Patent Document ID: 9965690
Application ID: 14647282
Patent Status: 1

Claim One:
1. An on-vehicle control device, comprising: a CPU; and a memory coupled to the CPU, the memory storing a program executed by the CPU to acquire a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle, divide a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions, extract a feature having predetermined characteristics in the surroundings of the vehicle by analyzing the acquired image, add points for a region that is determined to have the extracted feature therein, among the plurality of regions, for each of a plurality of images acquired in time series, and accumulate the points to produce scores representing accumulations of points for regions that have the extracted feature, wherein the extracted feature is a driving traffic lane line on a road; judge whether a foreign matter is adhered to the image-capturing device based on the scores resulting from accumulating points of the plurality of regions, by determining the scores in the plurality of regions consecutively in order of a vehicle traveling direction; and output a graphical display of the scores of the plurality of regions in the judged range to a display device in the vehicle to indicate a location of the foreign matter adhered to the image-capturing device.