abstract: Provided is a display control apparatus including a vehicle detector and a processor, in which the processor performs projection conversion for projecting the plurality of captured images onto a projection plane, performs a visual point conversion process for converting at least one of the plurality of captured images into an image viewed from a virtual visual point, and sets a ground height of the virtual visual point when the surrounding vehicle is not detected in a predetermined region to be lower than a ground height of the virtual visual point when the surrounding vehicle is detected in the predetermined region.