Honda Motor Co., Ltd.

Advanced Telecommunications Research Institute International

Honda Giken Kogyo Kabushiki Kaisha

Yugo Ueda

Akihiro Toda

Dan Umeda

Tadaaki Hasegawa

Soshi Iba

Yuki Motegi

Hiroshi Tsujino

Koji Akatsuka

Katsuaki Sasaki

Norikazu Sugimoto

Atsushi Arai

Maiko Adachi

Darrin Bentivegna

A vehicle control device includes a recognizer configured to recognize an object around a host vehicle, a driving controller configured to control a speed and steering of the host vehicle and cause the host vehicle to overtake a moving body recognized as the object by the recognizer in a predetermined case, the moving body being a moving body present at a side of a road on which the host vehicle is present, and a predictor configured to predict that the host vehicle will be overtaken by the overtaken moving body at a future point in time when the moving body has been recognized by the recognizer, and the driving controller is configured to not cause the host vehicle to overtake the moving body when the predictor predicts that the host vehicle will be overtaken by the overtaken moving body at a future point in time.

Vehicle control device, vehicle control method, and program

A vehicle control device includes a pedestrian recognizer configured to recognize a pedestrian present in the periphery of a vehicle, and a driving controller configured to decelerate at least the vehicle irrespective of an occupant's operation of the vehicle in accordance with the vehicle and a pedestrian approaching each other, and delays a timing at which the vehicle is stopped in a case where a plurality of pedestrians recognized by the pedestrian recognizer are present on a traveling route of the vehicle.

A vehicle control device includes: a driving controller configured to perform first driving control such that one or both of an acceleration or deceleration speed and steering of a vehicle is controlled to travel the vehicle; an occupant intention detector configured to detect an intention of the occupant to switch from manual driving to a state in which the driving controller performs the first driving control; and a one-way traffic determiner configured to determine whether a road on which the vehicle is predicted to be traveling or travel in future is a one-way traffic road. The driving controller determines whether to start the first driving control based on whether the one-way traffic determiner determines the road on which the vehicle is predicted to be traveling or travel in future is the one-way traffic road.

A vehicle control apparatus includes: a road recognizer that recognizes a road form around a vehicle; a second-vehicle recognizer that recognizes a state of another vehicle around the vehicle; and a driving controller that allows the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle and that prevents, upon passing of the vehicle through an intersection, passing of the vehicle through the intersection based on a presence of the other vehicle recognized by the second-vehicle recognizer, wherein in a case where the driving controller recognizes, by the road recognizer, that a plurality of lanes are present in a road of a right/left turn destination of the vehicle and recognizes, by the second-vehicle recognizer, that the other vehicle, which was an opposing vehicle approaching from a direction opposing the vehicle, has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, the driving controller continues an entry control to the road of the right/left turn destination of the vehicle.

Vehicle control apparatus, vehicle control method, and program

A vehicle control device includes a recognizer that is configured to recognize an object around a subject vehicle, a driving controller that is configured to control a speed or steering of the subject vehicle, and a predictor that is configured to predict that a predetermined vehicle will move to a front of the subject vehicle on a subject lane. The driving controller is configured to perform a behavior control in a case where it is predicted that the predetermined vehicle will move to the front of the subject vehicle on the subject lane and limits the vehicle behavior control in a case where it is predicted that the predetermined vehicle does not move to the front of the subject vehicle on the subject lane as compared with a case where it is predicted that the vehicle will move to the front of the subject vehicle on the subject lane.

Vehicle control device, vehicle control method, and storage medium

A vehicle control device () includes a recognizer () that recognizes a situation occurring near an own-vehicle, and a driving controller () that controls acceleration/deceleration and steering of the own-vehicle on the basis of a result of the recognition of the recognizer. When performing travel control according to a behavior of a preceding vehicle that is traveling in front of the own-vehicle such that the own-vehicle follows the preceding vehicle to pass through an intersection, the driving controller does not perform following of the preceding vehicle if a turning start point of the preceding vehicle does not match a turning start point in a route predicted for the own-vehicle to pass through the intersection in a scheduled direction or if a turning angle of the preceding vehicle does not match a turning angle in the predicted route.

A vehicle control device includes a recognizer which recognizes objects around a host vehicle, a determiner which determines whether a speed of a preceding vehicle present ahead of the host vehicle in a host lane in which the host vehicle is present among one or more objects recognized by the recognizer is less than a predetermined speed and determines whether predetermined conditions with respect to conditions ahead of the preceding vehicle are satisfied when it is determined that the speed of the preceding vehicle is less than the predetermined speed, and a driving controller which causes the host vehicle to overtake at least the preceding vehicle by controlling the speed and steering of the host vehicle when the determiner determines that the predetermined conditions are satisfied.

The purpose of the present invention is to perform mirror control as driving control when recognizing a mirror in front of the vehicle. By adopting this configuration, it is possible to perform appropriate driving control for automated driving. Another purpose of the present invention is to perform mirror processing as recognition processing when recognizing a mirror in front of a vehicle. By adopting this configuration it is possible to perform appropriate recognition processing in automated driving.

Vehicle control device and method

It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.

Reinforcement learning apparatus, control apparatus, and reinforcement learning method

A reinforcement learning system () of the present invention utilizes a value of a first value gradient function (dV/dt) in the learning performed by a second learning device (), namely in evaluating a second reward (r(t)). The first value gradient function (dV/dt) is a temporal differential of a first value function (V) which is defined according to a first reward (r(t)) obtained from an environment and is served as a learning result given by a first learning device (). An action policy which should be taken by a robot (R) to execute a task is determined based on the second reward (r(t)).

Reinforcement learning system

The present invention provides a motion control system to control a motion of a second motion body, by considering an environment which a human contacts and a motion mode appropriate to the environment, and an environment which a robot actually contacts. The motion mode is learned based on an idea that it is sufficient to learn only a feature part of the motion mode of the human without a necessity to learn the others. Moreover, based on an idea that it is sufficient to reproduce only the feature part of the motion mode of the human without a necessity to reproduce the others, the motion mode of the robot is controlled by using the model obtained from the learning result. Thereby, the motion mode of the robot is controlled by using the motion mode of the human as a prototype without restricting the motion mode thereof more than necessary.

Motion control system, motion control method, and motion control program

It is objective of the invention to provide a highly reliable control apparatus and method which reduces the amount of calculation required for both learning of an input/output relationship and actual control as well as prevent inappropriate outputs from being generated for inputs which have been never learned. According to one aspect of the invention, pairs of an input pattern vector for learning and a target output are distributed to a class based on the target output. Then, a correspondence between each element of the input pattern vector for learning and the target output is learned only in that class, and a distribution function is calculated for distributing a new input pattern vector for learning to that class. After the completion of this learning, the distribution function is used to determine which class a new input pattern vector detected by a sensor belongs to. Finally, an output is calculated according to the learning result of that class. Therefore, since the range of the outputs corresponding to the inputs may be limited, reliability of the control is improved.

Behavior control apparatus and method

A motion information recognition system takes time-series images of an object in motion and generates image vectors that are analyzed to produce a plurality of eigenvectors that are then stored. Inner product operations are performed between image vectors of a recognized object and a plurality of the stored eigenvectors for obtaining the motion information of the recognized object based on the result of said inner product operations to provide high-speed and easy motion information recognition at reduced computing cost.

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Wako, Japan

Yugo Ueda