Abstract: An object detection device according to the present disclosure, installed in a vehicle, includes a plurality of ranging sensors and each including a transmitter configured to transmit ultrasonic waves and a receiver configured to receive reflected waves of the ultrasonic waves transmitted by the transmitter and reflected by an object around the vehicle, and processing circuitry configured to detect the object around the vehicle based on the reflected waves received by the receiver during a wave receiving period until a predetermined period of time elapses from transmission of the ultrasonic waves by the transmitter. The processing circuitry is configured to acquire an imaged image imaged by an in-vehicle camera that images surroundings of the vehicle. The processing circuitry is configured to determine whether a specific object is contained based on the imaged image.

Abstract: A data transmitter is to be mounted on an autonomous driving vehicle. The data transmitter determines whether a confidence score indicating the degree of reliability of detection of the object from the area image is greater than a predetermined confidence score threshold; transmits, when the confidence score regarding the area image is greater than the confidence score threshold, the area image or a face image representing the face of a driver to a terminal, together with a first setting for displaying the area image or the face image on the terminal in first mode; and transmits, when the confidence score is less than the confidence score threshold, the area image to the terminal, together with a second setting for displaying the area image on the terminal in second mode that draws more attention of a user of the terminal than the first mode.

Abstract: Child seat monitoring system for a vehicle (e.g., using a computerized tool) is enabled. For example, a monitoring system for a child seat in a vehicle can comprise: a human machine interface unit, and a control unit, wherein the human machine interface unit comprises a sound system and a display unit, wherein the sound system is configured to capture a lock sound of a seat belt of the child seat, wherein the control unit is configured to identify if the lock sound corresponds to a predetermined safe locking sound of the seat belt, and wherein the control unit is configured to indicate in the display unit that the seat belt of the child seat is locked.

Abstract: Systems and methods are provided for interpreting traffic information for a vehicle. Sensor data is collected from at least one first sensor device of the vehicle. At least one relevant object is determined within the sensor data based on a window defined by a plurality of ranges and associated elevations, wherein the plurality of ranges and associated elevations are defined relative to the at least one first sensor device. A confidence score of the at least one relevant object is determined based on an identification of at least one pattern of activity of other objects associated with an intersection. A subset of sensor data is determined from at least one second sensor of the vehicle based on the confidence score of the relevant object. Traffic device data for use in controlling the vehicle is generated based on an evaluation of the subset of sensor data.

Abstract: A measurement apparatus detects a person and an umbrella based on acquired image data, and measures the number of persons based on a detected result.

Abstract: A method for tracking an object. A first coordinated control of a lighting device and an optical sensor is assigned to a first visible distance range. A first recording of the first visible distance range while illuminated by the lighting device is recorded with the optical sensor. If the object is detected in the first recording within the first visible distance range, a distance between the detected object and the optical sensor is determined. A second coordinated control of the lighting device and the optical sensor and an assigned, second visible distance range are determined such that the object detected in the first recording is located in a center of the second visible distance range. A second recording of the second visible distance range while illuminated by the lighting device is recorded with the optical sensor by the second coordinated control.

Abstract: A system for driving a digital side mirror for vehicles, includes a moving case accommodating a camera for photographing the area surrounding the rear and the sides of a vehicle which is mounted in a housing and in a guide pipe mounted to a vehicle panel to be movable forwards and backwards thereof, wherein the camera accommodated in the moving case is controlled to photograph the area surrounding the rear and the sides of the vehicle even when the moving case is moved backwards and received in the housing and the guide pipe, facilitating a user to easily monitor the area surrounding the rear and the sides before turning on the vehicle or after turning off the vehicle.

Abstract: Described are techniques and systems for secure camera based IMU calibration for stationary systems, including vehicles. Existing vehicle camera systems are employed, with enhanced security to prevent malicious attempts by hackers to try and cause a vehicle to enter IMU calibration mode. IMU calibration occurs when a calibration system determines the vehicle is parked in a controlled environment; calibration targets are positioned at different viewing angles to vehicle cameras to act as sources of optical patterns of encoded data. Features of the patterns are for security as well as for alignment functionality. Images of the calibration targets enable inference of a vehicle coordinate system, from which calculations for IMU mounting error compensations are performed. A relative rotation between the IMU and the vehicle coordinate system are applied to IMU data to compensate for relative rotations between the vehicle and the IMU, thereby improving vehicle slope and bank metrics.

Abstract: An imaging apparatus provided in a moving object to capture an image of an area behind the moving object includes an imaging circuit and an optical system. The imaging circuit outputs an image based on an optical image input to a light-receiving surface. The optical system inputs the optical image to the imaging circuit. The optical system forms a first region at a first magnification and a second region at a second magnification lower than the first magnification. The second region is formed around the first region. The imaging apparatus is installed in the moving object so that, on the light-receiving surface of the imaging circuit, an axis passing through a center of the first region and extending in a direction from which the optical system receives light is inclined toward an upper side of the moving object with respect to a backward direction of the moving object.

Abstract: A driver assistance system for a motor vehicle is configured to receive or determine maximum assumptions about a course of a roadway; to determine a maximum left lane boundary and a maximum right lane boundary for a roadway in which the motor vehicle is located according to the maximum assumptions; to detect at least one object which is located between the maximum left lane boundary and the maximum right lane boundary; and to take the at least one object into account in the driver assistance.

Abstract: The present disclosure relates to an image processing device, an image processing method, a program, and an image presentation system capable of presenting a more suitable image to the interior of a vehicle. An image processing unit generates a presentation image to be presented to the interior of a second vehicle that is traveling, on the basis of a vehicle external image obtained by capturing an environment outside a first vehicle that is traveling. The present disclosure can be applied to, for example, a projector type presentation device.

Abstract: The present disclosure is directed to apparatuses, systems and methods for automatically classifying images of occupants inside a vehicle. More particularly, the present disclosure is directed to apparatuses, systems and methods for automatically classifying images of occupants inside a vehicle by comparing current image feature data to previously classified image features.

Abstract: A method includes obtaining multiple images of a scene using an imaging sensor associated with a vehicle, where the images of the scene capture lane marking lines associated with a traffic lane in which the vehicle is traveling. The method also includes identifying, in each of at least some of the images, a vanishing point based on the lane marking lines captured in the image. The method further includes identifying an average position of the vanishing points in the at least some of the images. In addition, the method includes determining one or more extrinsic calibration parameters of the imaging sensor based on the average position of the vanishing points. The one or more extrinsic calibration parameters of the imaging sensor may include a pitch angle and a yaw angle of the imaging sensor.

Abstract: An imaging device according to the present disclosure includes a front case, a rear case, and a shield member. The front case supports an imaging optical unit. The rear case includes an electrically conductive output mechanism configured to output a signal output from the imaging optical unit. The shield member electrically connects the front case and the output mechanism.

Abstract: A device for generating a front image for heavy equipment is presented, which is configured to generate a combined front image including an object in an area obstructed by a visual field obstructing component by combining an image of a preset area in a front image of a second view to a front image of a first view. The presented device for generating a front image for heavy equipment generates a first front image and a second front image by photographing the front from the upper portion and lower portion of the heavy equipment, and generates a combined front image by combining a part of the second front image to a partial area of the first front image, so that the areas thereof located at a set distance forward from the front end of the visual field obstructing component coincide with each other.

Abstract: The present invention relates to methods and systems that utilize the production vehicles to develop new perception features related to new sensor hardware as well as new algorithms for existing sensors by using federated learning. To achieve this, the production vehicle's own worldview is post-processed and used as a reference, towards which the output of the software (SW) or hardware (HW) under development is compared. Through this comparison, a cost function can be calculated and an update of the SW parameters can be locally updated according to this cost function.

Abstract: Systems and methods are provided for verifying the accuracy of a map. Information regarding objects, such as roadway or roadway-related elements may be encoded into a map to be used for navigation and/or control of a vehicle, such as an autonomous vehicle. In order to verify that the map accurately reflects the roadway or roadway-related elements making up a section of roadway, the vehicle may be driven/ridden along the same section of roadway. A camera feed can be captured of this subsequent traversal of the section of roadway to check if the map includes the requisite roadway or roadway-related elements. The known roadway or roadway-related elements can be occluded from view in the camera feed. Accordingly, if any roadway or roadway-related elements do appear in the camera feed, they can be more easily detected by a verifier, and the processor verification is simplified.

Abstract: This disclosure provides systems, methods, and devices for wireless communication that support vehicle alerting, such as in autonomous driving networks. Vehicle alerting may provide messages alerting other vehicles and/or network components to instances of autonomous driving disengagement. A vehicle operating according to an autonomous vehicle (AV) mode may transmit an over-the-air message to one or more other devices, such as nodes of an autonomous driving network, to alert the one or more devices to the vehicle disengaging the AV mode. A device receiving an autonomous disengagement message may alter one or more autonomous operation aspects in response to the over-the-air message. Other aspects and features are also claimed and described.

Abstract: An image capturing method has: providing an image capturing area on a display screen of a user device; providing an indication area in the image capturing area; identifying each license plate in the indication area; calculating a license plate area of said each license plate in the indication area; calculating a center point difference from a center point of said each license plate in the indication area to a center point of the indication area; marking a license plate that has a license plate area larger than half of a largest license plate area and has a smallest center point difference; and capturing an image including the marked license plate in the image capturing area.

Abstract: A control device includes circuitry configured to: generate, based on respective pieces of imaging data obtained by a plurality of imaging devices of a moving body, a three-dimensional image indicating a space including both the moving body and surroundings of the moving body; and cause a display device to display the generated three-dimensional image. The circuitry is capable of rotation of the space in the three-dimensional image, and the circuitry changes a rotation amount of the rotation, in a case where it is predicted that a boundary region of the respective pieces of imaging data in the three-dimensional image is present in a specific region when the rotation is stopped.

Abstract: An apparatus for estimating distance according to the present disclosure extracts feature maps from respective images including a reference image and a source image; projects a source feature map extracted from the source image onto hypothetical planes to generate a cost volume; sets sampling points on a ray extending from the viewpoint of the reference image in a direction corresponding to a target pixel in the reference image; interpolates features of the respective sampling points, using features associated with nearby coordinates; inputs the features corresponding to the respective sampling points into a classifier to calculate occupancy probabilities corresponding to the respective sampling points; and adds up products of the occupancy probabilities of the respective sampling points and the distances from the viewpoint of the reference image to the corresponding sampling points to estimate the distance from the viewpoint of the reference image to a surface of the object.

Abstract: A system and method for lateral vehicle detection is disclosed. A particular embodiment can be configured to: receive lateral image data from at least one laterally-facing camera associated with an autonomous vehicle; warp the lateral image data based on a line parallel to a side of the autonomous vehicle; perform object extraction on the warped lateral image data to identify extracted objects in the warped lateral image data; and apply bounding boxes around the extracted objects.

Abstract: A system and computer-implemented method for facilitating a user of a mobile device obtaining image data of damage to a vehicle for damage assessment includes capturing image data of a vehicle with the mobile device. The mobile device may include an orientation model for capturing the image data. The captured image data is analyzed, and a determination is made of the orientations of the images of the captured image data. In addition, a determination is made as to whether the captured image data can be used for the damage assessment. The captured image data may then be transmitted to a damage estimator computing device for estimating an amount of damage to the vehicle.

Abstract: Disclosed are an apparatus and method with video processing. A computing apparatus includes one or more processors and storage storing instructions configured to, when executed by the one or more processors, cause the one or more processors to: generate cluster maps using clusters generated by performing clustering, wherein the generating the cluster maps performed based on a reference frame of a video generated based on a previous point in time of the video, generate a predicted frame by performing motion compensation based on the cluster maps, and generate a decoded frame by performing decoding based on the current frame and the predicted frame.

Abstract: An approach is provided for lane width estimation from incomplete lane marking detections of a road lane. The approach, for example, involves generating one or more perpendicular lines respectively from location centers of one or more first lane marking detections. A respective lane marking detection represents at least a portion of a boundary of the road lane as a line delimited by two location data points in accordance with detections by at least one sensor device onboard at least one vehicle. The approach also involves identifying second lane marking detections that each respectively intersect one of the one or more perpendicular lines. The approach further involves selecting one or more candidate lane widths based on one or more respective distances from the location centers to the second lane marking detections. The approach further involves determining an estimated lane width of the road lane based on the one or more candidate lane widths.

Abstract: A vehicle travel assistance apparatus includes a traveling environment information acquiring unit, a preceding vehicle recognizing unit, a vehicle shadow detector, a front vehicle shadow determining unit, and a second preceding vehicle estimating unit. The vehicle shadow detector detects a vehicle shadow of a train of vehicles including a first vehicle shadow of a first preceding vehicle recognized by the preceding vehicle recognizing unit and a front vehicle shadow of a front vehicle traveling in front of the first preceding vehicle based on a brightness difference from a road surface. When the front vehicle shadow determining unit determines that the front vehicle shadow separating from the first vehicle shadow is identified from the vehicle shadow, the second preceding vehicle estimating unit estimates a position of a second preceding vehicle belonging to the train of the vehicles including the first preceding vehicle based on the front vehicle shadow.

Abstract: A brake caliper diagnostic device for railway vehicles according to an embodiment of the present disclosure includes an internal pressure sensor located between a brake hose for delivering brake oil or compressed air to the brake caliper and an inlet of the brake caliper, internal temperature sensors respectively installed in the air breathers respectively located above and below the brake caliper, an assembly plate temperature sensor located adjacent to a brake pad assembly, a piston temperature sensor located on a surface of a brake caliper body adjacent to a piston, and a brake caliper monitoring device configured to determine whether or not the brake caliper is abnormal, based on data received from the internal pressure sensor, the internal temperature sensors, the assembly plate temperature sensor, and the piston temperature sensor.

Abstract: An object is to provide a technique that allows a first mobile unit to provide an appropriate display that makes it possible to easily identify a second mobile unit in a rendezvous of the first mobile unit and the second mobile unit. A For the rendezvous of the first mobile unit and the second mobile unit, a rendezvous assistance apparatus includes a first controller that performs control to cause a first display of the first mobile unit to display a first display object on the basis of the first receive information received by the first mobile unit, the first display object indicating the position of at least part of the second mobile unit accompanied with the first image or a landscape of the outside of the first mobile unit corresponding to the first image.

Abstract: The present disclosure relates to an apparatus for controlling a side mirror of an autonomous vehicle and a method thereof. According to an embodiment of the present disclosure, it is possible to detect whether a vehicle is autonomously driven and to fold the side mirror such that a mirror surface is in close contact with a vehicle body surface or side window glass or to insert the side mirror into the inner space of the vehicle when the vehicle is autonomously driven. Through the present disclosure, it is possible to notify an external vehicle of information indicating that the vehicle is driven in an autonomous driving mode.

Abstract: A double chamber camera is provided. The double chamber camera may include: a housing having an upper chamber and a lower chamber; and an upper chamber assembly arranged in the upper chamber, and a lower chamber assembly arranged in the lower chamber. The upper chamber assembly may include a first monitoring lens and a first transmission module. The first monitoring lens may be a zoom lens. The first transmission module may include a first support and a second support rotatably matched with the first support, a first driving unit configured to drive the first support to rotate along a first direction, and a second driving unit configured to driving the second support to rotate along a second direction. The first monitoring lens may be fixed on the first support or the second support.

Abstract: A type of an object is determined and the movement direction of the object is predicted on the basis of a sensing result of the object sensed by an on-machine obstacle sensor. Information relating to the object that is the object sensed by the on-machine obstacle sensor and has been determined to have moved to the outside of a sensing range of the on-machine obstacle sensor is immediately deleted from an environment map on the basis of the type and the movement direction of the object. This can properly process information on the object that has gotten out of the sensing range, according to the cause of the object getting out of the sensing range.

Abstract: A driver assist system configured to assist a driver properly to operate a vehicle, even if positional information of the vehicle and information obtained from an external source have errors, and collection of the information is delayed. A controller comprises: a position detector that detects a position of the vehicle; an obstacle detector that detects a position of an obstacle; a distance detector that determines that the vehicle overtakes the obstacle; and an information provider that executes a first notification of existence of the obstacle until the distance detector determines that the vehicle overtakes the obstacle, and a second notification of the existence of the obstacle within an extra distance or for an extra period of time.

Abstract: A tire tread depth estimation system for a vehicle includes a light source, a camera, an electronic controller, and a display. The light source is configured to emit light onto a surface of a vehicle tire. The camera is configured to capture an image of the surface of the vehicle tire. The electronic controller is connected to the light source and to the camera. The controller is configured to estimate a depth of a tire tread of the vehicle tire based on the image received from the camera. The display is configured to display the estimated tire tread depth.

Abstract: Systems, apparatuses, and methods are described for using one or more components of a device, such as a camera, to generate complementary heat for the device, such as a camera lens of the device. In one aspect this can be accomplished by activating the one or more components and/or by causing the one or more components to operate in a particular manner expected to generate heat. The generated heat may be instead of or in addition to heat generated by one or more dedicated heaters. The selected components may produce heat as an incidental effect for performing other functions of the device.

Abstract: Information regarding an impact occurring in a vehicle is analyzed from an observed signal by a sensor installed in the vehicle. An acquisition unit (11) acquires an observed signal by a sensor (S) installed at a predetermined position of the vehicle. The analysis unit (12) analyzes the type of impact at each time from the observed signal with respect to the impact occurring on the vehicle at a position different from the position at which the sensor (S) is installed in the vehicle. The type of impact includes at least one type of impact among impact from collision of an obstacle with the vehicle, impact from the vehicle driving over a curb, impact from collision of a flying object with the vehicle, impact from the vehicle rubbing against an object other than the vehicle, and impact from an object other than the vehicle rubbing against the vehicle. An output unit (13) outputs a result obtained by analyzing a time at which the impact occurs and the type of impact.

Abstract: A control system for construction machinery includes an upper camera installed in a driver cabin of a rear vehicle body to photograph the front of the driver cabin, a lower camera installed in a front vehicle body rotatably connected to the rear vehicle body to photograph the front of the front vehicle body, an angle information detection portion configured to detect information on a refraction angle of the front vehicle body with respect to the rear vehicle body, an image processing device configured to synthesize first and second images captured from the upper and lower cameras, and configured to determine a position of a transparency processing area in the synthesized image according to the refraction angle information and transparency-process at least one of the first and second images in the transparency processing area, and a display device configured to display the synthesized image transparency-processed by the image processing device.

Abstract: An image processing device and an image processing method are disclosed. The image processing device includes a memory storing a first image transmitted from a first camera and a second image transmitted from a second camera with a wider view angle than the first camera, and a processor processing the first and second images. When a target is specified in a first area in which the first image and the second image overlap each other within an augmented reality screen generated based on at least one of the first and second images, the processor extracts target information on the target based on data for the first image, and generate augmented reality data based on the target information so that a visual object corresponding to the target is displayed on the first area.

Abstract: A method of detecting a way-side object includes receiving data frames from sensors mounted on a vehicle. Position data corresponding to the position of the vehicle is received. Object-of-interest data is retrieved from a database. The sensor data frames and the object-of-interest data are processed to determine a region-of-interest in the sensor data frame. A portion of the sensor data frames corresponding to the region of interest is processed using machine-learned object detection to identify a first object-of-interest. The portion of the sensor data frames corresponding to the region of interest is processed using computer vision methods to detect features of the expected object-of-interest and identifying the detected object-of-interest as explained when the features of the expected object-of-interest are detected. Explained object-of-interest data corresponding to the explained detected object-of-interest is output to a navigation system of the vehicle.

Abstract: In an accident pattern determination apparatus including a storage storing attributes assigned to respective ones of a plurality of predefined traffic situations, an acquirer acquires, for each of vehicle-related accident cases, an accident pattern that is a combination of traffic situations in the accident case, from the plurality of predefined traffic situations. A determiner determines, for each accident pattern acquired by the acquirer, whether the accident pattern is an accident pattern of high accident risk or an accident pattern of low accident risk for specific vehicles, based on the accident patterns acquired for the respective accident cases and the attributes assigned to respective ones of the plurality of predefined traffic situations.

Abstract: A system for producing a virtual image view for a vehicle is provided. The system includes one or more image capture means configured to capture image data in proximity to the vehicle, the image data being defined at least in part by first viewpoint parameters, and to provide an identifier identifying the respective one or more image capture means, storage means configured to store a plurality of virtualization records containing conversion information related to a virtualized viewpoint and a plurality of image capture means, and processing means.

Abstract: An information processing apparatus includes a control unit that performs: situation determination processing of determining whether or not a situation related to an imaging operation in an imaging device is a situation suitable for image transmission; and selection processing of selecting an imaging device to be caused to transmit a captured image among a plurality of imaging devices on the basis of the situation determination processing.

Abstract: Disclosed herein are methods and systems for automatically validating evidence of traffic violations. One instance of a method comprises receiving an evidence package comprising video frames showing a vehicle involved in a potential traffic violation. The video frames can be input into one or more deep learning models to obtain a plurality of classification results. The method can further comprise generating a score based in part on the classification results and evaluating the score against one or more thresholds to determine whether the evidence package is automatically approved, is automatically rejected, or requires further review.

Abstract: An information processing device includes at least one processor. The processor communicates with a vehicle and receives deterioration information that is involved in deterioration of a part provided within a cabin of the vehicle; stores the received deterioration information; and estimates a deterioration degree of the part on the basis of the stored deterioration information.

Abstract: An imaging apparatus comprises a third substrate including a third connector; a third shield portion configured to cover a side surface of at least portions of the third substrate; a leg portion formed at an end of the third shield portion on the side of a direction away from the third substrate; a fourth connector configured to be able to be fitted to the third connector; a third metal plate configured to abut the leg portion; and a second housing including the fourth connector and the third metal plate.

Abstract: An on-board camera device includes a camera unit, a hood member, a thermally conductive member, a heater device, and a temperature measurement element. The camera unit captures an image of an ambient environment through a window glass of a vehicle. The hood member blocks an unnecessary light beam from outside and suppresses background reflection on the window glass. The thermally conductive member is fixed to the hood member to thermally contact with the window glass. The heater device contacts with the thermally conductive member and removes dew condensation and fog adhering to the window glass. The temperature measurement element is provided at the heater device and partly contacts with the thermally conductive member. The temperature measurement element detects a temperature state of the heater device during operation of the heater device and a temperature state of the window glass through the thermally conductive member during non-operation of the heater device.

Abstract: A parking assist method performs a parking assist control of a host vehicle based on a target travel path when a distance between a self-position and a target parking position is determined to be equal to or less than a first predetermined distance, a parking assist permission condition is satisfied, and a shift operation for switching direction has been detected. The parking assist permission condition is satisfied where either a condition in which a predetermined time or longer has elapsed since the host vehicle departed from the target parking position, or a condition in which the distance between the self-position and the target parking position since the host vehicle departed from the target parking position exceeds a second predetermined distance that is equal to or less than the first predetermined distance. The parking assist control is suppressed when the parking assist permission condition is not satisfied.

Abstract: A method for determining an articulation angle of a vehicle combination comprising a first vehicle section, such as a truck, and a second vehicle section, such as a trailer or dolly unit, which are connected via a first articulation joint, wherein the first vehicle section comprises an image obtaining device which is configured to obtain images of the second vehicle section during use, the method comprising obtaining a first image of the second vehicle section by the image obtaining device; mirroring the first image, thereby obtaining a second mirrored image; determining the articulation angle between the first and the second vehicle sections based on a required level of relative rotation of the first image and the second mirrored image until the first image and the second mirrored image match each other.

Abstract: Methods and apparatus to render 3D content within a moveable region of a display screen. An example apparatus includes a projection system controller adapted to be coupled to a light source and to be optically coupled to a screen panel, the projection system controller configured to determine a location of a region within a viewing area of the screen panel to display content. The region is to be smaller than the viewing area. The location of the region is to move within the viewing area to track a motion path, the content including different stereoscopic views. The projection system controller configured to activate the light source to project light corresponding to the content toward the region. The screen panel includes a light redirecting surface to produce a 3D light field associated with the different stereoscopic views.

Abstract: An embodiment relates to a system, comprising: a sensor; a communication module; and a processor; wherein the processor is configured to detect that a passenger of a vehicle is experiencing a medical emergency; generate of an alert signal on an infotainment system of the vehicle; turn on automatically an emergency indication light; generate of a path from the current location of the vehicle to a target location; maneuver the vehicle along the path to the target location; identify a medical facility based upon a location of the vehicle; contact an emergency service and provide the location of the vehicle and a health condition of the passenger of the vehicle; and transmit a medical record of the passenger of the vehicle to the medical facility. According to an embodiment, the system is configured to be a component of the vehicle.

Abstract: A vehicle having a road-surface rendering function includes a light projection member, a control unit, and a detection device. The light projection member is configured to perform light projection for road-surface rendering at least toward a road surface ahead of the vehicle. The control unit is configured to control the light projection for the road-surface rendering by the light projection member. The detection device is configured to perform detection of the road surface onto which the light projection member performs the light projection for the road-surface rendering. The control unit is configured to perform control to suppress the light projection for the road-surface rendering by at least determining insufficient reflection in the road-surface rendering in the vehicle based on the detection of the road surface by the detection device.