Honda Motor Co., Ltd.

Asahi Kasei Kabushiki Kaisha

Ebara Corporation

Asahi Kasei Chemicals Corporation

Taiyo Yuden Co., Ltd.

Sho Tamura

Toshio Yokoyama

Takaaki Kato

Daichi Inoue

Takao Tamura

Dai Nagata

Sadao Shoji

Hirotaka Ohashi

Yoshitaka Mukaiyama

Junitsu Yamakawa

Katsuyuki Horie

Tomonori Hirao

Eri Tateno

Koichiro Wada

Takuya Tsushima

Yoshihiro Mori

Shunya Takeda

A vehicle control device according to an embodiment includes a first recognizer that recognizes a surrounding situation including a first partition line partitioning a traveling lane of a host vehicle and a front traveling vehicle present in front of the host vehicle; a second recognizer that recognizes a second partition line partitioning a lane around the host vehicle from map information; and a driving controller that executes driving control for controlling at least steering out of steering and speed of the host vehicle, and the driving controller executes first driving control based on partition lines matching when the host vehicle travels in a lane change section and the first partition line recognized matches the second partition line, and executes second driving control based on the first partition line and traveling position information of the front traveling vehicle when the first partition line does not match the second partition line.

Vehicle control device, vehicle control method, and storage medium

A device recognizes road lane markings and outputs first left road lane markings and first right road lane markings, recognizes the road lane markings based on map information and outputs second left road lane markings and second right road lane markings, determines deviations between first left road lane markings and second left road lane markings and deviations between first right road lane markings and second right road lane markings, determines that deviations are present only in one of the first left road lane markings and the second left road lane markings and the first right road lane markings and the second right road lane markings, sets a position at which a predetermined width is offset as a center of a travel path on which the vehicle is to travel in the future, and generates the travel path based on the center of the travel path.

A vehicle control device 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 surrounding situation of a vehicle using at least a camera, decide on a driving mode of the vehicle as one of a first driving mode and a second driving mode on the basis of the surrounding situation and map information and change the driving mode from the second driving mode to the first driving mode when it is determined that information of a stationary target group detected by a space detection sensor mounted in the vehicle matches information of a free space detected on the basis of an image captured by the camera, a camera road marking matches the information of the free space, and there is interference between the information of the stationary target group and the map road marking in a case where it is determined that the camera road marking does not match the map road marking while the vehicle is traveling in the second driving mode.

A vehicle control device acquires a camera image obtained by capturing an image of surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, determines any of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, judges whether or not a preceding vehicle is present in front of the vehicle when it is judged that an abnormality has occurred, calculates, when it is judged that the preceding vehicle is present, a margin for the vehicle to continue traveling in the second driving mode, and causes the vehicle to continue traveling in the second driving mode for a period of time indicated based on the margin.

A vehicle control device is configured to acquire a camera image obtained by capturing an image, control steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, decide a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode, change the driving mode of the vehicle to a driving mode with a heavier task when a task related to the decided driving mode is not executed by the driver, determine whether there is a deviation between a road division line shown in the camera image and a road division line shown in the map information, determine whether a preceding vehicle is present in front of the vehicle when it is determined that there is a deviation.

Provided is a vehicle control device including: a storage device storing a program; and a hardware processor executing the program stored in the storage device to: recognize a surrounding situation of a vehicle; determine whether or not the surrounding situation includes a road division line; control steering and acceleration/deceleration of the vehicle; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; and set, when the vehicle is traveling in the second driving mode, the surrounding situation is determined not to include a road division line, and a preceding vehicle is recognized within a first predetermined distance in a traveling direction of the vehicle, a longer traveling continuation distance in the second driving mode using the map information.

Display method and system

A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task is not executed by the driver, determines whether there is an error in the map information and determines whether there is a recognition error, and when an error is determined in the map information, there is a recognition error while the vehicle is traveling in the second driving mode, and a preceding vehicle is recognized within a first predetermined distance, sets a travel continuation distance in the second driving mode to be longer.

A vehicle travel control apparatus configured to control a traveling operation of a vehicle including an actuator for traveling, the vehicle travel control apparatus including a sensor mounted on the vehicle to capture an image of a division line in a traveling direction of the vehicle or measure the division line and an electronic control unit including a microprocessor. The microprocessor is configured to perform controlling the actuator based on a position information of the division line obtained by the sensor and a reliability with respect to the position information of the division line obtained by the sensor, and setting the reliability based on a shape of a road surface or a road structure in the traveling direction of the vehicle.

Vehicle travel control apparatus

A vehicle travel control apparatus configured to control a traveling operation of a vehicle including an actuator for traveling, including a first sensor mounted on the vehicle to capture an image of a division line in a traveling direction of the vehicle or measure the division line, a second sensor mounted on the vehicle to detect a movement of a preceding vehicle, and an electronic control unit including a microprocessor and a memory connected to the microprocessor. The microprocessor is configured to perform controlling the actuator based on a position information of the division line obtained by the first sensor and a reliability with respect to the position information of the division line obtained by the first sensor, and the controlling including decreasing the reliability when a predetermined movement of the preceding vehicle to intersect the division line is detected by the second sensor.

According to an embodiment, a vehicle control device includes a first recognizer configured to recognize a first road marking for partitioning a traveling lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle, a second recognizer configured to recognize a second road marking for partitioning the traveling lane with a means different from the first recognizer, a comparator configured to compare the first road marking with the second road marking, and a determiner configured to perform any one of a plurality of misrecognition determination processes including a process of determining that there is misrecognition in the first recognizer and a process of determining that there is misrecognition in one or both of the first recognizer and the second recognizer when there is a difference between the first road marking and the second road marking.

A vehicle control device includes a storage device configured to store a program, and a hardware processor. The hardware processor executes the program stored in the storage device to recognize a surrounding situation of a vehicle including a road division line and a surrounding vehicle, to control steering and acceleration/deceleration of the vehicle based on at least the road division line without depending on an operation of a driver of the vehicle, and to determine whether occlusion, in which at least a part of the road division line is shielded, has occurred, based on the road division line and a position of the surrounding vehicle present in front of the vehicle.

A vehicle control device recognizes surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task associated with the determined driving mode is not executed by the driver, determines whether or not the map information includes an error and determines whether or not a road division line is included in the surrounding circumstances, and sets a longer traveling continuation distance in the second driving mode in a case where it is determined that the map information includes an error, the road division line is not included in the surrounding circumstances, and a preceding vehicle has been recognized.

There is provided a travel control apparatus. A control unit performs, based on a recognition result of a recognition unit and map information of a periphery of the moving body, travel control of the moving body. A first determination unit determines whether a first state is set. A second determination unit determines whether a second state is set. In at least one of a case in which the first determination unit determines that the first state is set and a case in which the second determination unit has determined that the second state is set, the control unit performs travel control prioritizing the recognition result of the recognition unit over the map information.

Travel control apparatus, vehicle, travel control method, and non-transitory computer-readable storage medium

A process for producing unsaturated nitrile comprising a reaction step of subjecting hydrocarbon to a vapor phase catalytic ammoxidation reaction in a fluidized bed reactor to produce the corresponding unsaturated nitrile, wherein, in the reaction step, a powder is fed to a dense zone in the fluidized bed reactor using a carrier gas, and a ratio of a linear velocity LV1 of the carrier gas at a feed opening to feed the powder to the fluidized bed reactor to a linear velocity LV2 of a gas in the dense zone (LV1/LV2) is not less than 0.01 and not more than 1200.

Process for producing unsaturated nitrile

A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle based on the surrounding situation and map information, determines a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, determines whether there is an error in the map information based on the surrounding situation and the map information, and in a case where an error is determined in the map information while the vehicle is driving in the second driving mode, continues the second driving mode when a preceding vehicle is recognized within a first predetermined distance, or changes the second driving mode to the first driving mode when a preceding vehicle is not recognized within the first predetermined distance.

Growing community of inventors

Tokyo, Japan

Sho Tamura