Abstract: A vehicle control device includes a mid-term trajectory generation unit and a short-term trajectory generation unit, one of which generates a travel trajectory on which a vehicle can travel without interfering with an obstacle. The mid-term trajectory generation unit or the short-term trajectory generation unit: generates a travel route that passes through a second potential-travelling region which is obtained by subtracting obstacle regions, indicating obstacles, from a vehicle first potential-travelling region that is defined by the road environment; and generates the travel trajectory on the basis of the generated travel route.

Abstract: The present invention relates to a vehicle control apparatus least a partial automatic control over the travel of the host vehicle. A following variable generating unit (96) calculates a predicted position of an other vehicle at a predicted time point ahead of the present time point, sets a target position which is short of the predicted position by a target intervehicle distance, and determines a first following variable for causing the host vehicle to reach the target position at the predicted time point.

Abstract: A vehicle control system includes: a recognizer that recognizes a distribution state of obstacles in an advancement direction of a vehicle; a trajectory determiner that determines a target trajectory for each vehicle wheel of the vehicle on the basis of the distribution state of the obstacles recognized by the recognizer; and an automated driving controller that executes automated driving of the vehicle along the target trajectory determined by the trajectory determiner.

Abstract: A vehicle control system includes a lane line recognizer that recognizes lane lines of a road on which a vehicle is traveling, a virtual line setter that sets, when there is a section in which the lane lines are not recognizable by the lane line recognizer after passing through a gate installed on the road, a virtual line with a terminating end portion of a lane line extending from the gate or an object present near the gate as one end and a beginning end portion of the lane line in a future travel area of the vehicle which is present ahead of the section in which the lane lines are not recognizable as another end, and an automated driving controller that performs automated driving in the section in which the lane lines are not recognizable on the basis of the virtual line set by the virtual line setter.

Abstract: A vehicle control system includes: a position recognizing unit recognizing a position of a vehicle; a locus generating unit generating a target locus of the vehicle; and a running control unit setting a reference position with respect to the position of the vehicle recognized by the position recognizing unit on the target locus generated by the locus generating unit and controlling steering of the vehicle on the basis of a circular arc that has a tangent along an travelling direction of the vehicle and passes through the reference position and the position of the vehicle.

Abstract: A vehicle control system includes a trajectory generation unit configured to generate a target trajectory of a vehicle, a determination unit configured to determine whether or not the vehicle is about to stop on the basis of the target trajectory generated by the trajectory generation unit, and a post-stop target trajectory generation unit configured to generate a post-stop target trajectory after the vehicle stops on the basis of the target trajectory before the vehicle stops in a case where it is determined that the vehicle is about to stop by the determination unit.

Abstract: A vehicle control device which controls acceleration/deceleration of a vehicle includes: a switch controller; a recognizer; an actual vehicle-to-vehicle distance calculator; and a target vehicle-to-vehicle distance calculator. Switching criteria for the switch controller's switching the control condition from the first control condition to the second control condition include a criterion that the absolute value of a difference between an actual vehicle-to-vehicle distance calculated by the actual vehicle-to-vehicle distance calculator and a target vehicle-to-vehicle distance calculated by the target vehicle-to-vehicle distance calculator is less than or equal to a predetermined threshold.

Abstract: This vehicle control device is provided with: a detection unit; and an external environment recognition unit that extracts a target object and left and right recognition lines of a traveling path. Additionally, a local environment map creation unit of the vehicle control device calculates an area of activity of an own vehicle and left and right border lines which indicate a limit of non-interference with the target object. Furthermore, the local environment map creation unit calculates left and right recommended border lines during traveling of the own vehicle by adding a margin interval that narrows the left and right border lines toward the inside.

Abstract: This vehicle control device is provided with: an external sensor which detects a vehicle stop position present ahead of a host vehicle in the travel direction; and a remaining distance calculation unit which calculates the remaining distance to the detected vehicle stop position from the host vehicle. The vehicle control device further provided with a medium-term trajectory generation unit and a short-term trajectory generation unit which use a predefined setting method to set a target speed for decelerating the host vehicle in accordance with the calculated remaining distance.

Abstract: This vehicle control device is provided with: an external sensor which detects a vehicle stop position; a vehicle sensor which detects the vehicle speed; a remaining distance calculation unit which calculates the remaining distance; and a short-term trajectory generation unit which sets a target speed on the basis of the remaining distance and the vehicle speed . Furthermore, the short-term trajectory generation unit of the vehicle control device performs correction for increasing the degree of deceleration if a predicted stop position from a prediction unit is predicted to go beyond the vehicle stop position, and performs correction for reducing the degree of deceleration of the host vehicle if the predicted stop position is predicted to be before the vehicle stop position.

Abstract: A vehicle control system includes: a recognizer configured to recognize an obstacle in a moving direction of a vehicle; an estimator configured to estimate at least one of a kind and a shape of the obstacle recognized by the recognizer; and an action plan generator configured to generate an action plan of the vehicle based on an estimation result of the estimator.

Abstract: The present invention relates to a vehicle control device for automatically controlling at least a part of the drive control of the host vehicle. If an external condition detecting unit detects a first other vehicle subject to following control and a second other vehicle which exhibits the traveling movements of cutting in between the first other vehicle and the host vehicle, a deceleration limiter sets limits that differ depending on whether or not the relative speed of the host vehicle vis-a-vis the second other vehicle exceeds a speed threshold having a positive value.

Abstract: A vehicle control system includes: a detection unit configured to detect an obstacle in front of a vehicle; a risk determining unit configured to determine a degree of risk to a vehicle of the obstacle detected by the detection unit; and an action plan generating unit configured to search for a retreat destination candidate for the vehicle, determine a degree of safety of the retreat destination candidate, and generate a retreat action plan for the vehicle on the basis of a result of the determination of the degree of safety of the retreat destination candidate in a case in which the degree of risk determined by the risk determining unit is equal to or higher than a threshold.

Abstract: A vehicle control system includes a lane line recognizer that recognizes lane lines of a road on which a vehicle is traveling, a virtual line setter that sets, when there is a section in which the lane lines are not recognizable by the lane line recognizer after passing through a gate installed on the road, a virtual line with a terminating end portion of a lane line extending from the gate or an object present near the gate as one end and a beginning end portion of the lane line in a future travel area of the vehicle which is present ahead of the section in which the lane lines are not recognizable as another end, and an automated driving controller that performs automated driving in the section in which the lane lines are not recognizable on the basis of the virtual line set by the virtual line setter.

Abstract: A vehicle control system includes: an information acquiring unit that acquires an index value relating to easiness of merging which is evaluated on the basis of at least one of vehicle information relating to an operation of another vehicle that has advanced from a merging lane to a main lane before a subject vehicle and external system information acquired near a merging point using the other vehicle in a case in which the subject vehicle is running in the merging lane merging into the main lane; and an automated driving control unit that executes automated driving of the subject vehicle on the basis of the index value acquired by the information acquiring unit.

Abstract: A vehicle control apparatus includes a generation unit configured to generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle, a traveling control unit configured to control a traveling of the own vehicle on the basis of the trajectory generated by the generation unit, and a storage control unit configured to cause a storage unit to store information indicating a steering component corresponding to a trajectory previously generated by the generation unit when the own vehicle is stopped.

Abstract: In the present invention, automated driving control of a vehicle during automated driving is fundamentally performed by referring to a medium-term trajectory which is generated in a medium period having a relatively long computation period and in which emphasis is placed on the smoothness of driving behavior changes. As an exception, in cases in which reference-excluding conditions are matched, the medium-term trajectory is ignored, and automated driving control of the vehicle is performed using only a short-term trajectory generated in a short period having a shorter computation period than the medium period. Thus, a vehicle control device is provided which ensures adaptability without diminishing responsiveness.

Abstract: In this vehicle control device, a low-level short-terra trajectory generating unit generates a short-term trajectory by using the newest dynamic external environment recognition information while also using the same static external environment recognition information (lane shape information, or the like) as the static external environment recognition information used by a high-level medium-term trajectory generating unit. Performing such control prevents inconsistency between the external environment information (environment information) used by the low-level short-term trajectory generating unit and that used for a medium-term trajectory, which is a high-level trajectory, and makes stable trajectory output possible.

Abstract: Provided is a vehicle control apparatus with which when autonomous driving is switched from an off state to an on state by an autonomous driving switch, the transition to autonomous driving is made according to the previous target path generated in the autonomous-driving off state or the predicted path generated on the basis of the latest vehicle state information, thereby allowing instantaneous and smooth transition from manual driving to autonomous driving.

Abstract: An integrated object formation of a vehicle control device forms integrated objects, which are integral objects, the boundaries of the integrated objects being determined from the positional relationship between two or ore objects in a prescribed distance range. An interference prediction unit of the vehicle control device predicts the probability of the integrated objects, instead of each of the objects, coming into contact with, or near, a vehicle.