Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Sensetime Group Limited

Delphi International Operations Luxembourg S.a.r.l.

Kyoto University

Delphi Technologies IP Limited

Honda Giken Kogyo Kabushiki

Honda Giken Kogyo K.k.

Yuji Yasui

Yoshihisa Iwaki

Shusuke Akazaki

Masahiro Sato

Hideki Matsunaga

Kanako Shimojo

Eiji Hashimoto

Masaki Ueno

Koichiro Shinozaki

Ikue Kawasumi

Kohei Hanada

Hiroshi Tagami

Katsura Okubo

Tadashi Satoh

Yo Ito

Kosuke Higashitani

Mitsunobu Saito

Hiroshi Kitagawa

Akiyuki Yonekawa

Tadashi Sato

Takashi Haga

Gakuyo Fujimoto

Hirotaka Uchitomi

Takahide Mizuno

Takashi Matsumoto

Jun Takahashi

Ichiro Baba

Hisao Haga

Nobuyuki Watanabe

Koichi Nakajima

Shion Tokunaga

Michael Fischer

Yusuke Hasegawa

Hisao Asaumi

Tetsuo Endo

Kentaro Ishisaka

Yosuke Ishikawa

Christopher Lang

Tokitomo Ariyoshi

Akihiro Shinjo

Toshiharu Takahashi

Masamitsu Tsuchiya

Kentaro Yamada

Yoshikazu Oshima

Eijiro Shimabukuro

Naohiro Sato

Shiro Takakura

Kosuke Nakanishi

Misako Yoshimura

Akira Kanehara

Aya Miura

Tetsuya Ishiguro

Takeru Goto

Kenji Komori

Jun Iwamoto

Kaname Tomite

Takayasu Kumano

Hisakazu Yamane

Nanami Tsukamoto

Yuki Hayashi

Atsushi Kawamura

Yoichi Sugimoto

Yuji Kaneda

Hidetaka Maki

Isao Komoriya

Noriaki Fujii

Xiaogang Wang

Yoichi Nishimura

Yutaka Tamagawa

Yusuke Tatara

Jun Ito

Yosuke Sakamoto

Toru Yano

Kei Machida

Hideharu Yamazaki

Hisao Sakai

Toshikatsu Kuramochi

Shun Iwasaki

Takahiro Yonekura

Shuji Nagatani

Yasushi Inagawa

Eisuke Kimura

Masamitsu Shiono

Hitoshi Takahashi

Eiji Haryu

Takafumi Hirose

Junjie Yan

Yutaka Asano

Junya Tachikawa

Yosuke Koike

Shinsuke Odai

Atsushi Kato

Kazuo Okada

Takahiro Matsuda

Go Motohashi

Satoshi Koike

Ken Iinuma

Tomohisa Manabe

Shintaro Kameda

Hisashi Ishimatsu

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

A mobile object control method includes recognizing an object existing around a mobile object and a follower following the mobile object, generating a first trajectory, which is a target trajectory of the follower for the follower to move while avoiding contact with the object without considering the mobile object as an object that the follower is to avoid contact with, based on a result of the recognition, generating a second trajectory, which is a target trajectory of the mobile object, based on the first trajectory, and controlling a mechanism for moving the mobile object so that the mobile object moves along the second trajectory.

Guiding a follower by controlling a mobile object

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

Provided is a mobile object control device configured to: recognize a surrounding situation of a mobile object; set, based on the recognized surrounding situation, a risk area in which positions of the surrounding situation are associated with risk values that are indicator values indicating degrees to which the mobile object is to avoid traveling; generate a target trajectory indicating a route along which the mobile object is to travel in the future; cause the mobile object to travel along the generated target trajectory; and set at least one observation point in each of three or more provisional trajectories branching at a specific location ahead of the mobile object, and generate the target trajectory based on the risk area and the at least one observation point.

Mobile object control device, mobile object control method, and program

A control system for a mobile object includes: a first sensor; a second sensor, different from the first sensor, that is mounted in the mobile object and is configured to detect an object by causing the mobile object to contact or approach the object; and a control device configured to recognize circumstances of the mobile object on the basis of a detection result from the first sensor and to control movement of the mobile object on the basis of the circumstances. The control device assumes that a second object which is not recognizable or hard to recognize is present at a reference position which is determined on the basis of a position of a prescribed first object when the first object has been recognized and causes the mobile object to move to a position at which the second sensor is able to detect the second object.

Control system and control method

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

An image generation method includes: an original image is converted into an image to be processed under a specific scenario; in the image to be processed, a region to be adjusted of which image rendering state does not match scenario information of the specific scenario is determined; the image rendering state of the region to be adjusted is related to light illuminated on a target object in the original image, and the target object includes a vehicle; a target rendering state in the region to be adjusted is determined; the target rendering state matches the scenario information; and in the image to be processed, the image rendering state of the region to be adjusted is adjusted to the target rendering state, to obtain a target image.

Image generation method and apparatus, and storage medium

This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit configured to detect an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit configured to detect an obstacle; a guiding unit configured to start guiding the vehicle to the out-of-lane region in a case where the first detection unit detects the out-of-lane region and the second detection unit detects the obstacle; and a steering control unit configured to determine excess or deficiency of avoidance steering by a driver for avoiding a collision with the obstacle in response to the guidance by the guiding unit and perform steering assist on the basis of a degree of the excess or deficiency.

Vehicle control device, vehicle, method of controlling vehicle control device, and non-transitory computer-readable storage medium

Area monitoring system includes a plurality of sensor devices each installed in a monitoring target area and configured to detect a mobile object moving in the monitoring target area and a determiner configured to determine whether or not mobile objects detected by the plurality of sensor devices are the same physical object on the basis of detection results of the plurality of sensor devices. The plurality of sensor devices include at least a radio wave sensor and an optical sensor. The determiner determines whether or not mobile objects detected by the radio wave sensor and the optical sensor are the same physical object on the basis of information of at least one of feature quantities regarding movements of the mobile objects and reflection intensities corresponding to attributes of the mobile objects when the mobile objects have been detected by the radio wave sensor and the optical sensor.

Area monitoring system and area monitoring method

A hardware processor of a mobile object executes a program stored in a storage device to acquire information indicating a behavior of a mobile object; to recognize whether the mobile object is moving on a roadway or a predetermined region; to recognize presence of a contact portion between the predetermined region and the roadway; to limit a speed at which the mobile object is moving on the roadway to a first speed; to limit a speed at which the mobile object is moving on the predetermined region to a second speed slower than the first speed; and to bring a speed of the mobile object closer to the second speed when the mobile object is moving on the roadway, the contact portion is recognized within a predetermined range from the mobile object, and a behavior of the mobile object satisfies a predetermined condition.

Mobile object control device and mobile object control method

An image generation method includes the following steps. Illumination lamps on a target object in an original image are detected; the original image is converted into an image to be processed that is in a specific scene; in the image to be processed, at least one illumination lamp of which operation state does not match scene information of the specific scene is determined as an object to be replaced; a replacement image including the object to be replaced of which operation state matches the scene information is determined according to the scene information and the object to be replaced; and the image in a region occupied by the object to be replaced in the image to be processed is replaced with the replacement image to generate a target image.

Image generation method and apparatus, device, and storage medium

An image processing apparatus that processes images acquired by a camera. In processing the images, a moving object may be recognized or identified from the images. Masking processing is performed on the moving object recognized in the image. An estimate of the spatial motion of the image processing apparatus relative to a surrounding environment is determined based on the images that are subjected to the masking processing.

Image processing apparatus for estimating vehicle spatial motion

A control device includes a storage device which has stored a program, and a hardware processor, in which the hardware processor executes the program stored in the storage device, thereby acquiring a peripheral image of the mobile object, which is an image captured by a fisheye camera mounted on a mobile object, calculating an instruction regarding future traveling of the mobile object as a base trajectory in an orthogonal coordinate system, coordinate-converting the acquired base trajectory in the orthogonal coordinate system into a base trajectory in a fisheye camera coordinate system, calculating a risk of the base trajectory in the fisheye camera coordinate system on the basis of the peripheral image, and the base trajectory in the fisheye camera coordinate system, and calculating a traveling trajectory by modifying the base trajectory in the orthogonal coordinate system on the basis of the risk of the base trajectory in the fisheye camera coordinate system.

A driving assistance device includes a storage device configured to store a program and a processor connected to the storage device. The processor executes the program to recognize a physical object, generate a future avoidance trajectory along which a moving object is able to move while avoiding the contact with the physical object, acquire a steering state of the moving object, determine an amount of change in an avoidance trajectory error, calculate an index value by making a weight of an avoidance trajectory error at a point in time earlier than a reference point in time greater or less than a weight of the avoidance trajectory error at the reference point in time according to the amount of change, and guide a driver of the moving object or the moving object such that the steering state of the moving object is changed in accordance with the index value.

Driving assistance device, driving assistance method, and storage medium

Provided is a vehicle control device including: a recognition unit configured to recognize an object which is located near a vehicle; a calculation unit configured to calculate an area of risk which is distributed around the object; a generation unit configured to generate a target trajectory for the vehicle to travel along on the basis of the area; and a driving control unit configured to automatically control at least one of a speed or steering of the vehicle on the basis of the target trajectory, wherein the generation unit selects one or a plurality of models from a plurality of models that output the target trajectory in a case where the area is input, inputs the area calculated by the calculation unit to the selected model, and generates the target trajectory on the basis of an output result of the model to which the area is input, and the calculation unit changes a range of the area in accordance with a type of model selected by the generation unit.

Vehicle control device, vehicle control method, and storage medium

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Saitama-ken, Japan

Yuji Yasui