Abstract: The present invention addresses the problem of efficiently moving a plurality of moving objects under different rule-based control systems without impairing safety. In order to solve this problem, a moving body task estimation unit 501 estimates moving body tasks 541 of a plurality of moving bodies 1 under different rule-based control systems, an optimum route generation unit 503 searches for optimum routes 542 using various combinations of a plurality of pieces of task information, and a common movement route creation unit 504 creates a common movement route 543 for the plurality of moving bodies by overlapping the obtained optimum routes 542.

Abstract: A worker constructs a map necessary for inspection of infrastructure equipment using data acquired using a target imaging device as data necessary for map generation, thereby reducing the cost necessary for transportation and the like of an autonomous inspection apparatus, and moreover, travel evaluation and inspection evaluation are performed using an evaluation function, and a map necessary for the inspection can be corrected based on a travel route of an autonomous travel route and an inspection result based on an evaluation result, whereby the introduction cost can be reduced.

Abstract: Provided is a self-propelled inspection device capable of improving efficiency of system introduction cost, setting, and update work necessary for self-propelling in a self-propelled inspection device expected to be operated outdoors for a long period of time. Therefore, there is provided the self-propelled inspection device that autonomously inspects an inspection object while autonomously traveling an inspection route, the self-propelled inspection device including: a self-position estimation unit that estimates a self-position; a map information database that manages map information for autonomous traveling; a traveling unit including a drive mechanism and a steering mechanism; a sensor that senses the inspection object; a map information update unit that updates the map information based on information sensed by the sensor; and a traveling unit control unit that controls the traveling unit based on the updated map information.

Abstract: A parking assist device according to the present invention includes a backward-direction-path calculation unit that calculates a backward-direction path for taking an own vehicle out from a target parking position B based on constraint conditions of a parking space and an own-vehicle behavior, a connection-candidate-position storage unit that sets a plurality of connection candidate positions D on the backward-direction path, a forward-direction-path calculation unit that calculates a forward-direction path leadable to one of the connection candidate positions D from a current position A of the own vehicle, and a parking-path setting unit that sets a parking path by combining the backward-direction path and the forward-direction path.

Abstract: A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E.

Abstract: A parking support apparatus sets a plurality of candidate connection positions along a reverse direction route, calculates a first connection route, calculates a first parking route by using the first connection route and the reverse direction route, judges whether the candidate connection position exists within a recognition range or not; and if the candidate connection position does not exist within the recognition range, calculates a shortest steering wheel turning position, calculates a second connection route capable of reaching any one of the candidate connection positions calculates a second parking route by using the second connection route and the reverse direction route, when the second parking route can be calculated, the second parking route is selected as the parking route; otherwise, the first parking route is selected as the parking route.

Abstract: An object of the present invention is to provide a parking assistance device capable of computing a parking path that is suitable for given circumstances or user's needs. A parking assistance device of the present invention is a parking assistance device for assisting in parking a vehicle in a parking space provided on one side of a road, the parking assistance device being configured to compute a first parking path for starting moving the vehicle forward from the initial position thereof, and a second parking path for starting moving the vehicle backward from the initial position thereof, select one of the first parking path or the second parking path on the basis of a preset evaluation function, and set the selected path as a parking path to be used.

Abstract: A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.

Abstract: Provided is a travel road recognition device that can accurately recognize a travel road end of a travel road on which an own vehicle travels. A travel road recognition device of the present invention is a travel road recognition device that recognizes the travel road end of the travel road on which an own vehicle 301 travels, and includes: a laser radar 101 that emits a laser bean from the own vehicle 301 toward the travel road; a road surface determination unit 203 that obtains a cross slope of the travel road based on coordinate values of a point cloud obtained by the laser radar 101; and a road end determination unit 204 that obtains a change point at which a slope angle changes in the cross slope of the travel road obtained by the road surface determination unit 203, and obtains coordinate values of at least one travel road end of both sides in a cross direction of the travel road based on the coordinate values of the change point.

Abstract: An autonomous driving control device and an autonomous driving path computation method capable of computing a driving path without extremely changing a movement of a steering wheel during autonomous driving. A parking control device computes a parking path for automatically parking a vehicle, and includes an acceleration section transition curve computing unit that computes an acceleration section transition curve based on a target steering speed set in advance and an acceleration section target vehicle speed, a deceleration section transition curve computing unit that computes a deceleration section transition curve based on the target steering speed and a deceleration target vehicle speed, and a parking path computing unit that computes a parking path using the acceleration section transition curve and the deceleration section transition curve. The parking path is computed by setting the deceleration section target vehicle speed faster than the acceleration section target vehicle speed.

Abstract: A parking assistance device that can, when assisting in angle parking, park a vehicle at a position intended by a driver and in a correct vehicle attitude. The parking assistance device includes a pull-out path computing unit that computes a pull-out path for pulling a vehicle out of a parking space based on parking space information and constraint conditions regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions the pull-out path, a reachable path computing unit that computes a reachable path that allows the vehicle to reach one of the plurality of candidate connection positions from the initial position, and a parking path setting unit that sets a parking path by connecting the pull-out path and the reachable path. The pull-out path computing unit computes the pull-out path based on the angle of inclination between the road orientation and the parking orientation.

Abstract: A parking assistance device assists in re-parking a vehicle that has been parked with its position and orientation deviated from ideal ones, by repositioning the vehicle to be at a correct position and in a correct orientation. A parking assistance device is adapted to assist in parking a vehicle in a parking space provided on one side of a road, and includes a parking path setting unit that sets a parking path of from the initial position of the vehicle on the road to a target parking position in the parking space, a positional deviation determination unit that determines whether there is any positional deviation between the vehicle and the parking space when the vehicle has been parked along the parking path, and a repositioning path computing unit configured to compute a repositioning path when a positional deviation is determined to be present.

Abstract: A self-propelled inspection robot according to the invention includes a self-position estimation unit that performs inspection of an equipment by traveling on a travel route and obtains the position of the self-propelled inspection robot, an obstacle detection unit that detects an obstacle, an inspection continuity determination unit that determines whether the self-propelled inspection robot can continue the inspection, a mode selection unit that selects an automatic mode and a manual mode as a travel mode of the self-propelled inspection robot when the inspection continuity determination unit determines that the inspection cannot be continued, and a control unit that makes the self-propelled inspection robot automatically travel when the inspection continuity determination unit and when the mode selection unit selects the automatic mode, and makes the self-propelled inspection robot travel by a user's operation when the mode selection unit selects the manual mode.

Abstract: A parking assistance apparatus capable of making a parking route shorter when providing parking assistance for parallel parking is obtained. The parking assistance apparatus according to the present invention is a parking assistance apparatus for assisting the parallel parking of a driver's own vehicle 21 and has a configuration that: calculates an escapable position where the driver's own vehicle 21 can be made to escape from a parking area Sp; calculates a parking-space leaving route E where the driver's own vehicle 21 can be moved from the escapable position to an initial position P0 in a passage area Sr; and sets a parking route based on the parking-space leaving route E.

Abstract: A parking assistance device for resetting a parking path when an obstacle is on the parking path includes a pull-out path computing unit that computes a pull-out path for pulling the vehicle out of the parking space based on parking space information and constraints regarding vehicle behavior, a candidate connection position setting unit that sets a plurality of candidate connection positions on the pull-out path, a reachable path computing unit that computes a reachable path for allowing the vehicle to reach at least one of the candidate connection positions from the initial position, a parking path setting unit that sets a parking path of from the initial position to the parking space by connecting the pull-out and reachable paths, and a path resetting unit that computes a parking path of from the stop position to the parking space, and sets the computed parking path as a new parking path.

Abstract: A parking assist apparatus 1 of the present invention assists parallel parking of an own vehicle 21. The parking assist apparatus 1 includes: a first route calculation unit 11 configured to calculate a first route for moving the own vehicle 21 from a target parking position P1 to a virtual departure position P3 based on a parking space and a constraint condition of own vehicle behavior; a second route calculation unit 12 configured to calculate a second route for moving the own vehicle 21 from an initial position P0 where parking assistance is started to the virtual departure position P3; and a parking route setting unit 13 configured to set a parking route of the own vehicle 21 with use of the first route and the second route.

Abstract: An in-vehicle processing device comprises a sensor input unit which acquires sensor information as an output of a sensor which acquires information around a vehicle, a movement information acquisition unit which acquires vehicle movement information as information related to a movement of the vehicle, a log recording unit which records information based on the vehicle movement information and the sensor information in a storage unit, a map generation unit which creates an environmental map including a drivable area where the vehicle can travel based on determination of static objects that do not move and mobile objects that can move by using information based on the vehicle movement information and the sensor information recorded in the storage unit, and a route calculation unit which calculates a travel route of the vehicle by using the environmental map, wherein the environmental map includes information of a parking position as a position of parking the vehicle.

Abstract: A tracking device includes: an imaging unit that inputs an image into an image input unit; a first moving body detection unit that calculates an optical flow and detects a position and a direction of movement of a moving body based on the calculated optical flow; a second moving body detection unit that detects a position and a direction of movement based on a plurality of overhead images generated; a third moving body detection unit that detects a position and a direction of movement by integrating detection results from the first and second moving body detection units; a tracked moving body confirmation unit that determines a moving body to be tracked based on detection results from the first to third moving body detection units; an estimation unit that estimates a future position and direction of movement; and a tracking unit that tracks the tracked moving body and identifies a position.

Abstract: It is an object of the present invention to obtain a parking support apparatus capable of calculating a parking route suited for the circumstances and the needs. A parking support apparatus 1 according to the present invention sets a plurality of candidate connection positions along a reverse direction route for a driver's own vehicle to leave from a target parking position, calculates a first connection route capable of reaching any one of the candidate connection positions, and calculates a first parking route by using the first connection route and the reverse direction route.

Abstract: A parking assist device according to the present invention includes a backward-direction-path calculation unit that calculates a backward-direction path for taking an own vehicle out from a target parking position B based on constraint conditions of a parking space and an own-vehicle behavior, a connection-candidate-position storage unit that sets a plurality of connection candidate positions D on the backward-direction path, a forward-direction-path calculation unit that calculates a forward-direction path leadable to one of the connection candidate positions D from a current position A of the own vehicle, and a parking-path setting unit that sets a parking path by combining the backward-direction path and the forward-direction path.