A vehicle control device includes a detecting unit that detects a towing state of a subject vehicle, a recognizing unit that recognizes surrounding situations of the subject vehicle, a control unit that performs automatic control in which at least one of acceleration-and-deceleration and steering of the subject vehicle is automatically controlled on the basis of the surrounding situations of the subject vehicle recognized by the recognizing unit, and a changing unit that changes, if the detecting unit has detected that the subject vehicle is in a state of towing an object, details of control performed by the control unit in such a manner that it is less likely to perform the automatic control than in the case where the detecting unit has not detected that the subject vehicle is in a state of towing an object

Vehicle control system, vehicle control method, and vehicle control program

A three-dimensional object detection device includes an image capturing unit, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit and a control unit. The image conversion unit converts images obtained by the image capturing unit to create bird's-eye view images. The three-dimensional object detection unit detects a presence of a three-dimensional object within a detection area based on differential waveform information or edge information. The stationary three-dimensional object assessment unit assesses whether the detected three-dimensional object is a shadow of a tree along a road traveled by the host vehicle. The three-dimensional object assessment unit assesses whether the three-dimensional object detected is a vehicle within the detection area. The control unit suppresses the assessment that the three-dimensional object is a vehicle when the detected three-dimensional object was determined to be a shadow of a tree along the road traveled by the host vehicle.

Three-dimensional object detection device and three-dimensional object detection method

A region of space may be monitored for the presence or absence of one or more control objects, and object attributes and changes thereto may be interpreted as control information provided as input to a machine or application. In some embodiments, the region is monitored using a combination of scanning and image-based sensing.

Systems and methods for machine control

Enhanced contrast between an object of interest and background surfaces visible in an image is provided using controlled lighting directed at the object. Exploiting the falloff of light intensity with distance, a light source (or multiple light sources), such as an infrared light source, can be positioned near one or more cameras to shine light onto the object while the camera(s) capture images. The captured images can be analyzed to distinguish object pixels from background pixels.

Enhanced contrast for object detection and characterization by optical imaging

An external lens washing system has an aiming fixture configured to support and constrain an external lens which is exposed to the elements and apt to become soiled with debris. A nozzle assembly is configured to be supported and aimed toward the external lens by the aiming fixture and has at least one laterally offset washing nozzle projecting from the aiming fixture to a spray washing fluid toward the external lens surface, spraying at a shallow, glancing spray aiming angle to impinge upon and wash the lens external surface. Optionally, an integrated image sensor and lens washing assembly is configured for use with a remote control method for cleaning an exterior objective lens surface and includes a sealed image sensor housing assembly including an integral, remotely controllable lens cleaning system with an optimized configuration for aiming one or more cleansing sprays from one or more laterally offset fluidic oscillators.

Integrated automotive system, nozzle assembly and remote control method for cleaning an image sensor's exterior or objective lens surface

A three-dimensional object detection has an image capturing device, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit, first and second foreign matter detection units and a controller. The image capturing device captures images rearward of a vehicle. The three-dimensional object detection unit detects three-dimensional objects based on image information. The three-dimensional object assessment unit assesses whether or not a detected three-dimensional object is another vehicle. The foreign matter detection units detect whether or not foreign matter has adhered to a lens based on the change over time in luminance values for each predetermined pixel of the image capturing element and the change over time in the difference between an evaluation value and a reference value. The controller outputs control commands to the other means to suppress the assessment of foreign matter as another vehicle when foreign matter has been detected.

Three-dimensional object detection device and foreign object detection device

A vehicle-mounted environment recognition device includes an imaging unit that acquires an image taken by an imaging device; an image self-diagnosis unit that diagnoses contamination of a lens of the imaging device with respect to the image acquired by the imaging unit; an application execution unit that executes an application selected from a predetermined application group; and a fail determination unit that determines, on the basis of a diagnosis result from the image self-diagnosis unit, whether the lens contamination state is in an endurance range of the application and, if within the endurance range, sets the operation of the application executed by the application execution unit to a suppression mode. If outside the endurance range, contamination removal control is implemented, or a fail determination is made for the application. Contamination removal and fail determination can be implemented utilizing parameter adjustment and hardware, or an image-based self-diagnosis can be conducted.

Vehicle-mounted environment recognition device

An in-vehicle surrounding environment recognition device includes: a photographic unit that photographs a road surface around a vehicle and acquires a photographic image; an application execution unit that recognizes another vehicle on the basis of the photographic image, and detects a relative speed of the other vehicle with respect to the vehicle; a reflection determination unit that, on the basis of the photographic image, determines upon presence or absence of a reflection of a background object from the road surface; a warning control unit that controls output of a warning signal on the basis of the result of recognition of the other vehicle; and a warning prevention adjustment unit that suppresses output of the warning signal on the basis of the relative speed of the other vehicle, if it has been determined that there is the reflection of the background object from the road surface.

In-vehicle surrounding environment recognition device

An environment recognition device includes: an image acquisition unit; a light spot feature amount extraction unit (102) that extracts a feature amount of a light spot from the image; a lens dirtiness judgment unit (103) that judges dirt adhering to a surface of a lens of the imaging unit; a headlight detection condition setting unit (104) that sets, based on result of judgment by the lens dirtiness judgment unit (103), in a parameter that is preliminarily related, a detection condition under which a light spot extracted by the light spot feature amount extraction unit (102) is judged to be a headlight; an approaching headlight judgment unit (105) that judges a particular light spot out of the light spots that corresponds to the parameter as an approaching headlight based on the parameter; and a vehicle annunciation signal outputting unit (106) that outputs a vehicle annunciation signal based on detection result of the approaching headlight judgment unit (105).

Environment Recognition Device

An in-vehicle image recognizer effectively detects a moving object from an image even when a lens has grime. In a detection sensitivity adjustor ( 50 ) which adjusts detection sensitivity to be increased according to a white turbidity level (U), the detection sensitivity of a vehicle detector ( 70 ) (image recognition application execution unit), which detects the other vehicle ( 6 ) (moving object) existing in the surrounding area of a vehicle ( 5 ) with a predetermined detection sensitivity from the image obtained by an imaging unit ( 10 ) disposed in the vehicle ( 5 ) to observe the surrounding area of the vehicle ( 5 ) through a lens ( 12 ) and convert the light signal of the observed surrounding area of the vehicle ( 5 ) into an image signal, is corrected based on the attachment level M of the attached matter such as dirt or water drops to the lens ( 12 ), which is calculated by an attachment level calculator ( 26 ).

Akira Utagawa

Papers

Three-dimensional object detection device and foreign object detection device

Vehicle-mounted environment recognition device

In-vehicle surrounding environment recognition device

Environment Recognition Device

In-vehicle image recognizer