Abstract: A badge mounting system that helps promote proper installation of different badges for different vehicle trim variants. The system utilizes a set of trim assembly components that include: a badge having a plurality of badge studs protruding rearwardly in a first pattern; a trim layer having a plurality of trim holes corresponding to the plurality of badge studs and arranged in the first pattern; and a backing plate having a backing plate body with an outer perimeter circumscribing a plurality of recesses extending into the backing plate body, wherein the plurality of badge studs mate with a subset of the plurality of recesses that together form the first pattern, and wherein the first pattern of badge studs is arranged such that the badge can be mounted to the backing plate through the trim layer in only a single orientation of the badge relative to the trim layer.

Abstract: Methods and apparatus are provided for performing an assisted driving trailer reversing operation including a camera operative to capture an image, an interactive user interface operative to display a graphical user interface and to receive a user input, a processor operative to generate the graphical user interface in response to the user input, the user input being indicative of a trailer destination, to generate a left maneuverability margin and a right maneuverability margin in response to a trailer dimension and a hitch angle, and a projected trailer path in response to the trailer destination, wherein the graphical user interface includes the image and a plurality of graphics overlaid on the image indicative of the left maneuverability margin, the right maneuverability margin, the projected trailer path and the trailer destination, and a vehicle controller operative to perform a trailer reversing operation in response to the control signal.

Abstract: The on-board information processing apparatus executes: detecting an object ahead of the vehicle from an image acquired by an on-board camera; compressing the image to generate a compressed image; transmitting first data including the compressed image and an image acquisition time of the image before compression; and transmitting second data including an object detection result and an image acquisition time of the image used for object detection. The remote monitoring server executes: receiving the first data to store it in a memory; receiving the second data to store it in the memory; extracting the compressed image and the object detection result whose image acquisition times are the same time from the memory in time series; and superimposing an extracted object detection result on a restored image acquired by restoring an extracted compressed image to display the restored image on which the object detection result is superimposed on a monitoring screen.

Abstract: A camera system with six faces and a front housing is configured to capture images and audio content from external the camera body. The camera system includes an interior audio assembly protected from external environments by a waterproof membrane. The camera system includes drainage ports on the bottom face and the left face of the camera system to encourage moisture to drain from the system. A first drainage channel couples the internal audio assembly to the first drainage port on left face of the camera system and a second drainage channel couples the drainage port on the left face of the camera system to the drainage port on the bottom face of the camera system. A third drainage channel exists between the front face of the camera system and the front housing, the third drainage channel coupling the first and second drainage channels.

Abstract: Improved passenger access and suspension systems for passenger buses, and controllers configured for use therewith; and passenger buses incorporating such systems and controllers. Integration of access ramp, door, suspension, charge interface, and other systems provides improvements in fully- or semi-automatic deployment of features such as passenger doors and ramps, and charge interface components, as well as navigation to passenger access points.

Abstract: A driver alert system for an automobile includes a global positioning system adapted to monitor a location of an automobile, and a processor adapted to receive data from the global positioning system, receive data of historical wildlife position and migration habits within a pre-determined range from the automobile, calculate a distance from the automobile to an area of wildlife activity as indicated by the data of historical wildlife position and migration habits within the pre-determined range from the automobile, and provide an alert to a driver of the automobile when the data of historical wildlife position and migration habits indicates wildlife movement within the pre-determined range of the automobile and the automobile is within a triggering distance of such wildlife movement.

Abstract: A vehicular vision system includes a plurality of cameras disposed at a vehicle and capturing image data as the equipped vehicle is driven along a traffic lane of a road. Captured image data is processed to detect a rearward-approaching vehicle and determine a path of travel of the detected rearward-approaching vehicle. Responsive to determining that the path of travel of the detected rearward-approaching vehicle is along a side traffic lane adjacent to the traffic lane along which the equipped vehicle is driven, the vehicular vision system (i) displays at a video display screen video images derived at least from image data captured by the side camera that is at the side portion of the equipped vehicle that is adjacent to the side traffic lane and (ii) overlays a transparent graphic overlay overlaying the displayed video images that is based on the determined path of travel of the detected rearward-approaching vehicle.

Abstract: An example operation includes one or more of providing to a charging station a distance desired to be driven by a transport and determining, by the charging station, an amount of energy to retrieve from the transport such that a residual amount of energy in the transport is equivalent to the distance desired to be driven.

Abstract: A current location and a destination location of a vehicle are identified. A stowage parameter is predicted based on the current and destination locations. A vehicle component is actuated based on the stowage parameter.

Abstract: A method for alignment a lidar with a camera of a vehicle includes: aggregating multiple lidar scans performed by the lidar of a vehicle while the vehicle is in motion to generate an aggregated point-cloud; rendering the aggregate point-cloud onto a camera image to generate a rendered image; comparing the rendered image with the camera image to determine a difference between the rendered image and the camera image, wherein a difference value is indicative of the difference between the rendered image and the camera image is represented; and determining that the camera is aligned with the lidar in response to determining that the difference value is less than or equal to a predetermined threshold.

Abstract: The autonomous vehicle generates an overlapped image by overlaying HD map data over sensor data and rendering the overlaid images. The visualization process is repeated as the vehicle drives along the route. The visualization may be displayed on a screen within the vehicle or at a remote device. The system performs reverse rendering of a scene based on map data from a selected point. For each line of sight originating at the selected point, the system identifies the farthest object in the map data. Accordingly, the system eliminates objects obstructing the view of the farthest objects in the HD map as viewed from the selected point. The system further allows filtering of objects using filtering criteria based on semantic labels. The system generates a view from the selected point such that 3D objects matching the filtering criteria are eliminated from the view.

Abstract: A vehicular camera assembly includes (i) a camera housing that houses a printed circuit board (PCB) having an imager disposed thereat and (ii) a lens barrel that includes a lens accommodating portion that accommodates a lens and a lens barrel flange that circumscribes the lens accommodating portion. The lens barrel flange is adhesively attached at a first attachment surface of a wall structure of the camera housing via adhesive and the PCB is adhesively attached at a second attachment surface of the wall structure of the camera housing via adhesive. The first attachment surface of the camera housing and the second attachment surface of the camera housing are at a common side of the wall structure of the camera housing. With the lens barrel flange and the PCB adhesively attached at the camera housing, the imager is aligned with the lens accommodated by the lens barrel.

Abstract: Loading dock signal light change indicator apparatuses including a including light sensors that detect a change from illumination of a red signal light to illumination of a green signal light from a loading dock signal light assembly, and that generate one or more detection signals in response to that detected change. The apparatuses may additionally include one or more transmitters that transmit one or more wireless signals in response to the one or more light sensor signals, and a receiver that receives the one or more wireless signals from the transmitter(s). The apparatuses may further include devices that generate one or more audio, tactile, or visual outputs in response to the receiver receiving the one or more wireless signals, and are separate and distinct from the loading dock signal light assembly.

Abstract: Provided is an input unit to which input signals are inputted, the input signals including signals indicating operating states of switches used for operating the electronic mirror and used for selecting a display mode from among the plurality of display modes to be displayed by the electronic mirror; a storage unit that together with prioritizing and storing each of a plurality of display modes in a hierarchical structure, stores mode setting conditions that are conditions for setting each display mode; a determination unit for determining whether or not the mode setting conditions are satisfied for each of the plurality of display modes based on the input signals; and a setting unit that, of the plurality of display modes, sets a display mode from among the display modes for which the mode setting conditions are satisfied, as a display mode to be displayed on the electronic mirror.

Abstract: A system and method for inspecting a railway track using sensors oriented at an oblique angle relative to a rail vehicle on which the system is traveling. The orientation of the sensors allows for different data to be gathered regarding a particular rail including rail design specifications (gathered based on manufacturer markings detected and analyzed by the system), rail seat abrasion values based on direct measurement of rails from the oblique angle, and other analysis of rail features including joint bars, rail welds, bond wires, rail holes, and broken rails. The use of an air blower, ducts, and one or more air distribution lids over the sensors helps remove debris from blocking the sensors and structured light generators.

Abstract: A driver assistance apparatus includes an external camera disposed at a vehicle so as to have an outer field of view of the vehicle, configured to obtain image data on the outer field of view of the vehicle; an internal camera disposed inside the vehicle to grasp a drivers gaze on board the vehicle, configured to obtain the drivers gaze data; and a controller including at least one processor configured to process the image data and the gaze data. The controller may be configured to grasp the driver's gaze based on the gaze data, and based on a determination that the driver is in a careless condition, to control at least one of a control timing of a steering device and a lateral distance limit value for operating the steering device to be changed.

Abstract: A system for estimating a hitch angle includes a control module with memory for storing programmatic control logic, a processor for executing the control logic, and one or more input/output (I/O) ports. Wheel speed sensors on a trailer communicate with the processor via the I/O ports. A trailering application defines a portion of the control logic and has at least first, and second control logics. The first control logic estimates the hitch angle from a first term, a second term and physical parameters of the vehicle and trailer. The second control logic provides the estimated hitch angle to one or more of a driver and to on-board control systems of the vehicle and trailer.

Abstract: A method of drawing a handwriting track for an electronic apparatus includes: creating a buffer canvas and a display canvas; acquiring parameter information of a plurality of touch track points; and performing drawing processing on each touch track point of the plurality of touch track points. The performing drawing processing on each touch track point includes: determining a position parameter, size and transparency of each of a plurality of track points to be displayed respectively, based on the touch position parameter and sensing parameter of the each touch track point and those of a predetermined number of touch track points of the plurality of touch track points; and drawing a handwriting track on the buffer canvas based on the position parameter, size and transparency of each of the plurality of track points, and drawing on the display canvas the handwriting track drawn on the buffer canvas.

Abstract: A system and method to adjust an augmented reality (AR) image involve a front-facing camera in a vehicle. The camera obtains an image that includes a road surface ahead of the vehicle. The system also includes a processor to detect lane lines of the road surface in three dimensions, to perform interpolation using the lane lines to determine a ground plane of the road surface, and to adjust the AR image to obtain an adjusted AR image such that all points of the adjusted AR image correspond with points on the ground plane.

Abstract: A work vehicle periphery monitoring system includes: an alarm range storage unit that stores an alarm range, in which an alarm output is required when an object is present, in a detection range of an object detection device that detects an object present in a periphery of a work vehicle; a work mode determination unit that determines a work mode of the work vehicle; an alarm range changing unit that changes the alarm range in the detection range when it is determined that the work mode is a specific work mode; and an alarm control unit that causes an alarm device to output an alarm when an object is present in the alarm range.

Abstract: An abnormality detection apparatus including a feature extraction circuit configured to extract a feature point and a feature value of a first image, and a feature point and a feature value of a second image, a flow calculation circuit configured to calculate, based on the feature value of the first image, a first abnormality detection circuit configured to detect an abnormality in the first image based on a first optical flow, and to detect an abnormality in the second image based on a third optical flow, and a second abnormality detection circuit configured to detect an abnormality in the first or second image based on a result of a comparison between the second optical flow and a fourth optical flow.

Abstract: The present application provides a position detecting method, device and storage medium for a vehicle ladar, where the method includes: detecting, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located, obtaining a point cloud image according to the detection data of the at least one wall, and judging, according to the point cloud image, whether an installation position of the ladar is accurate. According to the technical solution, it is possible to accurately detect whether the installation position of the ladar is accurate, provide a prerequisite for calibration of the installation position of the ladar, and improve detection accuracy of the ladar for obstacles around the autonomous vehicle.

Abstract: Systems and methods are provided for distributed video storage and search over edge computing devices having a short-term memory and a long-term memory. The method may comprise caching a first portion of data on a first device. The method may further comprise determining, at a second device, whether the first device has the first portion of data. The determining may be based on whether the first piece of data satisfies a specified criterion. The method may further comprise sending the data, or a portion of the data, and/or a representation of the data from the first device to a third device.

Abstract: Metamaterials are described which can be employed with satellites, e.g., small sats, to increase the observability of such satellites. Any type of suitable metamaterial can be used. In exemplary embodiments fractal-based patterns or structures may be used.

Abstract: A method for controlling a sensor assembly cleaning apparatus includes receiving sensor data from various vehicle sensors, determining a level of obscurement of the transparent surface, and determining whether the level of obscurement exceeds a threshold level. If the transparent surface is obscured beyond the threshold level, a control signal may be sent to the apparatus to initiate the ejection of pressurized air onto the transparent surface. Optionally, the method may further evaluate other parameters such as the vehicle velocity in relation to a threshold vehicle velocity prior to sending the control signal to ensure that the cleaning operation using pressurized air would not be superfluous in light of the vehicle velocity. In addition, a method for selectively activating the sensor assembly cleaning apparatus includes determining an activation schedule for the apparatus based on an arrangement of transparent surfaces and controlling the apparatus to operate based on the activation schedule.

Abstract: A method for correcting a camera by using a plurality of pattern members placed on the ground of a vehicle enables receiving pattern information of a plurality of pattern members by using a plurality of cameras disposed on the circumference of a vehicle being driven, calculating a first parameter on the basis of the pattern information, calculating trajectory information of the vehicle by using the pattern information, and calculating a second parameter by correcting the first parameter on the basis of the trajectory information of the vehicle.

Abstract: A vehicle lighting apparatus includes a first housing, a second housing, two lamp bodies, and two external cameras. The first housing and the second housing are formed separately from each other, joined to be adjacent in the front-rear direction, and arranged to cover a portion of the upper portion of a vehicle interior. The first housing includes a box portion. The second housing includes a wall portion closing a second opening portion of the box portion. An upper first end portion and a lower second end portion at the peripheral edge of the second opening portion of the box portion are joined to an upper third end portion and a lower fourth end portion of the wall portion. The first end portion and the third end portion are arranged relatively closer to the first housing side than the second end portion and the fourth end portion in the front-rear direction.

Abstract: An abnormality in an imaging apparatus configured to generate an image or in an optical member located on an optical path for capturing the image can be accurately determined, irrespective of the environment. An image processing apparatus includes a first receiver configured to receive a first image, a second receiver configured to receive a second image having an imaging range that includes at least a portion of an imaging range of the first image, and a controller configured to determine an abnormality in the first image or the second image based on a common portion in the imaging ranges of the first image and the second image.

Abstract: A system for displaying information indicative of driving conditions, to a driver, using a smart ring are disclosed. An exemplary system includes a smart ring with a ring band having a plurality of surfaces including an inner surface, an outer surface, a first side surface, and a second side surface. The system further includes a processor, configured to obtain data from a communication module within the ring band, or from one or more sensors disposed within the ring band. The obtained data are representative of information indicative of one or more driving conditions to be displayed to the driver. The smart ring also includes an electronic ink (e-ink) display disposed on at least one of the plurality of surfaces, and configured to present information indicative of the one or more driving conditions.

Abstract: Disclosed are an image capturing system and method. In the image capturing system and method, a light path is changed by controlling a reflection angle of a mirror surface using a rotating mirror so that a single camera obtains consecutive images at various angles or at a wide photographing width.

Abstract: An autonomous vehicle can obtain sensor data. Upon determining that the autonomous vehicle is in a lane adjacent a shoulder, and there is an object in the shoulder, the autonomous vehicle can determine if performing a lane change maneuver out of the lane prior to the autonomous vehicle being positioned adjacent to the object is feasible. If it is, the lane change maneuver can be performed. If it is not, a nudge maneuver and/or a deceleration can be performed.

Abstract: A method of obtaining a plurality of infrared images of a banknote that involves simultaneously illuminating the banknote with infrared light at a first wavelength and infrared light at a second wavelength, capturing an image of the banknote with an RGB camera, obtaining from both a first output channel signal and a second output channel signal of the RGB camera sensor where the intensity distribution of the infrared light at the first wavelength and the intensity distribution of the infrared light at the second wavelength uses a first calibration coefficient and a second calibration coefficient of the RGB camera sensor, producing separate infrared images of the banknote at the first wavelength and the second wavelength from the respective intensity distributions.

Abstract: A convex integrated vehicle inspection and security system embodying a convex parabolic mirror placed at a 45-degree angle and operatively associated with an image capture device capable of capturing a series of image strips at frame rates of up to 900/second. The single image capture device collects light and images using the convex mirror such a way that the composite image of the image strips can be presented as a panoramic image, wherein the panoramic image is displayed as a rectangle where the horizontal direction represents the width of the undercarriage of the vehicle.

Abstract: A control device includes a specifying unit that specifies one of a plurality of detection objects on the basis of a state of an industrial vehicle when the plurality of detection objects are detected around the industrial vehicle, and a control unit that causes a notification to be performed for the one detection object specified by the specifying unit in an aspect different from those of other detected detection objects.

Abstract: A multifunctional rear camera system includes a rear camera and a processor. Responsive to processing of captured image data, the processor generates respective outputs for (i) a rear backup assist function, (ii) a mirror dimming control for at least an electro-optic interior rearview mirror assembly of the vehicle and (iii) ambient light detection. The processor processes a mirror zone of captured image data for mirror dimming control and processes upper corner regions of captured image data for ambient light detection. The processor processes at least lower regions of captured image data for the rear backup assist function. The generated output for the mirror dimming control is provided to the electro-optic interior rearview mirror assembly to control dimming of the electro-optic reflective element. The generated output for the rear backup assist function provides (i) object detection and/or (ii) video display of video images derived from captured image data.

Abstract: A current display system comprises a plurality of computer blades, interconnected with each other and each hosting a graphics processor and a plurality of virtualized operating systems (OS) run by an hypervisor and sharing said graphics processor. Each computer blade is connected directly to a set of display devices including a part of a plurality of display devices. All computer blades are connected to all the display devices. Each virtualized OS runs a global compositor instance and at least one application. The global compositor instance of a first virtualized OS transmits a graphical output to a display device driven by a second virtualized OS, via the global compositor instance of said second virtualized OS, so that an application content from an application run by said first virtualized OS is displayed on said second display device.

Abstract: A vehicle control method as executed includes acquiring surrounding information of the subject vehicle by a sensor includes, specifying an entry position located on a second lane adjacent to a first lane where the subject vehicle travels in accordance with the surrounding information of the subject vehicle, specifying a front vehicle located front the entry position and a rear vehicle located rear the entry position, determining the travel state of each of the front vehicle and the rear vehicle, determining whether there is a space for the subject vehicle to enter at the entry position, predicting whether the front vehicle starts to travel when the front vehicle and the rear vehicle are determined to be stopped and no space is determined at the entry position, and starting to move the subject vehicle to the entry position when the front vehicle is predicted to start traveling.

Abstract: A system for dynamic image compression in autonomous vehicles with multiple cameras. The cameras of a vehicle may be prioritized based on various features, and different image compression techniques may be assigned to different cameras in the vehicle, based on the priorities of the cameras, to reduce overall processing load of the vehicle.

Abstract: Systems and methods for location identification and tracking of a person, object and/or vehicle. The methods involve: obtaining, by a computing system, a video of a surrounding environment which was captured by a portable camera coupled to the person, object or vehicle; comparing, by the computing system, first images of the video to pre-stored second images to identify geographic locations where the first images were captured by the portable camera; analyzing, by the computing system, the identified geographic locations to verify that the person, object or vehicle is (1) traveling along a correct path, (2) traveling towards a facility for which the person, object or vehicle has authorization to enter, or (3) traveling towards a zone or secured area internal or external to the facility for which the person, object or vehicle has authorization to enter; and transmitting a notification from the computing system indicating the results of the analyzing.

Abstract: A vehicular child monitoring system includes a child monitoring device having a connector for securing the device within a motor vehicle and oriented toward a child seat. The device including a mirror, a seat connector, a camera, and a controller having a wireless communication unit and a plurality of sensors. The sensors include a temperature sensor, a humidity sensor, a proximity sensor, and a child detection sensor. A child monitoring application is communicatively linked to the communication unit and includes functionality for displaying the information received from the camera and each of the sensors, and for determining a separation distance with the child monitoring device. The system including functionality for determining that a child is in the car seat, and that a separation distance is beyond a predetermined threshold and activating an alarm protocol.

Abstract: Provided is a parking space management system including a temperature sensor which can be attached to the floor of a parking lot and evaluation unit connected to the temperature sensor. The evaluation unit uses the temperature sensor to evaluate at least one temperature profile in the region of the temperature sensor and outputs a signal depending on the temperature profile.

Abstract: An apparatus and method for compensating for an error of a vehicle sensor for enhancing performance for identifying the same object are provided. The apparatus includes a rotation angle error calculator that calculates a rotation angle error between sensor object information and sensor fusion object information. A position error calculator calculates a longitudinal and lateral position error between the sensor object information and the sensor fusion object information. A sensor error compensator calculates a sensor error based on the calculated rotation angle and a position error. In calculating the rotation angle error, the sensor error compensator corrects an error of the sensor object information based on the rotation angle error, and compensates for the sensor error based on the longitudinal and lateral position error between the corrected sensor object information and the sensor fusion object information.

Abstract: Systems and methods for imaging may include: receiving a first point cloud from a first LiDAR sensor mounted at a first location behind a vehicle grille, the first point cloud representing the scene in front of the vehicle, wherein as a result of the grille the scene represented by the first point cloud data is partially occluded with a first pattern of occlusion; receiving a second point cloud from a second LiDAR sensor mounted at a second location behind the vehicle grille; combining the first and second point clouds to generate a composite point cloud data set, wherein the first LiDAR sensor is located relative to the second LiDAR sensor such that when a point cloud data for the first optical sensor and the second optical sensor are combined, the first pattern of occlusion is at least partially compensated; and processing the combined point cloud data set.

Abstract: A method for a data processing installation for obtaining an operating state of a first autonomous vehicle. The method includes determining a current state of the first autonomous vehicle from a received measurement value of a sensor of a second vehicle. When the current state of the first autonomous vehicle deviates from a setpoint state, the method includes sending a first message to the first autonomous vehicle, wherein the first message contains a command to travel autonomously to a service location. Alternatively, the method includes sending a second message to a person responsible for the first autonomous vehicle, wherein the second message includes information about the deviation of the current state of the first autonomous vehicle from the setpoint state. Alternatively, the method includes sending a third message to service personnel, wherein the third message contains an instruction for the service personnel to set the vehicle to the setpoint state.

Abstract: A fixed-wing aerial underwater vehicle includes a shell component, a flight component and a pneumatic buoyancy component. The flight component includes a fixed wing and rotors, and the fixed wing and the rotors are mounted in the shell component. The pneumatic buoyancy component includes an air bladder and an inflation and deflation portion, and the inflation and deflation portion can inflate and deflate the air bladder. The air bladder is installed on the shell component, a containing space is formed in the shell component, and the inflation and deflation portion is partially or entirely installed in the containing space. Each rotor includes a rotor supporting rod, a motor base, a motor and a propeller, which are sequentially connected. A control method for the fixed-wing aerial underwater vehicle mentioned above is further provided.

Abstract: A monitoring system for a vehicle includes surveillance sensors configured to capture sensor data proximate to the vehicle. A position sensor is configured to detect a location of the vehicle. A controller is in communication with the surveillance sensors and the position sensor. The controller calculates a security score in response to security data based on the location of the vehicle and selects an active mode for the surveillance sensors in response to the security score. The active mode is selected from a plurality of surveillance modes that vary an active operation of the plurality of surveillance sensors. The controller may change or escalate the active mode and a corresponding monitoring operation (e.g., from a first mode to a second mode) in response to a security detection.

Abstract: An electric vehicle charging system and an operation method thereof are provided. The electric vehicle charging system may include a controller, a camera configured to capture a vehicle that is present in a charging station and transmit image information about the vehicle to the controller, a guide unit configured to receive guidance from the controller and output the guidance, and a plurality of chargers provided in the charging station and communicably connected to the controller. The controller may analyze information about the vehicle based on the image information received from the camera, may guide a member vehicle registered to receive charging service to move to a charger for members, may guide a nonmember vehicle to move to a charger for nonmembers, and may adjust a ratio of the number of chargers for members to the number of chargers for nonmembers according to an estimated waiting time for charging of the vehicle.

Abstract: A vehicular vision system includes a camera disposed at a body portion of a vehicle and having a field of view exterior of the vehicle. The camera has an imager and a fisheye lens with more distortion at side regions of the field of view than at a center region of the field of view. An electronic control unit (ECU), via image processing of captured image data, determines gradient information and determines edges of intensity gradients present at a side region of the field of view of the camera. The system, based at least in part on determined edges of intensity gradients, determines a potential cross traffic object at the side region and determines movement of upper and lower portions of a determined edge of an intensity gradient of the cross traffic object to determine if the cross traffic object is moving into a path of the vehicle.

Abstract: An image capturing device includes an imaging device to capture a first image, and circuitry to receive a second image from another image capturing device, the second image having an angle of view wider than that of the first image, and control a display to sequentially display the first image and the second image.

Abstract: A vehicle controller includes a first detector that detects a traveling state of a host vehicle, a second detector that detects a traveling state of an other vehicle that travels along a main lane when the host vehicle is traveling along a merging road, a marking line recognizer that recognizes a marking line of the main lane, and a merging controller that performs merging control of the host vehicle into the main lane based on a transverse moving situation of the other vehicle detected by the second detector, wherein, when a marking line of the main lane is unable to be recognized by the marking line recognizer, the merging controller delays starting of the merging control in comparison with a case in which the marking line of the main lane is able to be recognized by the marking line recognizer.