Aisin Seiki Kabushiki Kaisha

Toyota Jidosha Kabushiki Kaisha

Yoji Inui

Kazuya Watanabe

Naotaka Kubota

Tetsuya Maruoka

Keiichi Nakamura

Mitsuyoshi Saiki

Takashi Hiramaki

Itsuko Ohashi

Osamu Kimura

Takuya Hashikawa

Kinji Yamamoto

Morio Sakai

Junya Kasugai

Kazutaka Hayakawa

Masahiko Sakabe

Yoshiyuki Yamada

Atsuo Fukaya

Haruka Iga

Taketoshi Fujii

Tsuyoshii Kuboyama

A periphery monitoring device includes a gradient acquisition unit that acquires a gradient position a gradient value on a road surface and, based on state information indicating a state of the road surface in a traveling direction of a vehicle. The periphery monitoring device also includes a notification control unit that compares the acquired gradient value with a reference gradient value at which the vehicle can pass, and notifies of the comparison result in association with the gradient position.

Periphery monitoring device

A periphery monitoring apparatus having an acquisition unit that acquires a three-dimensional model image. The three-dimensional model image indicates an irregular state of a road surface. The three-dimensional model image includes image data outputted from an imaging unit that takes a peripheral image including the road surface in a traveling direction of a vehicle and includes height data that indicates heights of individual regions of the road surface represented in the peripheral image. The periphery monitoring apparatus also includes a control that superimposes an indicator of a height of the road surface based on the height data onto each region included in the acquired three-dimensional model image and displays the three-dimensional model image on a display device.

Periphery monitoring apparatus

An image processing system for a vehicle includes: a viewpoint image generating unit that generates a viewpoint image viewed from a predetermined virtual viewpoint when assumed that a surrounding image corresponding to surrounding image data is projected on a virtual projection plane whose arrangement position has been set in advance, based on inclination information corresponding to an inclination of the vehicle and the surrounding image data obtained by capturing an image of a periphery of the vehicle; and an output image generating unit that generates and outputs output image data in order to cause a display device to display an output image in which an own vehicle model image having an inclination according to an inclination of the vehicle corresponding to the inclination information is superimposed on the viewpoint image.

Image processing system for vehicle

A traveling support device includes: a comparing unit that compares a detection result based on an output value output from a sensor for detecting a state of a vehicle with a reference value stored in advance; and a controller that, when comparison by the comparing unit determines that the detection result is equal to or more than the reference value, switches a first control mode to a second control mode different from the first control mode with respect to at least one of a display control capable of switching display of information on the vehicle, a vehicle height control capable of switching a vehicle height with a vehicle height adjustment device of the vehicle, and a vehicle speed control capable of switching a speed limit value with a vehicle control device of the vehicle.

Traveling support device

A vehicle periphery monitoring device includes: a peripheral image acquisition unit that acquires a peripheral image output from an imaging unit that images a periphery of a vehicle; an idling determination unit that determines whether a wheel is idling based on a physical quantity of the wheel of the vehicle; and a display controller that displays the peripheral image on a display, and changes a display form of a predicted course of the wheel on the peripheral image according to an idling state of the wheel.

Vehicle periphery monitoring device

A display control device includes: a reception unit that receives an input for designating a first point on a first image, which is displayed on a display screen provided in a vehicle compartment and shows a peripheral environment of a vehicle at a first timing; a display processing unit that displays a first display object at the first point; a specifying unit that specifies a second point at which a first target, which is located at the first point, is located on a second image, which shows the peripheral environment of the vehicle at a second timing after the first timing; and an update unit that displays, along with the second image, the first display object at the second point on the second image.

Display control device

An input device, wherein the screen () of a display device () is divided into two regions, a region (A) and a region (A), and the icon switch displayed in the region including the position of an invisible pointer (P') is selected. Thus, one of an icon switch () and an icon switch () that are displayed on the screen () is selected at any time. Consequently, the user will no longer have to watch the screen carefully and perform an operation for moving an instruction marker such as a visible pointer to a desired icon switch, for example as in conventional devices. Accordingly, the user can enter a desired instruction in a short time by selecting a desired icon switch in a short time.

Input device, vehicle environment monitoring apparatus, icon switch selection method, and recording medium

An on-board camera calibration device with high productivity is provided which allows speedy calibration of the on-board camera with high precision with a simple construction. Based on an actual coordinate specified in a projecting plane of a camera coordinate system and a converted coordinate obtained by converting an initial coordinate of a calibration point with using unfixed camera adjustment values, the adjustment values corresponding to angles of rotation about one or two axes from among three axes of the camera coordinate system are calculated and the camera adjustment values are updated. Based on the actual coordinate and the converted coordinate in accordance with the updated camera adjustment values, the adjustment values corresponding to angles of rotation about the remaining axes of the camera coordinate system is calculated and the camera adjustment values are updated. When the predetermined completion condition is satisfied, the updated camera adjustment values are fixed.

Calibration device, method, and program for on-board camera

There is provided a calibrating apparatus for an on-board camera of a vehicle, which allows speedy, yet reliable decision of acceptance/rejection of calibration result, with a simple apparatus construction, without depending on or being influenced by the calibration environment. An image processing target region on which an image processing for detection of each calibration point in each one of calibration markers in a camera-captured image which is a projecting plane of a camera coordinate system is displayed as a region frame in the form of a graphic image, in superposition with the camera-captured image.

Calibrating apparatus for on-board camera of vehicle

For use in calibration of an onboard camera, there are provided a calibration index free of erroneous detection and a method of calibrating an onboard camera using such calibration index. The calibration index for use in onboard camera calibration includes a curved graphic formed of a curved line surrounding a predetermined region and a linear graphic comprising at least two straight lines forming an intersection point within the region surrounded by the curved graphic, the curved graphic and the linear graphic being formed in a same plane. A plurality of segments separated by the curved line forming the curved graphic and the straight lines forming the linear graphic are colored in a checkered pattern.

Calibration index for use in calibration of onboard camera, method of onboard camera calibration using the calibration index and program for calibration apparatus for onboard camera using the calibration index

Provided is a calibrating apparatus for an on-board camera of a vehicle, which apparatus allows completion of calibration process with a simple additional calibration, even when rejection has issued on the result of automatic calibration. Based upon a camera parameter obtained at the time of completion of adjustment by an automatic adjusting section, a confirmation marker indicating the position of coordinate of a calibration point is displayed in superposition with a camera-captured image. A manual adjusting section adjusts the camera parameter, based on an amount of displacement of the coordinate of the calibration point corresponding to an amount of movement of the confirmation marker moved in response to input of adjustment instruction. In response to input of a determination instruction, a camera parameter setting section sets an undetermined camera parameter at the time of completion of the most recent adjustment by the automatic adjusting section and the manual adjusting section, as the camera parameter.

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Ama-gun, Japan

Yoji Inui