Honda Motor Co., Ltd.

Takeru Goto

Hideki Matsunaga

Masaaki Nagashima

Toshiaki Takano

Hirokiyo Kasahara

Shun Iwasaki

Yoshimitsu Murahashi

Yuji Yasui

Kosuke Nakanishi

Naotoshi Fujimoto

Shota Ishikawa

Nana Niibo

Ryo Shimoe

Yuki Ichino

Junichi Sakamoto

Masanori Takeda

Takahiro Matsuoka

Keisuke Oka

Masaki Maruyama

Takumi Machida

Takashi Mine

A vehicle control apparatus includes a microprocessor configured to perform: recognizing a surrounding situation of a subject vehicle; controlling a traveling actuator so that the subject vehicle travels along a target path generated based on a recognition result; and predicting, when an object is recognized in a current lane or in an adjacent lane, whether a passing run is occur based on a relative speed with the object. The generating includes, when the passing run is predicted to occur, generating the target path so that the subject vehicle executes an offset driving in which the subject vehicle is offset in a vehicle width direction relative to the object, and so that an acceleration of the subject vehicle in the vehicle width direction while shifting to or returning from the offset driving is equal to or less than a predetermined value.

Vehicle control apparatus

Provided is a driving assistance device including a storage medium storing computer-readable commands and a processor connected to the storage medium, the processor executing the computer-readable commands to: recognize an external object near a mobile object; estimate toward which gaze candidate an occupant of the mobile object is directing his or her gaze from among a plurality of gaze candidates including gaze candidates existing on a structure of the mobile object and the external object; determine that the occupant visually recognizes a gaze candidate from among the plurality of gaze candidates when the occupant is estimated to direct his or her gaze toward the gaze candidate for a first predetermined period or more; and execute driving assistance for the mobile object based on a determination result.

Driving assistance device, driving assistance method, and storage medium

Provided is a gaze estimation device for estimating toward which gaze candidate an occupant of a mobile object is directing his or her gaze from among a plurality of gaze candidates including gaze candidates existing on a structure of the mobile object and an object near the mobile object, the gaze estimation device being configured to: calculate, for each of the plurality of gaze candidates, a probability value of the occupant directing his or her gaze toward the gaze candidate based on the gaze and a probability distribution representing probabilities of directing his or her gaze toward each of the plurality of gaze candidates; and estimate that the occupant is directing his or her gaze toward a gaze candidate for which the probability value is equal to or larger than a threshold value among the plurality of gaze candidates.

A reporting device mounted on a vehicle, comprises: a recognition processing unit configured to recognize an obstacle existing in front of the vehicle on the basis of information detected by a front detection unit and a risk target existing at least diagonally behind the vehicle on the basis of information detected by a rear detection unit; a sight line monitoring unit configured to determine whether or not a driver recognizes the obstacle or the risk target on the basis of an overlap between a sight line of the driver acquired on the basis of a captured image of the driver and the obstacle or the risk target; and a reporting control unit configured to report the existence of the obstacle or the risk target.

Reporting device, vehicle, and reporting control method

A vehicle is provided. A detector detects an object at least ahead of the vehicle. A display is provided on an instrument panel of the vehicle and displays a signal at a position corresponding to a direction of the object detected by the detector. The display includes a part recessed forward in a vehicle longitudinal direction in plan view.

Vehicle

A travel control apparatus includes a microprocessor configured to perform: recognizing a surrounding situation of a subject vehicle; generating a target path of the subject vehicle according to the surrounding situation; calculating a correction amount for correcting the target path in a direction away from a first other vehicle traveling in a first adjacent lane in the vehicle width direction, when the subject vehicle is predicted to pass a side of the first other vehicle or the first other vehicle is predicted to pass a side of the subject vehicle; when a second other vehicle traveling in a second adjacent lane is recognized, determining whether to correct the target path based on a traveling situation of the second other vehicle; and correcting the target path based on the correction amount when the target path is determined to be corrected in the determining.

Travel control apparatus

A learning device includes a plurality of individual learners. Each of the individual learners includes a planner configured to generate information for defining an operation of the operation subject corresponding to itself, and a reward deriver configured to derive a reward obtained by evaluating information to be evaluated including feedback information obtained from a simulator by inputting information based on the information for defining the operation of the operation subject to the simulator. The planner performs reinforcement learning based on the reward derived by the reward deriver, and at least two of the plurality of individual learners are different in the operations of the operation subject in which the reward derived by the reward deriver is maximized.

Learning device, simulation system, learning method, and storage medium

A learning device includes a planner configured to generate information indicating an action of a vehicle, and a reward deriver configured to derive a plurality of individual rewards obtained by evaluating each of a plurality of pieces of information to be evaluated, which include feedback information obtained from a simulator or an actual environment by inputting information based on the information indicating the action of the vehicle to the simulator or the actual environment, and derive a reward for the action of the vehicle on the basis of the plurality of individual rewards. The planner performs reinforcement learning that optimizes the reward derived by the reward deriver.

Learning device, learning method, and storage medium

A first possible space, for which a lane change of the vehicle is possible, is specified from an inter-vehicle distance between the preceding other vehicle and the nearby vehicle, a speed of the preceding other vehicle, and a speed of the nearby vehicle. A second possible space, for which the lane change of the vehicle is possible, is specified from an inter-vehicle distance between the nearby vehicle and the following other vehicle, the speed of the nearby vehicle, and a speed of the following other vehicle. The control unit controls the traveling of the vehicle to make the lane change to the adjacent lane based on a result of the evaluation of the first possible space and the second possible space.

Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program for controlling traveling of a vehicle

A traveling track determination device includes an ECU. The ECU calculates a second course target point, and determines a future traveling track for the vehicle at right/left turn using a first straight line that extends from the vehicle through an intersection in a forward direction, a second straight line that extends along a second course through the second course target point and intersects with the first straight line in the intersection, and a curved track configured of a quadratic B&#xe9;zier curve.

Traveling track determination processing and automated drive device

Provided are a vehicle, a vehicle monitoring server, a vehicle monitoring system, and a vehicle monitoring method, that can be suitably used in a configuration whereby the vehicle and the vehicle monitoring server communicate in relation to a travel caution region. A first control device in the vehicle sends an entry notification signal to the vehicle monitoring server prior to entry into a travel caution region, if the travel caution region is included in a target route or a target track. The first control device may also send a passage completed signal to the vehicle monitoring server after passing through the travel caution region. A second control device in the vehicle monitoring server performs an error output if, after receiving an entry notification signal from a specified vehicle, a passage completed signal has not been received by a second prescribed point in time.

Vehicle, vehicle monitoring server, vehicle monitoring system, and vehicle monitoring method

An ECU of an automated drive device determines a future traveling track for a vehicle using a first straight line that extends in a forward direction of the vehicle, a second straight line that extends along a second course, and a curved track that extends between a first predetermined point on the first straight line and a second predetermined point on the second straight line. After determination of the future traveling track, the vehicle turns to the right in an intersection during actual traveling on the traveling track, if a median strip is present in a course of the vehicle, a changed track is calculated so as to avoid interference of the vehicle with the median strip.

This vehicle control device comprises: action amount determination units that determine evasive action amounts indicating the degree of evasive action relative to a recognized obstacle; and a travel control unit that performs travel control whereby a vehicle is caused to take evasive action corresponding to the determined evasive action amount. The action amount determination units determine the amount of evasive action, according to user preferences for the vehicle.

Vehicle control device

A behavior prediction device predicts behavior of another vehicle traveling around a host vehicle, and the behavior prediction device includes: a reference position setting unit that sets a reference position (reference line) along a shape of a road; a position detection unit that detects a position of the other vehicle; a distance calculation unit that calculates a distance from the reference position (reference line) to the other vehicle on the basis of information about the reference position (reference line) and information about the position of the other vehicle; and a prediction unit that predicts a trajectory of the other vehicle on the basis of information about the distance in time series calculated by the distance calculation unit.

Behavior prediction device

Provided is a vehicle control device which, when traffic participants are waiting in the vicinity of a railroad crossing for a train to pass, appropriately controls driving of a vehicle about to pass through the railroad crossing. Entry of the vehicle into the railroad crossing is restrained until a waiting time elapses since when the railroad crossing transitioned from a passage blocking state to a passage allowing state, the waiting time being set in accordance with the kind or the number of the traffic participants present in the vicinity of the railroad crossing. When the waiting time has elapsed, the vehicle is caused to enter the railroad crossing and pass (through) the railroad crossing.

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Wako, Japan

Takeru Goto