US Patent 10984258 Vehicle traveling environment detecting apparatus and vehicle traveling controlling system

A vehicle traveling environment detecting apparatus includes first to third stereo cameras, first to third image processors, and an image controller. The first stereo camera includes first and second cameras. The second stereo camera includes the first camera and a third camera. The third stereo camera includes the second camera and a fourth camera. The first to third image processors are configured to perform stereo image processing on first to third outside images and thereby determine first to third image processing information including first to third distance information, respectively. The first to third outside images are configured to be obtained through imaging of an environment outside the vehicle by the first to third stereo cameras, respectively. The image controller is configured to perform integration of the first image processing information, the second image processing information, and the third image processing information and thereby recognize a traveling environment of the vehicle.