Abstract: Division line recognition apparatus includes: external sensor mounted on vehicle and detecting external situation in front of vehicle; behavior sensor detecting traveling behavior of vehicle; and electronic control unit performing: storing posture information of external sensor with respect to vehicle; recognizing division line defining travel lane along which vehicle travels based on external situation detected by external sensor and posture information; calculating movement amount of vehicle from first time point to second time point based on traveling behavior detected by behavior sensor; setting inspection point on division line recognized at second time point; calculating error of position of division line recognized at first time point with respect to position of inspection point based on movement amount; and updating posture information based on error.

Abstract: A travel environment recognition apparatus includes: an external situation detection unit configured to detect an external situation around a subject vehicle; a state detection unit configured to detect a state of the subject vehicle; a microprocessor and a memory coupled to the microprocessor. The microprocessor is configured to perform: recognizing a travel environment in front of the subject vehicle based on a detection value of the external situation detection unit; and correcting a recognition result of the environment recognition unit based on the detection value of the state detection unit.

Abstract: A vehicle control apparatus includes a microprocessor and an exterior environment detection unit configured to detect an exterior environment situation in a predetermined region around the subject vehicle. The microprocessor is configured to perform: recognizing a division line defining a lane of a road on which the subject vehicle travels based on a detection value of the exterior environment detection unit; acquiring a movement amount of the subject vehicle in a vehicle width direction; and determining a reliability of a recognition result of the division line based on a first movement amount which is the acquired movement amount of the subject vehicle and a second movement amount, which is a change amount of a recognized position of the division line in the vehicle width direction, when a traveling position of the subject vehicle moves in the vehicle width direction.

Abstract: An object recognition device of an embodiment includes a processor configured to execute a program to set a high-resolution region to be subjected to a process on a first image obtained by capturing an image of surroundings of a vehicle at a higher resolution than other regions in the first image based on information on the surroundings of the vehicle, and recognize an object located in the surroundings of the vehicle by processing an image corresponding to the set high-resolution region at a high resolution.

Abstract: A 3D object detection method includes: obtaining two-dimensional (2D) coordinates of at least one predetermined key point of a target object in an image to be processed; constructing a pseudo 3D detection body of the target object in a 2D space according to the 2D coordinates of the at least one predetermined key point; obtaining depth information of a plurality of vertices of the pseudo 3D detection body; and determining a 3D detection body of the target object in a 3D space according to the depth information of the plurality of vertices of the pseudo 3D detection body.

Abstract: A 3D object detection method includes: obtaining two-dimensional (2D) coordinates of at least one predetermined key point of a target object in an image to be processed; constructing a pseudo 3D detection body of the target object in a 2D space according to the 2D coordinates of the at least one predetermined key point; obtaining depth information of a plurality of vertices of the pseudo 3D detection body; and determining a 3D detection body of the target object in a 3D space according to the depth information of the plurality of vertices of the pseudo 3D detection body.