Honda Motor Co., Ltd.

Yuki Kizumi

Yosuke Sakamoto

Yoshitaka Mimura

Yuji Tsuchiya

Daisuke Kondo

Yuki Nakada

Hiroyuki Koibuchi

Yoshifumi Banno

Takashi Oshima

Takashi Mine

Masahiko Asakura

Keisuke Oka

Yuta Takada

Tadahiro Matori

Shingo Nakayama

Shohei Iwamoto

Tohko Nakai

Koichi Yoshihara

Yuki Tsuboi

A vehicle control apparatus for controlling a subject vehicle includes: an exterior environment detection unit configured to an external situation in a predetermined area around the subject vehicle while the subject vehicle traveling; and a microprocessor. The microprocessor is configured to perform: recognizing a pair of right and left division lines that define the lane in which the subject vehicle is traveling based on a detection value from the exterior environment detection unit; calculating a direction vector of the pair of right and left division lines recognized in the recognizing; calculating a movement vector of a forward vehicle ahead of the subject vehicle based on the detection value from the exterior environment detection unit; and determining the self-driving capability or the driving support capability to be applied to the subject vehicle based on the direction vector and the movement vector calculated in the calculating.

Vehicle control apparatus

An autonomous driving vehicle information presentation device includes a traffic congestion information acquisition unit that acquires information on traffic congestion ahead in a traveling direction of an own vehicle, a traveling lane identification unit that identifies a lane where the own vehicle is currently located, a stop position prediction unit that acquires a traveling state of a preceding vehicle based on an external environment information and the traffic congestion information, and to predict a stop position related to the preceding vehicle based on the acquired traveling state, an action plan generation unit that generates an action plan of the own vehicle based on the stop position and the currently located lane, and an information presentation unit that presents information including the generated action plan through using an external display device provided at a rear portion of a vehicle interior of the own vehicle.

Autonomous driving vehicle information presentation device

A vehicle control device includes a recognizer configured to recognize a surrounding environment including a structure of a road near a vehicle and another vehicle, a deriver configured to derive a predicted probability that the other vehicle will travel in the future along each of routes which are assumed when a plurality of routes along which the other vehicle is able to travel are assumed on a road on which the other vehicle recognized by the recognizer travels, and a travel controller configured to control behavior of the vehicle based on the predicted probability derived by the deriver.

Vehicle control device, vehicle control method, and storage medium

A moving body including an external world information acquisition device is autonomously movable based on external world information acquired by the external world information acquisition device. The external world information acquisition device is arranged on an inner side of the moving body than an outer shell member of the moving body, and is formed with an external world information acquisition surface. The outer shell member has an opening portion. The moving body includes a cover member which is provided between the external world information acquisition device and the opening portion. The external world information acquisition surface acquires the external world information via the cover member. The cover member has a flat plate shape, and is arranged to face the external world information acquisition surface, and to be inclined in an upper-lower direction and a left-right direction of the moving body with respect to the external world information acquisition surface.

Sensor for autonomously movable moving body

According to an embodiment, a surroundings recognition device includes an acquirer configured to acquire first road information including a road boundary near a host vehicle from map information on the basis of position information of the host vehicle, a recognizer configured to recognize a road boundary near the host vehicle on the basis of an output of an external environment sensor, and a determiner configured to determine that a first road boundary matches a second road boundary when the second road boundary included in second road information that is a recognition result of the recognizer is within a road boundary determination area based on a position of the first road boundary included in the first road information acquired by the acquirer. The determiner sets a size of the road boundary determination area on the basis of a predetermined condition.

Surroundings recognition device, and surroundings recognition method

There is provided a travel control apparatus. A control unit controls a position of the self-vehicle in a width direction so as to ensure a first predetermined interval between the self-vehicle and the other vehicle and to ensure a second predetermined interval between the self-vehicle and the boundary of the first lane. In a case in which both the first predetermined interval and the second predetermined interval cannot be ensured, the control unit controls the position of the self-vehicle in the width direction to preferentially ensure the first predetermined interval when the other vehicle has crossed a first boundary between the first lane and the second lane and to preferentially ensure the second predetermined interval when the other vehicle has not crossed the first boundary.

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

A vehicle control apparatus configured to control automated driving of a vehicle acquires information relating to a situation in a surrounding area of the vehicle, acquires, for each of a plurality of positions, a first value relating to a probability that an object that is present in the surrounding area will be present at a future point in time and a second value obtained based on travel data of a predetermined driver based on the information, and determines a path on which the vehicle is to move, by selecting positions at which the vehicle is to be present at a plurality of future points in time from the plurality of positions based on combinations of the first values and the second values.

Vehicle control apparatus and method for controlling automated driving vehicle

A vehicle control apparatus for controlling automated driving of a vehicle acquires information relating to a situation in a surrounding area of the vehicle, acquires, for each position, a first value relating to a probability that an object present in the surrounding area will be present at a future point in time, and a second value obtained based on travel data of a predetermined driver based on the information, the second values being specified using a model defined for a portion of regions through which the vehicle travels, and if the vehicle travels through a region for which a model is not defined, the second values being each specified by combining two values acquired using two models defined for two regions sandwiching the position through which the vehicle is traveling, and determines a path on which the vehicle is to move.

In an autonomous driving vehicle information presentation apparatus, based on outside information, an identification unit searches for a person present around a host vehicle and identifies whether the person extracted by the search matches a user of the host vehicle. When a result of the identification by the identification unit indicates that the person extracted by the search matches the user of the host vehicle, the information presentation unit presents information by using a preset presenting state to a specific person, as a presentation target, identified to match the user of the host vehicle by the identification unit with an exterior display apparatus provided at a front portion of the host vehicle.

Autonomous driving vehicle information presentation apparatus

An autonomous driving vehicle information presentation apparatus includes: a traffic signal information obtaining unit that obtains traffic signal information on a traffic light at an intersection ahead of a host vehicle in a direction of advance; a check-recognition unit that recognizes change timing of a traffic signal of the traffic light based on the traffic signal information on the traffic light; and an information presentation unit that presents traffic signal information including an instruction to stop, a warning for advance, or a permission to advance expressed by the traffic signal of the traffic light, with a rear display unit provided at a position at which the rear display unit is visible to an occupant in a trailing vehicle. The information presentation unit presents the traffic signal information further containing the change timing of the traffic signal of the traffic light recognized by the check-recognition unit, with the rear display unit.

If road information indicates that a first curve zone at a near side and a second curve zone at a far side that curve in different directions are continuously located in a road, a steering assist unit of a steering assist device or a steering assist circuit finishes decreasing process of decreasing the steering assist amount when the subject vehicle passes through the first curve zone earlier than a case when the subject vehicle passes through the second curve zone.

Steering assist device and circuit

A vehicle drive control device includes a drive lane detector, a drive assist unit, and a curve road steering assist unit. The drive lane detector detects a drive lane of a subject vehicle. The drive assist unit performs drive assist control to assist the subject vehicle in lane keep driving in the drive lane. The curve road steering assist unit performs steering assist for assisting the subject vehicle in turning along a curve of a curve road if the drive lane is the curve road and if the drive assist control performed by the drive assist unit is discontinued during driving on the curve road.

Vehicle drive control device

A steering control unit performs lane keeping control to cause a steering system to operate to reduce a distance between a width-direction center position of a lane and a position where the vehicle is traveling in the lane on the basis of a recognized state of the lane obtained by a lane recognizing unit. A road condition determining unit determines whether the road on which the vehicle is traveling is a straight road. A lane keeping responsivity setting unit sets, when it is determined by the road condition determining unit that the road on which the vehicle is traveling is a straight road, responsivity of the lane keeping control to the distance to be lower than responsivity set when it is determined that the road on which the vehicle is traveling is not a straight road.

Vehicle control device

A more accurate lane is estimated by using a lane at a previous time point after coordinate conversion that is coordinate-converted based on traveling information (a vehicle speed and a yaw rate) at a current time point, as well as a lane at the current time point.

Lane detection device and method thereof, curve starting point detection device and method thereof, and steering assistance device and method thereof

There is provided a running-support system and a running-support method capable of providing more suitable running support at the time of turning a curve. In the running-support system or the running-support method, a steering-support section provides steering support using at least one of a piece of map information on a curve and a lane image picked up by an image pickup section at the time of turning the curve. The steering-support section suppresses the steering support without being based on the piece of map information when the steering-support section detects an end point of the curve on the basis of the lane image.

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Wako, Japan

Yuki Kizumi