The present disclosure provides a parking process display method and device, and a vehicle. The method comprises: creating an image used for reflecting a scene where a vehicle is located; determining a display region of the image, and displaying the display region; identifying parking spots in the image; when at least part of a region of a target parking spot among all the parking spots and/or of a vehicle is located outside the display region, adjusting the position of the center of the display region of the image with respect to the origin of a preset coordinate system, so that the whole regions of the vehicle and the target parking spot are located in the display region.

The present disclosure provides a parking process display method and device, and a vehicle. The method comprises: creating an image used for reflecting a scene where a vehicle is located; determining a display region of the image, and displaying the display region; identifying parking spots in the image; when at least part of a region of a target parking spot among all the parking spots and/or of a vehicle is located outside the display region, adjusting the position of the center of the display region of the image with respect to the origin of a preset coordinate system, so that the whole regions of the vehicle and the target parking spot are located in the display region.

A driving assistance apparatus is provided in which the detection range of a left-front-corner sonar (12a) located at the vehicle's left front corner is included in the field of view of a second imaging means (14) located at the vehicle's left front corner. When the left-front-corner sonar (12a) detects a three-dimensional object at the vehicle's left front corner, an image processing means (3) synthesizes an image of the image created using a second imaging means (14) and the images created with four cameras (7a-7d) for imaging the complete periphery of the vehicle, and creates a bird's-eye-view image (40b). The detection range of the left-front-corner sonar (12a) is included within a region of the bird's-eye image (40b) on the basis of the image created with the second imaging means (14).

A driving assistance apparatus is provided in which the detection range of a left-front-corner sonar (12a) located at the vehicle's left front corner is included in the field of view of a second imaging means (14) located at the vehicle's left front corner. When the left-front-corner sonar (12a) detects a three-dimensional object at the vehicle's left front corner, an image processing means (3) synthesizes an image of the image created using a second imaging means (14) and the images created with four cameras (7a-7d) for imaging the complete periphery of the vehicle, and creates a bird's-eye-view image (40b). The detection range of the left-front-corner sonar (12a) is included within a region of the bird's-eye image (40b) on the basis of the image created with the second imaging means (14).

Disclosed are an apparatus and method for controlling a vehicle. The apparatus includes a camera that obtains a surrounding image of the vehicle, a sensor that detects a surrounding object of the vehicle, and a controller that determines a conversion image from among the surrounding images based on one of a parking area when the vehicle is parked, a location of the surrounding object of the vehicle or a moving trajectory of the vehicle, and switches an output screen to the conversion image. Accordingly, it is possible to improve the convenience of a driver by actively switching a camera view to obtain information required for parking and providing it to the driver.

Disclosed are an apparatus and method for controlling a vehicle. The apparatus includes a camera that obtains a surrounding image of the vehicle, a sensor that detects a surrounding object of the vehicle, and a controller that determines a conversion image from among the surrounding images based on one of a parking area when the vehicle is parked, a location of the surrounding object of the vehicle or a moving trajectory of the vehicle, and switches an output screen to the conversion image. Accordingly, it is possible to improve the convenience of a driver by actively switching a camera view to obtain information required for parking and providing it to the driver.

A vehicular camera system includes an attaching structure configured to attach at an in-cabin side of a vehicle windshield. A camera module accommodates a circuit board and an imager and the camera module includes a lens aligned with the imager. The attaching structure includes a camera module receiving portion having an opening at a lower portion of the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield, the camera module is inserted upward through the opening and is at least partially received in the camera module receiving portion to attach the camera module at the camera module receiving portion. With the attaching structure attached at the in-cabin side of the vehicle windshield and with the camera module at least partially received in the camera module receiving portion, the imager views through the vehicle windshield and forward of the vehicle.

A vehicle can include one or more movably mounted cameras that are able to move to adjust a viewing angle of the camera(s) relative to a body of the vehicle. The camera(s) may be movable by virtue of being coupled to a movable side mirror, such that movement of the side mirror changes a field of view of the camera coupled to the side mirror. For example, the side mirror can be rotated about a rotational axis between a first position in which a field of view of the camera is directed in a first direction (e.g. toward a ground proximate the vehicle), and a second position in which the field of view of the camera is directed in a second direction, different than the first direction (e.g., outward from the vehicle or toward a door of the vehicle).

A vehicular scalable integrated control system includes a plurality of sensors and a vehicular scalable integrated control unit. The plurality of sensors includes a plurality of cameras and a plurality of radar sensors. Data captured by the sensors is provided as input to and is processed at the vehicular scalable integrated control unit. Responsive at least in part to processing at the vehicular scalable integrated control unit of data captured by the plurality of sensors, the vehicular scalable integrated control system at least partially controls at least one selected from the group consisting of (i) braking of the vehicle while being driven along a road and (ii) steering of the vehicle while being driven along the road. The plurality of cameras includes a front camera disposed at an in-cabin side of a windshield of the vehicle. The front camera views through the windshield forward of the vehicle.

A vehicular camera module includes (i) a lens holder formed of a first material, (ii) a lens barrel accommodating a lens and formed of a second material, (iii) an imager printed circuit board having an imager, and (iv) a processor circuit board having an image processor. The imager printed circuit board is attached at the lens holder with the imager aligned with the lens accommodated in the lens barrel. The processor printed circuit board has circuitry that is electrically connected to circuitry of the imager printed circuit board. The coefficient of thermal expansion of the second material forming the lens barrel is lower than the coefficient of thermal expansion of the first material forming the lens holder. Circuitry of the vehicular camera module includes connecting elements that are configured to electrically connect to a wire harness of a vehicle equipped with the vehicular camera module.