A method for displaying lane information for a vehicle, includes obtaining a digital map; defining localization information of the vehicle; obtaining a route plan of the vehicle; determining a driving lane according to the localization information of the vehicle and the route plan of the vehicle; obtaining coordinates information of lane markings of the driving lane from the digital map; receiving image data from a camera mounted on the vehicle; transforming the lane markings of the driving lane from a coordinate system of the digital map to a coordinate system of the camera; generating a lane guide sign indicating the lane markings of the driving lane in the coordinate system of the camera based on the lane markings of the driving lane transformed to the coordinate system of the camera; and superimposing the lane guide sign of the lane markings of the driving lane on the image data received from the camera.

A training method for a driver assistance method of a vehicle. The method includes: recording a sequence of camera images during a training run of the vehicle, guided by a user, along a desired trajectory; determining a driving corridor for the driver assistance method along the desired trajectory based on image processing of the recorded sequence of camera images; displaying the recorded sequence of camera images and/or a surrounding environment model determined based on the recorded sequence of camera images on a display, at least the determined driving corridor being displayed as an overlay superimposed on the display; and storing the driving corridor in an electronic memory of the vehicle, a recording of an input by the user for adapting a boundary of the determined driving corridor during the displaying and an adapting of the determined driving corridor based on the recorded input being carried out.

An apparatus comprising a memory and one or more processing circuits is provided. The memory stores a blend table having blend weights. The processing circuits, for partitions of the blend table: determine whether a subset of the pixels associated with the partition includes pixels associated with seamlines defined in a three-dimensional surface representation of the scene. If none of the subset of the pixels are associated with the seamlines, the processing circuits populate a region of the virtual image corresponding to the partition with pixel values from an image captured by one of the plurality of image capture devices. If one or more of the subsets of the pixels is associated with the seamlines, the processing circuits populate the region of the virtual image associated with the partition with blended pixel values from two or more images captured by two or more of the plurality of image capture devices.

Methods, systems, and apparatus for providing a view of an environment behind a vehicle. The system includes a camera located on a track and connected to the vehicle, the camera configured to detect image data of the environment behind the vehicle. The system also includes an actuator configured to move a position of the camera along the track. The system includes an electronic control unit (ECU) configured to determine, based on the image data, whether the view of the environment behind the vehicle is obscured. The ECU is configured to adjust, using the actuator, the position of the camera along the track when the view of the environment behind the vehicle is obscured until the view of the environment behind the vehicle is unobscured or less obscured. The system includes a rear-view mirror connected to the ECU and configured to display the view of the environment behind the vehicle.

A vehicle device includes a video acquisition unit configured to acquire videos captured by cameras configured to capture surroundings of a vehicle; a light emission controller configured to control light emission of a light beam pattern which is emitted by light emitting devices and with which the ground is irradiated at certain positions with respect to the vehicle; an image processing unit 24 configured to generate, using the videos acquired, a bird's-eye view video including the light beam pattern; a superimposing image generation unit configured to generate a superimposing image at a position corresponding to the light beam pattern included in the bird's-eye view video; and an image determination processing unit 27 configured to detect, in the bird's-eye view video, an overlapping portion of the superimposing image and an image of the light beam pattern and determine whether camera parameters for generating the bird's-eye view video are accurately calibrated.

A method of assisting a driver in maneuvering a vehicle with a trailer hitched to the vehicle includes equipping a vehicle with a trailering assist system that includes (i) a camera disposed at the vehicle and viewing a trailer that is hitched the vehicle and (ii) a control having an image processor. During a reversing maneuver of the vehicle and trailer, image data is captured by the camera and vehicle parameters are provided to the control. Responsive to the vehicle parameters and processing of captured image data, the trailering assist system estimates an estimated trailer angle and an estimated vehicle steering wheel angle. The estimated vehicle steering wheel angle and an actual steering wheel angle are compared to determine a steering wheel angle error. The estimated trailer angle is modified in subsequent determinations of the estimated trailer angle based at least in part on the determined steering wheel angle error.

A parking assistance device includes: a surrounding-image generation circuit that generates a surrounding image that is a view of surroundings of a mobile object from above; an image display circuit that displays an assistance image at a position of an empty parking space in the surrounding image, the first assistance image indicating the empty parking space; and a turning determination circuit that determines whether the mobile object is turning. In a case where it is determined by the turning determination circuit that the mobile object is turning, the image display circuit prohibits the assistance image from being displayed.

An embodiment of the present disclosure relates to an image generation device including an image acquisition unit, a position recognition unit, a boundary line setting unit, and an image compositing unit. The image acquisition unit is mounted to a vehicle, and configured to acquire a plurality of captured images in which the periphery of the vehicle is imaged by a plurality of imaging units having an overlap region where imaging regions thereof partially overlap with each other. The position recognition unit is configured to recognize positions of specific obstacles which are one or more obstacles positioned in the overlap region. The boundary line setting unit is configured to set the boundary line so that each of the specific obstacles is contained in the image captured by the imaging unit which is closest in distance to the specific obstacle, among the plurality of imaging units. The image compositing unit is configured to generate a composite image in which the plurality of captured images are combined, using the boundary line as a boundary when combining the plurality of captured images.

Provided are a rear camera and a door camera provided at different positions and configured to image vehicle surroundings rearward from a vehicle, and a monitor configured to display a composite image merging captured images captured by the respective cameras and to display a blind spot advisory image to advise of a blind spot in the composite image.

Methods, apparatuses, and computer-readable media are disclosed for providing a mixed-reality scene. In response to a pedestrian detection event at a first vehicle, a sequence of mixed-reality images is presented to a driver of a second vehicle. At least one image in the sequence of mixed-reality images results from merging (a) an image captured by a camera aboard the first vehicle and (b) an image captured by a camera aboard the second vehicle. The merging may comprise de-emphasizing an occluded portion of the image captured by the camera aboard the second vehicle and emphasizing an unoccluded portion of the image captured by the camera aboard the first vehicle. The unoccluded portion of the image captured by the camera aboard the first vehicle may provide, in the merged image, visibility of a pedestrian at least partially blocked from a view of the driver of the second vehicle.