Abstract: A vehicular trailer angle detection system includes a camera disposed at a rear portion of a vehicle. The vehicular trailer angle detection system, via processing of frames of image data captured by the camera, tracks changes of features present in a current frame of captured image data and present in a previous frame of captured image data and determines features of the trailer based on the tracked changes of features. The determined features of the trailer have respective changes between the current frame of image data captured by the camera and the previous frame of image data captured by the camera. The vehicular trailer angle detection system determines angle of the trailer relative to the vehicle based at least in part on tracking of the determined features of the trailer over multiple captured frames of image data.

Abstract: The present disclosure generally pertains to image sensor control circuitry for event-based controlling of an image sensor, the image sensor control circuitry being configured to: obtain events from a plurality of event-based vision elements of an event-based vision sensor; determine event groups based on an event-detection property; and generate an imaging control signal for controlling the imaging elements of the image sensor based on the event groups, for imaging with imaging element groups corresponding to the event groups.

Abstract: A data collection device comprises circuitry configured to: store one or more collector programs, one or more analyzer programs, and a database accessor program; execute one or more programs selected from the one or more collector programs and the one or more analyzer programs to generate data having an array structure in which each record is identified by a position in a data arrangement; transfer data generated by execution of the selected one or more programs to the database accessor program as the registration data; and execute the database accessor program to convert the generated data from the array structure into a predetermined database format based on the data arrangement of the registration data and register the transferred data in a database.

Abstract: The travelling route recognition unit recognizes, based on an image captured by an imaging apparatus capturing an area in the vicinity of the vehicle, a travelling route where the vehicle travels. The classifying unit classifies the travelling route into at least one of a predetermined plurality of road models. The edge point extracting unit extracts edge points necessary for expressing the road model classified by the classifying unit among edge points indicating a boundary of the travelling route recognized by the travelling route recognition unit. The parameter generation unit correlates road model information indicating the road model classified by the classifying unit with the edge points extracted by the edge point extracting unit and generates a travelling route parameter indicating the travelling route recognized by the travelling route recognition unit. The transmission unit transmits the travelling route parameter generated by the parameter generation unit to the server.

Abstract: A method and system for locating and tracking a trailer coupler for autonomous vehicle operation is disclosed. The system converts an image from a vehicle camera to a depth map that includes a plurality of points indicative of a distance between an object within the image and a reference point. The system used the depth map to identify and track a coupler of a trailer.

Abstract: The disclosure relates to a method for parking a vehicle in a first perpendicular parking space, wherein the position and/or the orientation of another vehicle is determined in the second perpendicular parking space and, depending thereupon, the target position and/or the target orientation of the vehicle in the first perpendicular parking space is determined, wherein by means of at least one optical detection unit of the vehicle, at least one image of the at least one other vehicle is generated before parking the vehicle in the first perpendicular parking space, and the image is evaluated as to whether a headlight or a taillight of the other vehicle is recognized in the image, and depending thereupon, the orientation of the other vehicle is determined.

Abstract: A virtual guidance apparatus and method assist an operator to maneuver a loader of a work vehicle for material handling of a workpiece. The virtual guidance apparatus includes a guidance control unit, one or more camera devices mounted on the associated work vehicle and operable to obtain an image of a loader of the associated work vehicle, and a display unit operatively coupled with the guidance control unit and displaying on a screen of the display unit that is viewable from an operator's seat of the associated work vehicle visual aids for guiding the operator in operating the loader to position a boom relative to level ground, to position a tool carrier on an end of the boom, to show a preview of a path of the tool carrier and of tools attached with the tool carrier, and to assist in positioning the workpiece load to be manipulated.

Abstract: A virtual guidance apparatus and method assist an operator to maneuver a loader of a work vehicle for material handling of a workpiece. The virtual guidance apparatus includes a guidance control unit, one or more camera devices mounted on the associated work vehicle and operable to obtain an image of a loader of the associated work vehicle, and a display unit operatively coupled with the guidance control unit and displaying on a screen of the display unit that is viewable from an operator's seat of the associated work vehicle visual aids for guiding the operator in operating the loader to position a boom relative to level ground, to position a tool carrier on an end of the boom, to show a preview of a path of the tool carrier and of tools attached with the tool carrier, and to assist in positioning the workpiece load to be manipulated.

Abstract: A processor operates to: refer to a switching condition in which a vehicle speed and input form information of an input command are preliminarily associated with each other, to determine whether or not the input form of the input command satisfies the switching condition associated with the vehicle speed; when a determination is made that the input form of the input command satisfies the switching condition corresponding to the vehicle speed, switch a control mode of the vehicle from autonomous driving control to manual driving control based on the input command; and execute driving of the vehicle by the manual driving control.

Abstract: A method for learning depth-aware keypoints and associated descriptors from monocular video for monocular visual odometry is described. The method includes training a keypoint network and a depth network to learn depth-aware keypoints and the associated descriptors. The training is based on a target image and a context image from successive images of the monocular video. The method also includes lifting 2D keypoints from the target image to learn 3D keypoints based on a learned depth map from the depth network. The method further includes estimating a trajectory of an ego-vehicle based on the learned 3D keypoints.

Abstract: A main video acquisition unit acquires main video data including a video area of a shape having a curved portion from a main picture-capturing unit installed at a predetermined position in a moving object. A sub-video acquisition unit acquires sub-video data from sub-picture capturing units installed at different positions in the moving object. A combiner combines video data that is generated on the basis of the sub-video data and has a shape fitting to a free area other than the video area of each frame of the main video data, and arranges the video data in the free area. A file generator generates one moving picture file based on the combined video data.

Abstract: A peripheral perception system for providing a 360-coverage of a peripheral region around a machine is disclosed. The peripheral perception system includes a first perception device mounted to a first surface of the machine, defining a first elevation and a first angle with respect to a vertical axis of the machine; and a second perception device mounted to a second surface of the machine, defining a second elevation and a second angle with respect to the vertical axis. The first perception device scans a first field of view covering a first peripheral region of the machine and the second perception device scans a second field of view covering a second peripheral region of the machine, such that the first field of view and the second field of view combinedly provide 360-degree coverage of the peripheral region around the machine.

Abstract: An intelligent robot includes a main body, an environment sensing device, and a control circuit board. The main body includes a body, a protective side plate, and a partition structure. The protective side plate is movably connected to the body. The body and the protective side plate cooperatively defines an accommodation cavity, the protective side plate includes an light transmission region, the partition structure is fixedly connected to the body and received in the accommodation cavity, the partition structure divides the accommodation cavity into a first space and a second space. The environment sensing device is at least partially received in the first space, and capable of transmitting and receiving environmental sensing signals within a preset scanning angle through the light transmission region of the protective side plate. The control circuit board is received in the second space, and electrically connected to the environment sensing device.

Abstract: An object of the present disclosure is to provide a window glass for vehicle that prevents intensity of light to be used in optical equipment attached to a vehicle from being attenuated, and that is easier to handle while having a component unit. A window glass for vehicle comprises: a laminated glass including a vehicle inner glass plate, a vehicle outer glass plate and an interlayer film; and a component unit. A vehicle inner glass plate is cut-out at a portion of the periphery of the laminated glass, and in the portion, the component unit is arranged. A vehicle inner surface of the laminated glass fits on the flush with a vehicle inner surface of the component unit, at least in a region, on a boundary between the laminated glass and the component unit.

Abstract: A method for steering a vehicle along a path in a driveway and around obstacles between a starting position into a target position, comprises the steps of determining the vehicle dimensions, steering and driving capabilities, carrying out a path optimization step to evaluate, based on a predetermined cost function, the least costly path between the starting position and the target position avoiding any collisions with obstacles. The method further comprises the further step of applying a path improver step, smoothening the trajectory obtained by the path optimization method by means of numerical optimization while fulfilling dynamical constraints on acceleration and steering rate of the vehicle through planning lateral and longitudinal movement of the vehicle in a joint optimization problem or by means of separate optimization problems.

Abstract: A head-up display system includes a first plurality of on-board sensors adapted to detect vehicle driving characteristics, a wireless communication module adapted to receive information from external sources, a driver monitoring system adapted to track a driver's eyes, and a controller in electronic communication with the first plurality of on-board sensors and the wireless communication module, the controller adapted to determine if the vehicle is performing a parking maneuver, and, when the vehicle is performing a parking maneuver, to capture images of an environment surrounding the vehicle, detect objects within the environment, identify location markers for a parking space and objects within the environment surrounding the vehicle adjacent to the parking space, determine the position of the vehicle relative to the identified location markers and objects, and display, with a projection module a parking assist graphic adapted to provide guidance to a driver of the vehicle.

Abstract: The purpose of the present invention is to provide an information processing device that realizes more suitable ease of use. To accomplish the purpose, there is provided an information processing device provided with a video input unit for acquiring image data from an optical image, a signal receiver unit for acquiring a position computation signal, a communication unit for transmitting the image data, a first memory unit for storing position information pertaining to a place to which the image data is not transmitted, and a control unit for controlling the execution of image data transmission on the basis of the position information acquired from the position calculation signal and the position information stored in the first storage unit.

Abstract: According to at least one aspect, the present disclosure provides a method comprising: determining whether a vehicle is traveling in reverse or is in a rear photographing mode; in response to determining that the vehicle is traveling in reverse or is in the rear photographing mode, opening an opening and closing unit included in an inner housing; as the opening and closing unit opens, drawing a camera and a fluid injection unit out of the vehicle; photographing, by the camera, a peripheral region of the vehicle; spraying, by the fluid injection unit, each of a washer fluid and air toward a lens surface of the camera; when the vehicle has ended traveling in reverse or the rear photographing mode, closing the opening and closing unit; and as the opening and closing unit closes, drawing the camera and the fluid injection unit into the vehicle.

Abstract: Presented are intelligent vehicle systems for off-road driving incident prediction and assistance, methods for making/operating such systems, and vehicles networking with such systems. A method for operating a motor vehicle includes a system controller receiving geolocation data indicating the vehicle is in or entering off-road terrain. Responsive to the vehicle geolocation data, the controller receives, from vehicle-mounted cameras, camera-generated images each containing the vehicle's drive wheel(s) and/or the off-road terrain's surface. The controller receives, from a controller area network bus, vehicle operating characteristics data and vehicle dynamics data for the motor vehicle. The camera data, vehicle operating characteristics data, and vehicle dynamics data is processed via a convolutional neural network backbone to predict occurrence of a driving incident on the off-road terrain within a prediction time horizon.

Abstract: A front perception module is utilized in conjunction with a front ballast system, which is included in a work vehicle and which has a laterally-extending hanger bracket supporting a number of removable ballast weights. In various embodiments, the front perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental region forward of the work vehicle, a mounting base attached to the work vehicle, and a front module housing containing the EDP sensor system and joined to the work vehicle through the mounting base. The front module housing is positioned over and vertically spaced from the laterally-extending hanger bracket in a manner enabling positioning of the removable ballast weights beneath the front module housing.

Abstract: A front perception module is utilized in conjunction with a front ballast system, which is included in a work vehicle and which has a laterally-extending hanger bracket supporting a number of removable ballast weights. In various embodiments, the front perception module includes an environmental depth perception (EDP) sensor system including a first EDP device having a field of view (FOV) encompassing an environmental region forward of the work vehicle, a mounting base attached to the work vehicle, and a front module housing containing the EDP sensor system and joined to the work vehicle through the mounting base. The front module housing is positioned over and vertically spaced from the laterally-extending hanger bracket in a manner enabling positioning of the removable ballast weights beneath the front module housing.

Abstract: A vehicle hitching assistance system includes a controller executing an initial alignment process including searching for a trailer within a specified area of image data that is less than a total field of the image data in directions corresponding with both a longitudinal distance between the vehicle and the trailer and a lateral direction perpendicular to the longitudinal distance, presenting an indication to a driver of the vehicle to reposition the vehicle when the trailer is not identified within the specified area, and removing the indication when the trailer is identified within the specified area. The controller further executes an automated backing process upon identifying the trailer within the specified area, including identifying a coupler of the trailer and outputting a steering signal to the vehicle to cause the vehicle to steer to align a hitch ball of the vehicle with the coupler of the trailer during reversing.

Abstract: Systems and methods are provided for detecting a blind spot of a vehicle. In one embodiment, a method includes: receiving, by a processor, head position data indicating a position of a head of a driver of the vehicle; determining, by the processor, pillar position data associated with at least one pillar of the vehicle; determining, by the processor, at least one angle based on the head position data and the pillar position data; determining, by the processor, at least one blind spot area based on the at least one angle; detecting, by the processor, at least one object within the at least one blind spot area; and generating at least one of notification data, decision data, and control data based on the at least one object.

Abstract: A communication system for a vehicle for a vehicle includes a display device having a screen disposed in a passenger compartment. The display device is in communication with a user interface. The system further includes an authentication system having at least one scanning apparatus configured to capture a biometric data. A communication circuit is configured to communicate with a remote server. A controller is configured to capture the biometric data of a first potential passenger with the at least one scanning apparatus and access a first passenger information comprising a first identification profile from the remote server via the communication circuit. The controller is further configured to authenticate the first potential passenger as at least one of a confirmed passenger and an operator of the vehicle based on the identification profile.

Abstract: A method for learning depth-aware keypoints and associated descriptors from monocular video for ego-motion estimation is described. The method includes training a keypoint network and a depth network to learn depth-aware keypoints and the associated descriptors. The training is based on a target image and a context image from successive images of the monocular video. The method also includes lifting 2D keypoints from the target image to learn 3D keypoints based on a learned depth map from the depth network. The method further includes estimating ego-motion from the target image to the context image based on the learned 3D keypoints.

Abstract: A car includes: a left side and a right side; a first light emitter coupled to the left side of the car; a second light emitter coupled to the right side of the car; a first camera coupled to the left side of the car, the first camera configured to generate a first image; a second camera coupled to the right side of the car, the second camera configured to generate a second image; wherein the first camera and the second camera are located closer to a front end of the car than a back end of the car.

Abstract: A service system includes a mobile terminal and an information processing device capable of communication via a network. The mobile terminal includes a first transmission unit that transmits spherical images taken in respective imaging locations and positional information about the imaging locations to the information processing device. The information processing device includes a reception unit that receives the spherical images transmitted by the first transmission unit; a map data obtaining unit that obtains map data from a map data storage, the map data including the imaging locations of the spherical images; a path information creation unit that creates information about a path made by connecting the imaging locations in the map data obtained by the map data obtaining unit; and a content providing unit that makes content available for a request through the network, the content including the map data, the information about the path, and the spherical images.

Abstract: Provided is a display method for A-pillar-mounted display assemblies of a vehicle. The method includes: acquiring facial posture information of a driver of the vehicle in a camera coordinate system by any one driver monitoring assembly of at least one driver monitoring assembly, determining a visual field of the driver based on a gaze direction of the driver and the eye position of the driver, acquiring coordinates of the two display assemblies in a world coordinate system, converting the coordinates of the two display assemblies in the world coordinate system into coordinates in the camera coordinate system based on a first conversion relationship, determining whether any one display assembly of the two display assemblies is within the visual field, and capturing an external image of the vehicle captured by the imaging assembly.

Abstract: In one aspect, a system for an agricultural application includes an implement including a frame. The frame includes a center frame section and at least one movable frame section. A first imaging device is installed on the movable frame section. A second imaging device is installed inboard of the movable frame section relative to the center frame section in the unfolded position. A computing system is communicatively coupled to the first imaging device and the second imaging device. When the implement is in the unfolded position, the computing system receives image data associated with an imaged environment outward of the implement from the first imaging device. When the implement is in the folded position, the computing system receives image data associated with an imaged environment outward of the implement from the second imaging device.

Abstract: In one embodiment, a navigation system may include at least one self-describing fiducial with a communication element to communicate navigation state estimation aiding information comprising a geographic position of the self-describing fiducial with respect to one or more coordinate systems and a first navigating object to receive navigation information from an exterior system, receive navigation state estimation aiding information from the self-describing fiducial, and compare the navigation information received from the exterior system to the navigation state estimation aiding information to improve navigation parameters of the first navigating object.

Abstract: An information processing method for a vehicle includes capturing and storing images of an area in front of the vehicle, acquiring information on the speed of the vehicle, and transmitting an image to an information processing apparatus when a judgment is made that a change in speed equal to or greater than a threshold occurs while the vehicle is traveling in a predetermined section, the image being captured during a predetermined period that includes the time when the judgment is made.

Abstract: An approach is provided for providing predictive classification of sensor error. The approach involves, for example, receiving sensor data from at least one sensor, the sensor data collected at a geographic location. The approach also involves extracting a set of input features from the sensor data, map data representing the geographic location, or combination thereof. The approach further involves processing the set of input features using a machine learning model to calculate a predicted sensor error of a target sensor operating at the geographic location. The machine learning model, for instance, has been trained on ground truth sensor error data to use the set of input features to calculate the predicted sensor error.

Abstract: An information processing method for a vehicle includes capturing and storing images of an area in front of the vehicle, acquiring information on the speed of the vehicle, and transmitting an image to an information processing apparatus when a judgment is made that a change in speed equal to or greater than a threshold occurs while the vehicle is traveling in a predetermined section, the image being captured during a predetermined period that includes the time when the judgment is made.

Abstract: Sensors coupled to a vehicle are calibrated using a dynamic scene with sensor targets around a motorized turntable that rotates the vehicle to different orientations. The sensors capture data at each orientation along the rotation. The vehicle's computer identifies representations of the sensor targets within the data captured by the sensors, and calibrates the sensor based on these representations. The motorized turntable may confirm that rotation has stopped to the vehicle to trigger sensor capture, and the vehicle may communicate completion of sensor capture at an orientation to the motorized turntable to trigger further rotation.

Abstract: A parking support apparatus is configured to automatically park a target vehicle in a target parking space, which is one parking space out of a plurality of parking spaces. The parking support apparatus is provided with: an acquirer configured to obtain parking information indicating a parking posture of a parked vehicle in one or a plurality of parking spaces around the target parking space, out of the plurality of parking spaces; and a determinator configured to determine a parking posture of the target parking vehicle with respect to the target parking space, on the basis of the obtained parking information.

Abstract: Embodiments of the present invention provide a system for determining a location of a tow hitch (280) mounted to a vehicle (250), comprising imaging means (260) disposed in relation to the vehicle to output image data corresponding to an image (105), and processing means (200, 210) arranged to receive the image data (270), wherein the processing means is arranged to select image data corresponding to a region (310) of the image and to search within the selected data for image data corresponding to the tow hitch (280) to determine the location of the tow hitch within the image.

Abstract: A training system for a deep neural network and method of training is disclosed. The system and/or method may comprise: receiving, from an eye-tracking system associated with a sensor, an image frame captured while an operator is controlling a vehicle; receiving, from the eye-tracking system, eyeball gaze data corresponding to the image frame; and iteratively training the deep neural network to determine an object of interest depicted within the image frame based on the eyeball gaze data. The deep neural network generates at least one feature map and determine a proposed region corresponding to the object of interest within the at least one feature map based on the eyeball gaze data.

Abstract: A vehicle hitching assistance system includes a controller acquiring image data from the vehicle and deriving a vehicle path to align a center of a hitch ball of the vehicle with a centerline of a trailer coupler within the image data. The controller also outputs a video image including a representation of a simplified path from the hitch ball to the coupler and outputs a steering signal to cause the vehicle to steer along the vehicle path.

Abstract: A parking assistance device includes an overhead image generation unit generating an overhead image from a captured image obtained by capturing an image around a towing vehicle, a towing determination unit determining whether a towed vehicle is towed, an overhead image display range setting unit selecting a trimming range from a plurality of display ranges at least including a first display range and a second display range wider than the first display range, and a display image generation unit generating an overhead image for display by trimming the trimming range of the overhead image, and a display image including the overhead image for display on which the towing vehicle is superimposed. The overhead image display range setting unit selects the first display range when the towing vehicle does not tow the towed vehicle, and selects the second display range when the towing vehicle tows the towed vehicle.

Abstract: A training system for a neural network system and method of training is disclosed. The method may comprise: receiving, from a sensor, an image frame captured while an operator is controlling a vehicle; using an eye-tracking system associated with the sensor, monitoring the eyes of the operator to determine eyeball gaze data; determining, from the image frame, a plurality of pedestrians; and iteratively training the neural network system to determine, from among the plurality of pedestrians, the one or more target pedestrians using the eyeball gaze data and an answer dataset that is based on the eyeball gaze data, wherein the determined one or more target pedestrians have a relatively-higher probability of collision with the vehicle than a remainder of the plurality of pedestrians.

Abstract: A method of determining the configuration of a tow load (12) coupleable to a vehicle (10), the method comprising: controlling (116) a vehicle system to obtain an indication of the presence of a unique identifier (40) mounted on the tow load (12); retrieving data (120) encoded within the unique identifier to determine the configuration of the tow load; configuring (124) the vehicle in dependence on the determined configuration of the tow load.

Abstract: An image processing apparatus includes a hardware processor configured to: acquire a plurality of pieces of image information including image-capturing regions overlapping partially; to set first and second correction values with a predetermined value, the first correction value being used for correction of luminance of a first region of interest included in a first overlap region in which a first image-capturing region overlaps an adjacent second image-capturing region, the second correction value being used for correction of luminance of a second region of interest included in a second overlap region in which the first image-capturing region overlaps an adjacent third image-capturing region; and to set with the first and second correction values an individual correction value used for correction of luminance of a region between the first region of interest and the second region of interest in the first image-capturing region.

Abstract: A camera array for a scalable tracking system includes cameras that are communicatively coupled to camera clients. The cameras are arranged in a grid such that no camera is directly adjacent in the same row or column of the grid to another camera that is communicatively coupled to the same camera client. Cameras that are arranged along a diagonal of the grid are communicatively coupled to the same camera client.

Abstract: A method of assisting a motor vehicle driven in an at least semiautomated manner, for passing through a tunnel. The method includes: receiving surrounding-area signals that represent an area, which surrounds the motor vehicle, and of which at least a part includes a tunnel; receiving safety condition signals, which represent at least one safety condition that must be satisfied, so that the motor vehicle may be assisted from outside of the motor vehicle while passing through the tunnel; checking if the at least one safety condition is satisfied; generating data signals, which represent data suitable for assisted traversal of the tunnel by the motor vehicle, based on the surrounding-area signals, and based on a result of whether the at least one safety condition is satisfied; outputting the generated data signals. A device, a computer program, and a machine-readable storage medium are also described.

Abstract: Image recording device provided with a fixed part for at least partial inclusion in and/or on the body of a motor vehicle, and a movable part which comprises at least one optical element, the optical element comprising at least one optical sensor and/or a lens unit, and an adjustment device provided with a power source, for adjusting the movable part between a first position and a second position, wherein during use in the first position the movable part is wholly or partly included in the body, and in the second position the movable part extends at an angle with respect to the body, such that at least the optical element carried by the movable part extends at least partly outside the body, wherein the movable part pivots from the second position about a, preferably substantially vertical, axis to the first position and vice versa.

Abstract: An emblem for a vehicle comprises: (a) a light source configured to emit visible light; (b) a cover assembly disposed over the light source, the cover assembly having an inner surface, an outer surface, and a transparent portion that is transparent to the visible light, the visible light being incident to the inner surface, and the visible light that the light source emits transmitting through the transparent portion out of the outer surface to an external environment beyond the emblem; and (c) one or more surface relief patterns disposed on the cover assembly, the one or more surface relief patterns configured to manipulate (i) the visible light that the light source emits, (ii) visible light from the external environment, or (iii) both (i) and (ii).

Abstract: An image processing device includes an edge detector to detect a portion in which a luminance difference between neighboring pixels changes in a direction that increases equal to or more than a first predetermined value as a positive edge and a portion in which the luminance difference between neighboring pixels changes in a direction that decreases equal to or more than a second predetermined value as a negative edge, a grouping portion configured to group the positive edges that have been detected into a positive edge group and the negative edges that have been detected into a negative edge group, and a boundary line setting portion configured to set, as a boundary line: (i) a line connecting end points between the positive edges in the positive edge group; or (ii) a line connecting end points between the negative edges in the negative edge group.

Abstract: A periphery display control device includes: an image acquisition unit acquiring captured image data obtained by imaging a periphery of an own vehicle; a target acquisition unit acquiring a target position to which the own vehicle moves; an image generation unit generating a virtual viewpoint image while moving, based on a relative angle of the target position with respect to a movement direction of the own vehicle when moving to the target position, at least one of a virtual viewpoint set at a position facing the target position across the own vehicle and a gazing point when facing an area including at least one of the own vehicle and the target position from the virtual viewpoint in a state where a distance between and heights of the virtual viewpoint and the gazing point are maintained; and an output unit outputting the virtual viewpoint image to a display device.

Abstract: A traffic sign displaying device comprises a processor including a traffic sign recognizing section recognizing first traffic sign information on a traffic sign included in an image of an area ahead of a vehicle, a traffic sign information obtaining section obtaining from map information second traffic sign information on a traffic sign of a road based on position information on the vehicle, a traffic sign display portion displaying traffic sign information and a traffic sign display control section for controlling the traffic sign display portion, wherein if the first traffic sign information does not match the second traffic sign information, the traffic sign display control section stops displaying traffic sign information after the vehicle runs a predetermined distance or over a predetermined time with the traffic sign display control section displaying on the traffic sign display portion either the first traffic sign information or the second traffic sign information.

Abstract: The present invention relates to a lateral image processing method, and the method includes recognizing areas in which amounts of image change are different from each other in an image captured by a camera; determining whether a car is in a driving state; and converting an image in one area in which an amount of image change is different according to the driving state of the car.