Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Honda Giken Kabushiki Kaisha

Ichiro Baba

Yosuke Koike

Kosuke Nakanishi

Misako Yoshimura

Koki Aizawa

Masaharu Suzuki

Hideaki Kikuchi

Yosuke Fujii

Yoshinori Wariishi

Yuji Yasui

Ken Takahashi

Narutoshi Sugita

Seiji Sugiura

Hideo Kato

Manabu Tanaka

Takafumi Okamoto

Kenji Komori

Daisuke Wachi

Norimasa Kawagoe

Hideki Matsunaga

Masaru Oda

Hiromichi Yoshida

Takaki Nakagawa

Akira Kanehara

Aya Miura

Kenji Goto

A control device includes a recognizer that recognizes a surrounding situation of a mobile body, a path generator that generates a path through which a reference position of the mobile body is to pass based on the surrounding situation, a passage area setter that sets boundary lines of a passage area of the mobile body at positions that are offset to the left and right from the path, a corrector that corrects the path based on the passage area and the surrounding situation of the mobile body, and a controller that controls a drive device provided in the mobile body such that the mobile body moves along the path corrected by the corrector, wherein when the path includes a turn, the passage area setter makes an amount of offset on an outside of the turn greater than an amount of offset on an inside of the turn.

Control device, control method, and storage medium

An information processing device for generating a trajectory of a moving object includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a travel environment around the moving object, calculate a risk value to be set for a region surrounding a target located in the recognized travel environment, and generate a travel trajectory of the moving object as a travel trajectory along which a plurality of trajectory points are arranged. The trajectory is generated by executing an iterative process and a current travel trajectory is generated by designating a previous travel trajectory generated at a processing timing before a current processing timing as a reference line and offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line on the basis of the risk value.

Information processing device, information processing method, and storage medium

A mobile object control device recognizes an object which is located near a vehicle, generates a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points, and generates, when generating the movement plan, the target trajectory such that a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle does not pass through a risk area including the recognized object.

Mobile object control device, mobile object control method, and storage medium

A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine a stop position of a moving object in a sidewalk region near a specific location in a case where a degree of congestion of a sidewalk near the specific location is less than a threshold value, and determines the stop position in a region that does not belong to the sidewalk region near the specific location in a case where the degree of congestion of the sidewalk near the specific location is equal to or more than the threshold value.

Moving object control system, moving object, control method, and storage medium

A control system of a mobile object that can move in any one operation mode determined from a plurality of operation modes is provided. The control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: generate evaluation information for a trajectory of the mobile object including a trajectory on a sidewalk; each of the plurality of operation modes being associated with an acceptance level for an event that may occur when the mobile object moves along a trajectory; and generate the evaluation information for the trajectory based on the acceptance level in the operation mode associated with an event that occurs when moving along the trajectory.

Control system, mobile object, control method, and storage medium

A drive assist apparatus includes: an avoidance target recognition portion that recognizes an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road; a steering control portion that assists steering of the host vehicle at a time of the host vehicle and the avoidance target passing each other; a margin detection portion that detects a margin indicating a distance between the host vehicle and the avoidance target at the time of passing each other; and a level change portion that changes a steering assistance degree of the host vehicle by the steering control portion at subsequent times of passing each other based on the margin detected by the margin detection portion.

Drive assist apparatus, drive assist method, and program

A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine whether or not an element selected on a basis of a priority based on the type of a specific location near the sidewalk among a plurality of elements satisfies a criterion defined for each element, and determine whether or not a sidewalk is to be included in a route of a moving object on a basis of a result of determination of whether or not the element satisfies the criterion.

A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road surface around the mobile object is imaged; recognize support information for supporting walking of a specific traffic participant who is a traffic participant having a predetermined attribute obtained from the road surface imaged in the image and the traffic participant imaged in the image; predict a behavior of the recognized traffic participant based on the support information; and control the behavior of the mobile object based on the support information and the prediction result.

Mobile object control system, mobile object, control method, and storage medium

A drive assist apparatus includes: an avoidance target recognition portion that recognizes an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road; and an output control portion that causes an output device to output an advice for a driver who drives the host vehicle at a plurality of stages which include: a pre-stage before mutual passing between the host vehicle and the avoidance target; and a post-stage after the mutual passing.

A mobile object control system includes: a storage device configured to store a instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: determining whether a roadway is a pedestrian road in which passage of vehicles is restricted; expanding a movable area in which the mobile object can move in a width direction of the roadway when it is determined that the roadway is the pedestrian road; and controlling the mobile object based on the movable area.

A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road where a mobile object is present is imaged; recognize support information for supporting movement of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image; recognize a road structure included in the image or a road structure which is a structure provided on the road; move the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and move the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

Mobile object control system, control method, and storage medium

A control device for a mobile object including one or more imaging devices, the control device includes an image acquisition unit configured to acquire an image of an external environment of the mobile object from the one or more imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in an image acquired from the one or more imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. The correction unit is configured to determine the one or more regions to be a target of the distortion reduction processing in accordance with a predetermined rule according to a moving scene of the mobile object.

Control device and control method for mobile object, storage medium, and vehicle

A control apparatus plans a movement route of a moving body based on a recognition result of an exterior environment of the moving body; corrects the planned movement route, based on a recognition result of an obstacle in the exterior environment of the moving body; and controls the movement of the moving body based on the corrected movement route. The recognition result of the obstacle includes a recognition result of a side portion of the obstacle with respect to the movement route of the moving body, and in the correction, the planned movement route is corrected based on a correction amount continuously obtained based on the recognition result of the obstacle associated with advancement of the moving body.

Control apparatus, control method, and computer-readable storage medium storing program

An intermediate plate is interposed between first and second sub-stacks. The intermediate plate has, defined in a surface thereof, an oxygen-containing gas mixing passage interconnecting an oxygen-containing gas outlet in the first sub-stack which is located upstream and an oxygen-containing gas inlet in the second sub-stack which is located downstream. In the first and second sub-stacks, an oxygen-containing gas is supplied from the oxygen-containing gas inlet and discharged to the oxygen-containing gas outlet at all times.

Fuel cell stack

A cell assembly is formed by stacking a first cell and a second cell. In the cell assembly, oxygen-containing gas flow passages are connected in series by an intermediate oxygen-containing gas flow passage, and fuel gas flow passages are connected in series by an intermediate fuel gas flow passage. An additional oxygen-containing gas is supplied to an oxygen-containing gas passage which includes the intermediate oxygen-containing gas flow passage. An additional fuel gas is supplied to a fuel gas passage which includes the intermediate fuel gas flow passage.

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Wako, Japan

Ichiro Baba