Abstract: A parking assist system including an obstacle detector acquiring obstacle information around a vehicle and a parking-slot-entry path generator setting a target position in a parking area based on the obstacle information, and generating a parking-slot-entry path for guiding the vehicle to the target position. The system also includes a traveling controller to control the vehicle based on the parking-slot-entry path, where the obstacle information is updated due to movement of the vehicle with the target position updated based on updated obstacle information. A turning path generator generates a turning path for guiding the vehicle away from the parking area when a predicted arrival position of the vehicle present on the parking-slot-entry path corresponding to the target position before update is determined to be closer to an obstacle than the target position after the update and the vehicle is controlled to travel on the basis of the turning path.

Abstract: A parking assistance device includes an obstacle detection unit configured to detect an obstacle around a vehicle, a boundary detection unit configured to detect a boundary of a parking section, and a target position determination unit configured to determine a target position of a movement route of the vehicle based on the detected boundary. The target position determination unit recognizes, as a wheel stopper, the obstacle detected in a detection area that is set at a position in the parking section on a back side of an entrance and exit of the parking section based on the detected boundary, regardless of a height of the obstacle.

Abstract: A parking assistance device is provided and includes an image acquisition unit that acquires a captured image from an imaging unit imaging surrounding circumstances of a vehicle. A setting unit sets at a start of parking assistance, a reference movement target position of the vehicle in a parking space defined by a pair of spaced dividing lines included in the captured image, and sets, after the start of the parking assistance, a movement target position of the vehicle in the parking space included in the captured image. Further, at predetermined control periods, a correction unit corrects the movement target position, based on the reference movement target position, a position acquisition unit that acquires the current position of the vehicle, and a guidance control unit that controls the vehicle to the corrected movement target position, based on the corrected movement target position and the current position.

Abstract: A parking-slot-exit assist system includes: an estimation unit configured to estimate a passage angle indicating an angle formed by a longitudinal direction of a parking area and an extending direction of a passage, on the basis of pre-parking information that is acquired before a start of a parking operation of parking a vehicle from the passage to the parking area and is used for estimating the extending direction of the passage, and on the basis of a post-parking vehicle direction that indicates an orientation of the vehicle after completion of parking and is used for estimating the longitudinal direction of the parking area; and a setting unit configured to set a parking-slot-exit target position of the vehicle on the basis of the passage angle.

Abstract: A parking exit assistance apparatus according to an embodiment includes an obstacle detection unit that detects an obstacle around a host vehicle, a path calculation unit that calculates, on the basis of a result of detecting the obstacle, a parking exit path along which the host vehicle travels when exiting from a parking area, an operation detection unit that detects a predetermined operation performed by a driver, and a control unit that executes at least steering control on the basis of the parking exit path to perform parking exit assistance control for assisting the host vehicle to exit from the parking area, and, in a case where a positional relation between the host vehicle and the obstacle that the host vehicle approaches by completion of the exit satisfies a predetermined condition, ends the parking exit assistance control if the predetermined operation is detected by the operation detection unit.

Abstract: In a state where a distance from an ejection port surface of an ejection head to a predetermined position corresponds to a first distance, a period detection unit detects a first period from when ejection of a droplet from an ejection port is started until when a droplet detection unit detects the droplet, and in a state where the distance from the ejection port surface of the ejection head to the predetermined position is changed to a second distance by a change unit, the period detection unit detects a second period from when ejection of a droplet from the ejection port is started until when the droplet detection unit detects the droplet, the second distance being different from the first distance. A calculation unit calculates an ejection speed of the droplet, based on the first distance, the second distance, the first period, and the second period.

Abstract: A parking assistance device includes: a calculation unit that calculates a target speed with passage of time until a vehicle is moved to a parking target position; an event detection unit that detects an event that is a predetermined event indicating a timing of recalculation of the target speed; and an acquisition unit that acquires a current actual speed of the vehicle. Then, when the event is detected, the calculation unit recalculates the target speed to match the target speed with the current actual speed of the vehicle.

Abstract: In a state where a distance from an ejection port surface of an ejection head to a predetermined position corresponds to a first distance, a period detection unit detects a first period from when ejection of a droplet from an ejection port is started until when a droplet detection unit detects the droplet, and in a state where the distance from the ejection port surface of the ejection head to the predetermined position is changed to a second distance by a change unit, the period detection unit detects a second period from when ejection of a droplet from the ejection port is started until when the droplet detection unit detects the droplet, the second distance being different from the first distance. A calculation unit calculates an ejection speed of the droplet, based on the first distance, the second distance, the first period, and the second period.

Abstract: A discharge head includes an orifice surface in which orifices each configured to discharge a droplet are arrayed in a predetermined direction. A detecting unit includes a light emitting element and a light receiving element, and optically detects a droplet discharged from the orifice. A suppression unit is arranged between the light emitting element and the orifice surface, and suppresses the light emitted from the light emitting element from reaching the orifice surface by shielding at least some rays of the light which are emitted from the light emitting element and would otherwise propagate to the orifice surface.

Abstract: A parking assistance device includes an obstacle detection unit configured to detect an obstacle around a vehicle, a boundary detection unit configured to detect a boundary of a parking section, and a target position determination unit configured to determine a target position of a movement route of the vehicle based on the detected boundary. The target position determination unit recognizes, as a wheel stopper, the obstacle detected in a detection area that is set at a position in the parking section on a back side of an entrance and exit of the parking section based on the detected boundary, regardless of a height of the obstacle.

Abstract: A parking assistance device includes a central processing unit. The central processing unit detects the size of a parking space. The central processing unit sets the size of an extra space to be secured at a minimum between a vehicle and an object around the parking space while changing that size according to the detected size of the parking space. Based on the set size of the extra space, the central processing unit provides assistance in parking the vehicle into the parking space.

Abstract: A discharge head includes an orifice surface in which orifices each configured to discharge a droplet are arrayed in a predetermined direction. A detecting unit includes a light emitting element and a light receiving element, and optically detects a droplet discharged from the orifice. A suppression unit is arranged between the light emitting element and the orifice surface, and suppresses the light emitted from the light emitting element from reaching the orifice surface by shielding at least some rays of the light which is emitted from the light emitting element and propagates to the orifice surface.

Abstract: In a state where a distance from an ejection port surface of an ejection head to a predetermined position corresponds to a first distance, a period detection unit detects a first period from when ejection of a droplet from an ejection port is started until when a droplet detection unit detects the droplet, and in a state where the distance from the ejection port surface of the ejection head to the predetermined position is changed to a second distance by a change unit, the period detection unit detects a second period from when ejection of a droplet from the ejection port is started until when the droplet detection unit detects the droplet, the second distance being different from the first distance. A calculation unit calculates an ejection speed of the droplet, based on the first distance, the second distance, the first period, and the second period.

Abstract: A parking assistance device includes: a calculation unit that calculates a target speed with passage of time until a vehicle is moved to a parking target position; an event detection unit that detects an event that is a predetermined event indicating a timing of recalculation of the target speed; and an acquisition unit that acquires a current actual speed of the vehicle. Then, when the event is detected, the calculation unit recalculates the target speed to match the target speed with the current actual speed of the vehicle.

Abstract: A vehicle traveling assistance apparatus includes: a creation unit configured to create a first route, which is a route along which a vehicle moves from a first position to a second position and in which the vehicle stops to perform stationary steering in a middle of the route and then moves to the second position; and a controller configured to cause the vehicle to travel along the created first route.

Abstract: A parking assistance device includes: an obstacle detection unit that detects an obstacle; a separated distance determination unit that determines a separated distance between the obstacles when a plurality of the obstacles are detected; a target position determination unit that determines a target position in a guidance route; a route calculation unit that calculates the guidance route; and a control unit that guides a vehicle in accordance with the guidance route, wherein, when a second obstacle is detected in a second direction orthogonal to a first direction in which one or plurality of first obstacles extends or are lined up while being separated from each other and at a position separated from the first direction, the separated distance determination unit determines the separated distance between the first and second obstacles.

Abstract: A driving control apparatus includes: a movement control unit that controls movement of a vehicle in accordance with a first movement path indicating a movement trajectory to a first target position that is a movement destination of the vehicle; and a movement path calculating unit that calculates a second movement path as a movement path to a second target position from a position after the vehicle moves from a current position of the vehicle for a predetermined period of time along the first movement path, wherein the movement control unit controls movement of the vehicle to the second target position in accordance with the second movement path after causing the vehicle to move along the first movement path for the predetermined period of time.

Abstract: A driving assistance apparatus includes: a driving assistance unit configured to control a braking unit which decelerates a moving body, and assist driving of the moving body by automatic driving; and a switching unit configured to perform instructing a driver of the moving body to operate the braking unit which is under control by the driving assistance unit, and switching from the automatic driving to manual driving by transferring an authority of driving to the driver when receiving an operation of the braking unit by the driver.

Abstract: A vehicle control apparatus includes: a clocking section which clocks time after an operation section is operated until a certain period of time elapses; and a vehicle control section which starts a first control in a case where a vehicle is stopped within the certain period of time after the operation section is operated, the first control corresponding to a control executed in a case where the operation section is operated in a state where the vehicle is stopped.

Abstract: A parking-lot-leaving support apparatus, to execute parking-lot-leaving support to support a vehicle leaving a parking lot, based on a positional relationship between the vehicle and an obstacle in a back-and-forth direction of the vehicle, includes a determination unit configured to determine whether an obstacle exists in a side direction of the vehicle, based on a detection result of a detection unit that detects an obstacle in the side direction of the vehicle; and an inhibition unit configured to, when the determination unit has determined that the obstacle exists in the side direction of the vehicle, inhibit the parking-lot-leaving support in a direction that coincides with the side direction.