Abstract: An under-floor catalyst (33) includes a GPF (41) capable of trapping fine exhaust particles in exhaust gas, and a downstream-side catalyst (42) positioned on the downstream side of GPF (41). GPF (41) can be supplied with secondary air. When an internal combustion engine (10) is stopped during travel, the secondary air is supplied to GPF (41) in which the fine exhaust particles are accumulated. At this time, the temperature of GPF (41) is equal to or higher than a predetermined temperature. Thus, a deterioration in the exhaust gas purification performance of under-floor catalyst (33) at the time of the start of internal combustion engine (10) can be suppressed.

Abstract: A parking control method causes a control device of a vehicle to execute a first control instruction for moving the vehicle along a first route to a target parking space, on the basis of an operation command acquired from an operator located outside the vehicle. This method includes, when execution of the first control instruction is suspended or canceled, calculating a second route for the vehicle to leave with a predetermined distance or more from an object detected around the vehicle and causing the control device to execute a second control instruction for moving the vehicle along the second route.

Abstract: A method of manufacturing a closed cross-section structural member includes a first panel and a second panel joined to each other to form a closed cross-section, and a fiber reinforced plastic (“FRP”) material bonded to the first panel. The method includes: attaching the FRP material to the first panel with an adhesive; curing the FRP material and the adhesive by heating the FRP material and the adhesive together with the first panel; and joining the second panel to the first panel in which the FRP material and the adhesive are cured.

Abstract: A fuel cell having a plurality of power generating cells stacked in a thickness direction via an interconnector, the power generating cells comprising a solid electrolyte plate, an anode electrode disposed on one side of the solid electrolyte plate, and a cathode electrode disposed on the other side of the solid electrolyte plate, the interconnector electrically connecting the anode electrode and the cathode electrode, the anode electrode and the cathode electrode having a support layer configured of metal, and the support layer of any one of the anode electrode and the cathode electrode being bonded to the interconnector by welding, and the support layer of the other one of the anode electrode and the cathode electrode being metallic bonded to the interconnector by a method other than welding.

Abstract: An internal combustion engine is mounted for power generation in a series hybrid vehicle and has an exhaust system with an upstream-side catalytic converter and a downstream-side catalytic converter. After starting of the internal combustion engine, the operation of the internal combustion engine is continued, without stopping the internal combustion engine even when the power generation request ceases, until completion of the warm-up of both of the upstream-side catalytic converter and the downstream-side catalytic converter. The internal combustion engine is operated with ignition timing retardation during a first period from the starting of the internal combustion engine to the completion of the warm-up of the upstream-side catalytic converter. During a second period from the completion of the warm-up of the upstream-side catalytic converter to the completion of the warm-up of the downstream-side catalytic converter, the internal combustion engine is operated without ignition timing retardation.

Abstract: A pendulum type mount system includes a pair of upper mounts that mount upper portions of a powerplant unit on a vehicle body, and a pair of first and second lower torque rods. The first and second lower torque rods are located on opposite sides to each other with respect to a reference plane including a gravity center of the powerplant unit. A first spring constant of the first lower torque rod is not smaller than a second spring constant of the second lower torque rod. A distance between a first plane including the first lower torque rod and the reference plane is not larger than a distance between a second plane including the second lower torque rod and the reference plane.

Abstract: A method controls a motor vehicle equipped with at least two perception sensors to avoid a target. The control method includes: determining data of the sensors, fusing the data of the sensors so as to determine the steering wheel angle, the vehicle speed and the vehicle heading, planning an avoidance path to avoid the target, taking the form of a Euler spiral, refining the avoidance path depending on the steering wheel angle, on the vehicle speed and on the vehicle heading and based on the solution of an optimisation problem, controlling the vehicle so as to follow the refined path, the refining the path including honing the avoidance path depending on the path length, on the direction of steering wheel rotation and on the final heading and refining the honed trajectory depending on the initial heading and on the direction of steering wheel rotation.

Abstract: A device includes a case; a first rotating body that has at least a part immersed in the oil in an oil bath; a second rotating body disposed in the case at a position not immersed in the oil in the oil bath; a plate; a first wall portion provided on the plate between the first rotating body and the second rotating body; a second wall portion provided above the first wall portion in a gravity direction and extending toward a direction away from the first rotating body; and a fourth wall portion provided between the first rotating body and the second rotating body and extending in a vertical direction on the plate, wherein the first wall portion is provided on a first rotating body side of the plate, and the fourth wall portion is provided on a second rotating body side of the plate.

Abstract: A method autonomously controls a mobility of an automotive apparatus, which mobility is such as to have an influence on the path of the apparatus. The method includes steps of: acquiring parameters relative to the path of the apparatus, and of computing a new control setpoint for the mobility of the apparatus depending on said parameters, this new control setpoint being determined by means of a controller that respects a model that limits the variation in the control setpoint.

Abstract: The relative position between a vehicle and an extension unit located outside the vehicle is detected, and a command touch operation for operating the vehicle with a remote operation device is set in accordance with the detected relative position. The touch operation of an operator is detected by a touch panel of the remote operation device, and a determination is made as to whether or not the detected touch operation is the command touch operation. When the touch operation is the command touch operation, the vehicle is controlled to execute autonomous travel control. The vehicle has an autonomous travel control function.

Abstract: A power converter comprising: a power conversion circuit to convert an input power into a direct current power or an alternating current power; a base member made of resin on which the power conversion circuit is mounted; a cover member, wherein the power conversion circuit is housed between the cover member and the base member; a coolant flow path provided in an interior of the base member, through which a coolant for cooling the power conversion circuit is circulated; and a temperature sensor provided on the base member, to sense the temperature of the coolant circulating through the coolant flow path, wherein the temperature sensor has a conductive member including at least a thermistor, and at least a part of the conductive member is surrounded by a resin wall formed of an insulating material.

Abstract: A travel assistance method for performing a lane change of a host vehicle includes: detecting an oncoming vehicle traveling in an opposite lane from which the host vehicle travels when the host vehicle starts the lane change; determining a crossing point between a virtual advancing route and a linear advancing route in which the oncoming vehicle advances linearly, the virtual advancing route being a virtual extension of an advancing route of the host vehicle during a period from start to end of the lane change; executing a lane change using the route and the vehicle speed in a case where a time difference between a first predicted time and a second predicted time is outside a predetermined range; and when within the predetermined range, executing a lane change by changing at least one of the route and the vehicle speed such that the time difference is outside the predetermined range.

Abstract: An obstacle-avoidance method includes detecting an obstacle in a vicinity of a motor vehicle and planning an obstacle-avoidance path for avoiding the obstacle; and commanding steering and differential braking systems to handle the avoidance path.

Abstract: A plurality of different reference images for specifying a target parking space is preliminarily stored. The different reference images are generated by using an imaging device that captures an image around a subject vehicle. After that, when the subject vehicle is parked in the target parking space, the current image captured around the subject vehicle is verified with at least one reference image of the plurality of different reference images to recognize the target parking space, and the travel operation of the subject vehicle to the target parking space is autonomously controlled based on positional information of the recognized target parking space.

Abstract: A vehicle side mirror includes a base member and a mirror housing movably connected to the base member. The mirror housing includes a mirror and a mounting bracket connected to the base member and configured to mount the vehicle side mirror to a door panel of a vehicle. The mounting bracket includes a pivot surface on which the mounting bracket is configured to pivot with respect to a door panel of the vehicle. A flexible attachment member is configured to secure the mounting bracket to the door panel after being pivoted on the pivot surface.

Abstract: An apparatus includes a case that stores oil inside, wherein the case includes a drain hole that discharges the oil to an outside, and a tubular portion that protrudes in a direction intersecting a direction of gravity, and the drain hole opens in a direction intersecting the direction of gravity on the tubular portion.

Abstract: Provided is a control method for a vehicle including an internal combustion engine as a driving source, the control method for the vehicle including: executing automatic stop control of automatically stopping the internal combustion engine when a predetermined stop condition is satisfied, and executing automatic restart control of automatically restarting the internal combustion engine when a predetermined restart condition is satisfied during execution of the automatic stop control; performing brake holding control of applying a braking force to wheels to maintain a vehicle stop state during the execution of the automatic stop control; and automatically restarting the internal combustion engine when the restart condition is satisfied, and releasing the brake holding control when a predetermined period elapses since the restart condition is satisfied.

Abstract: An apparatus includes a case including a heat exchange unit; an inflow port through which a fluid flows into the heat exchange unit; and a discharge port through which the fluid is discharged from the heat exchange unit. In the case, the inflow port and the discharge port are opened in a facing surface facing a component to which the apparatus is assembled, the inflow port is disposed to face a fluid outlet of the component, and a partition wall that separates an inflow port side and a discharge port side is provided on the facing surface.

Abstract: A control method is performed to control a traction device of a motor vehicle having an internal combustion engine that includes a plurality of cylinders. Each of cylinders has at least one air intake valve, at least one exhaust valve for the combustion gases generated by the internal combustion engine, and a fuel injector. A treatment device is provided for the combustion gases that is active from an actuation temperature. The treatment device is placed downstream of the exhaust valve. The traction device includes an electrical heater for heating the combustion gas treatment device. The traction method further compares a temperature of the combustion gas treatment device with an actuating threshold temperature and actuates the electrical heater and stopping a fuel supply being supplied to one or more of the cylinders as long as the temperature of the combustion gas treatment device is below the actuating threshold temperature.

Abstract: A control method for an electric vehicle controls braking force when the accelerator operation amount is less than a prescribed value and controls drive force when the accelerator operation amount is at least a prescribed value. The electric vehicle control method estimates disturbance torque that acts on the motor as a resistance component relating to gradient; and executes correction whereby the braking force or the drive force is increased/decreased on the basis of the disturbance torque estimated value, such that the resistance component is negated. A determination is made regarding whether or not the accelerator operation amount is a partial equivalent amount and, if at least either the accelerator operation amount on a downhill road is greater than the partial equivalent amount or the accelerator operation amount on an uphill road is less than the partial equivalent amount, the correction amount is reduced.

Abstract: When it is necessary to charge the battery of one vehicle of a plurality of vehicles, a vehicle management computer acquires information relating to a charging facility that supplies electric power to a charge-discharge device, and information relating to the battery of another vehicle, which is different from the first vehicle, and which battery is connected to the first vehicle via the charge-discharge device. Based on the information relating to the charging facility and the information relating to the battery of the other vehicle, the vehicle management computer determines which is least expensive, a first cost associated with charging the battery of the first vehicle using the electric power that is supplied from the charging facility, or a second cost associated with charging the battery of the first vehicle using the electric power that is discharged from the battery of the other vehicle.

Abstract: An intercooler is a two-stage water-cooled intercooler having a first core and a second core. A condenser for an air conditioner includes a water-cooled condenser and an air-cooled condenser. A drive system electrical component such as an inverter, the second core, and the water-cooled condenser are cooled by a second cooling water circuit including a sub-radiator. Cooling is carried out by the second cooling water circuit including the sub-radiator. The sub-radiator and the air-cooled condenser are located in front of a main radiator.

Abstract: An automated driving method for a vehicle includes: determining whether or not a traffic jam is detected ahead of a host vehicle by a distance equal to or more than a predetermined distance on a travel route of the host vehicle during travel by automated driving that brings a vehicle speed close to a target vehicle speed; and in a traffic jam detection time when the traffic jam is detected, reducing the vehicle speed VSP to be lower than a target vehicle speed VSPt0 for the automated driving in a normal time other than the traffic jam detection time.

Abstract: A semiconductor device includes: a substrate; a source region formed on a main surface of the substrate; a well region electrically connected to the source region; a drift region in contact with the well region; a drain region in contact with the drift region; a first electrode electrically connected to the source region; a second electrode electrically connected to the drain region; a third electrode formed in contact with the source region, the well region, and the drift region through an insulating film; and a parasitic capacitance reduction region formed in contact with the source region and in contact with the third electrode through the insulating film and having a higher resistance value than that of the source region.

Abstract: Set a lower limit for an engine revolution speed when an accelerator is off while a temperature of the gasoline particulate filter is equal to or lower than a predetermined first temperature or equal to or higher than a predetermined second temperature, the predetermined second temperature being higher than the predetermined first temperature, and continue the lower limit setting for the engine revolution speed until the accelerator becomes on when the temperature of the gasoline particulate filter increases over the predetermined first temperature from the predetermined first temperature or lower or decreases below the predetermined second temperature from the predetermined second temperature or higher after the lower limit for the engine revolution speed is set.

Abstract: An information processing apparatus includes a communicator for communicating with an on-vehicle communicator mounted on a vehicle and a communication terminal to be operated by a user, and a controller configured to acquire, from the on-vehicle communicator, an update history of at least some of map data stored in a storage medium of the vehicle, determine whether the map data needs to be updated on a basis of the update history, transmit an inquiry signal to the communication terminal via the communicator to inquire whether to allow updating of the map data when the controller has determined to need to update the map data, and transmit an update instruction signal for instructing updating of the map data to the on-vehicle communicator via the communicator when the controller has received an allowance signal for permitting updating of the map data from the communication terminal via the communicator.

Abstract: A first output limit value is determined as an intersection point of a knock-limit output line which is set according to an exhaust gas recirculation rate and ignition timing and an exhaust-temperature-limit output line which is set according to the exhaust gas recirculation rate and ignition timing; a second output limit value is determined as an intersection point of the knock-limit output line and an air-quantity-limit output line which is set according to the exhaust gas recirculation rate, ignition timing and atmospheric pressure; and a third output limit value is determined as an intersection point of the knock-limit output line and a thermal-management-limit output line which is set according to the exhaust gas recirculation rate, ignition timing and vehicle running speed. A value of the exhaust gas recirculation rate at which the condition “P1?P2 or P1?P3” is satisfied is set as a target exhaust gas recirculation rate.

Abstract: A high voltage electrical unit is installed above a floor of a vehicle between left and right seats. A bracket is fixed on the floor between the left and right seats, and the high voltage electrical unit is fixed on a bracket top plate of the bracket. A protect cover for covering the high voltage electrical unit is fixed on the bracket. Strength of the protect cover against a lateral load is made higher than strength of the bracket against the lateral load.

Abstract: A bumper reinforcement includes a main body made of metal, a reinforcing channel member, and a resin block. A mounting portion of a crash box is formed at a vicinity of each end of the main body. The reinforcing channel member includes a web, an upper flange and a lower flange that are placed on an outer panel, an upper panel and a lower panel of the main body at the mounting portion of the crash box, respectively. The reinforcing channel member is extended outward from the each end of the main body. The resin block is provided on an inner face of the reinforcing channel member. The resin block is contact with or joined to the outer panel and an inner panel of the main body at each end of the main body and extended from the each end to an outer edge of the reinforcing channel member.

Abstract: A quality evaluation device operates to: detect a defect present in a component based on a detection result obtained by a non-destructive inspection method; extract feature amounts of the defect from detection information of the defect; specify an evaluation target site in which the defect is present in the component; acquire one or more usage state information values associated with the evaluation target site, the usage state information values being estimated values that represent physical characteristics of the evaluation target site when the component is used; and determine, based at least on the feature amounts and the one or more usage state information values, whether or not the defect is an aggressive defect.

Abstract: Traversing, by an autonomous vehicle, a vehicle transportation network, may include identifying a distinct vehicle operational scenario, wherein traversing the vehicle transportation network includes traversing a portion of the vehicle transportation network that includes the distinct vehicle operational scenario, communicating shared scenario-specific operational control management data associated with the distinct vehicle operational scenario with an external shared scenario-specific operational control management system, operating a scenario-specific operational control evaluation module instance including an instance of a scenario-specific operational control evaluation model of the distinct vehicle operational scenario, and wherein operating the scenario-specific operational control evaluation module instance includes identifying a policy for the scenario-specific operational control evaluation model, receiving a candidate vehicle control action from the policy for the scenario-specific operational contr

Abstract: To provide a display control method and apparatus for a display that can display an appropriate amount of information provided by software for communication in accordance with the information currently being displayed on the display, the disclosure includes detecting a phone call or message reception provided by the software for communication (41); when detecting the phone call or message reception, detecting software (2) that is currently displaying information (52) on the display (5); and determining, in accordance with the software that is currently displaying information on the display, a display form of information (P1) provided by the software for communication to be either a first display form of displaying the information in a part of a display region of the software that is currently displaying information on the display or a second display form in which a display area is larger than that of the first display form.

Abstract: A vehicle door assembly includes an outer door panel that is fixed to an outer periphery of an inner door panel such that the inner door panel and the outer door panel define a door cavity therebetween. A support bracket is attached to a forward area of the inner door panel within the door cavity. A reinforcing panel is attached to the support bracket within the door cavity. A window opening support panel is attached to the support bracket, the reinforcing panel and the inner door panel within the door cavity. A side view mirror is located along an exterior side of the outer door panel. The side view mirror includes at least one fastener that extends through the window opening support panel and the reinforcing panel thereby attaching the side view mirror thereto.

Abstract: Provided is a vehicle control method in which a controller executes sailing stop control in which, if the conditions for stopping a drive source are satisfied during travel, the drive source is stopped and a coupling element provided in a power transmission path between the drive source and a continuously variable transmission is released for coasting. If the conditions for stopping the drive source are not satisfied, the controller restarts the drive source and estimates the driver's intention to accelerate, and if the driver has an intention to accelerate, the gear ratio of the continuously variable transmission is increased to a higher value than when there is no intention to accelerate, and the coupling element is coupled.

Abstract: An inverter unit at an end portion of a motor in a rotation shaft direction, the motor includes a conductive member electrically connected to the inverter unit, the inverter unit includes a control component connected to the conductive member and configured to control driving of the motor, the conductive member extends from the end portion of the motor along a rotation shaft of the motor in a state of being adjacent to the rotation shaft, and the control component is disposed on a radially outer side of the conductive member.

Abstract: An electric motor control method is an control method which is capable of selecting a first mode or a second mode as a control mode for controlling an operation of the electric motor according to an operating state of the electric motor. The method, when the second mode is selected as the control mode, stops a part of processing in the first mode, and continuously executes other processing including integral calculation except for the part of processing in the first mode. Also, the method, when the control mode is switched from the second mode to the first mode, starts the part of processing by using at least one control value obtained by continuing the other processing.

Abstract: A front structure of a motor vehicle includes: a bulkhead extending between an engine compartment and a passenger compartment; two front side members connected to the bulkhead; a steering ball joint provided in the bulkhead and projecting into the engine compartment, the steering ball joint having a base and an oblong orifice provided in the base and defining an edge extending around the oblong orifice facing the engine compartment; and a rack installed in the engine compartment and a rack seal designed to engage between the rack and the steering ball joint. The structure also includes a planar annular part surface mounted on the edge and extending around the oblong orifice in order to be able to extend the reception range of the rack seal.

Abstract: A controller is configured to set a stopping order of a plurality of vehicles, which indicates the vehicle order at a stop location in a stopping area. The controller is further configured to estimate an arrival order, which indicates the order in which the plurality of vehicles arrive at a prescribed location, based on position information of the plurality of vehicles. The controller is further configured to determine whether the arrival order differs from the stopping order The controller is further configured to control the travel of at least one vehicle from among the plurality of vehicles upon determining that the arrival order differs from the stopping order, such that the arrival order is the same as the stopping order by a time the plurality of vehicles arrive at the prescribed location.

Abstract: A positioning tool is disclosed that is configured for use with a front-end module (FEM) of a vehicle to align the FEM with a hood of the vehicle. The positioning tool includes: a body; a receiving member that is connected to the body and configured for engagement with the hood of the vehicle; and at least one engagement member that is supported by the body. The at least one engagement member is configured to interface with the FEM such that movement of the positioning tool causes corresponding movement of the FEM, whereby the FEM is aligned relative to the hood of the vehicle upon closure of the hood of the vehicle.

Abstract: The present disclosure includes a conversion circuit (10) having a switching element and converting DC voltage into AC voltage by switching operation of the switching element, an isolation transformer (3) for which an input side is connected to the conversion circuit (10), a rectifier circuit (4) connected to an outside of the isolation transformer (3), a resonance circuit connected to the output side of the isolation transformer (3), and a control circuit (100) for controlling the switching element, wherein the control circuit (100) turning on the switching element in a period when current flowing through resonance circuit flows from a low potential side terminal to a high potential side terminal of the switching element via the isolation transformer (3).

Abstract: Provided is a spray coating that is disposed on an inner peripheral surface of a cylinder bore of a cylinder block made of aluminum or an aluminum alloy. The spray coating contains 0.005% to 0.14% by mass of carbon, 0.01% to 3.0% by mass of nickel 10% to 20.5% by mass of chromium, 0.05% to 1.5% by mass of silicon, and a balance containing iron and inevitable impurities. The spray coating has a composition that forms a martensite+ferrite (M+F) region in the Schaeffler diagram, and a composition in which a nickel equivalent (NiE) and a chromium equivalent (CrE) satisfy a relationship expressed by the following Formulae (1): NiE?0.95 CrE?8.59, (2): NiE?4.1, and (3): CrE?10. The spray coating has a two-phase structure formed of a martensite phase and a ferrite phase.

Abstract: A vehicle includes a vehicle frame and a vehicle body. The vehicle body is supported on the vehicle frame. The vehicle body has a cabin and a cargo box. The cabin houses one or more vehicle seats of the vehicle. The cabin has a rear wall and the cargo box has a front wall that is adjacent to the rear wall. The rear wall of the cabin and the front wall of the cargo box together define a passthrough that connects a floor of the cargo box and a floor of the cabin. The passthrough is closeable by a barrier.

Abstract: A driving support method including: detecting a first boundary point group including boundary points forming a lane boundary line, using a sensor mounted on a vehicle; converting a coordinate system of the first boundary point group to the same coordinate system as a coordinate system of map data; and performing matching between a first point group constituted by boundary points not close to each other in either one of a second boundary point group including boundary points forming a lane boundary line in the map data and the first boundary point group and the other of the first boundary point group and the second boundary point group.

Abstract: A vehicle strut assembly includes at least a strut member, a bearing assembly, a mounting bracket and a noise isolating member. The bearing assembly encircles an upper end portion of the strut member. The mounting bracket is configured to receive the bearing assembly with mounting bracket encircling the upper end portion of the strut member and further configured to attach to a portion of a vehicle body assembly of a vehicle. The noise isolating member is installed below the mounting bracket and along a surface of the bearing assembly reducing noises transmitted from the vehicle strut assembly to the portion of the vehicle body assembly.

Abstract: A solid-state battery cell includes a cathode, an anode comprising microspheres of lithium metal embedded in an ion and electron conducting oxide-based material, with individual microspheres having a first solid electrolyte interface, and a first solid electrolyte layer comprising a sulfide-based solid electrolyte, the first electrolyte layer positioned between the cathode and the anode. The solid-state battery can also include a second solid electrolyte layer comprising an oxide-based solid electrolyte between the first solid electrolyte layer and the anode, the second solid electrolyte layer having a lower conductivity than the first solid electrolyte layer, and a second solid electrolyte interface between the first solid electrolyte layer and the second solid electrolyte layer.

Abstract: A vehicle body structure includes a front side member, a tow hook, a bumper assembly and a tow hook cover. The tow hook has an attachment end and a hook end. The attachment end is fixedly attached to the front side member and the attachment end extending away from the hook end. The bumper assembly is connected to the front side member and has at least one fascia panel. The tow hook cover is removably attached to the at least one fascia panel. The tow hook cover has an upright wall portion that defines an opening. At least a portion of the hook end of the tow hook extends through the opening such that the attachment end of the tow hook is at least partially concealed by the tow hook cover.

Abstract: A solid oxide fuel cell includes a metal support cell, in which an anode layer containing nickel, an electrolyte layer and a cathode layer are stacked on a metal support portion. In the method for activating the anode layer in the solid oxide fuel cell, first, an oxygen-containing gas is introduced into the anode layer to oxidize the nickel. Next, a hydrogen-containing gas HG is introduced into the anode layer to reduce the nickel oxide formed by oxidizing the nickel, and to increase conduction paths of the nickel that electrically connect the electrolyte layer to the metal support part in the anode layer.

Abstract: A method for automated steering of a motor vehicle including wheels at least two of which are steered wheels. The method comprising: acquiring parameters relating to a path for avoidance of an obstacle by the motor vehicle, and calculating, by a computer, a first steering setpoint for a steering actuator for the steered wheels and a second steering setpoint for at least one actuator for differential braking of the wheels, depending on the parameters. The first and second steering setpoints are each determined by a controller respecting a model that limits setpoint variation and/or range.

Abstract: An object recognition method uses a sensor configured to acquire a position of an object existing in a surrounding environment as point clouds including a plurality of detection points in a top view. The method includes: grouping point clouds according to a proximity; determining, when performing polygon approximation on the grouped point clouds, whether at least part of the detection points constituting the grouped point clouds are located in a blind zone of an approximate polygon acquired by the polygon approximation with respect to the sensor; recognizing the grouped point clouds as point clouds corresponding to plural objects when it is determined that the detection points are located in the blind zone with respect to the sensor; and recognizing the grouped point clouds as point clouds corresponding to a single object of the approximate polygon when it is determined that the detection points are not located in the blind zone.