Abstract: A traveling trajectory estimation system obtains traveling record information indicating a past traveling record of a vehicle, and characteristic object position information indicating the installation position of a characteristic object, and performs a vehicle position estimation process to estimate an object vehicle position at an object time, based on the traveling record information and the characteristic object position information. In the vehicle position estimation process, not only a time previous to the object time, but also a time subsequent to the object time, is used as a reference time. The traveling trajectory estimation system sets each of a plurality of successive times as the object time, and performs the vehicle position estimation process, to estimate the object vehicle positions at the respective times, and determines a collection of the estimated object vehicle positions as a traveling trajectory of the vehicle.

Abstract: A traffic signal display estimation system recognizes, based on the position information of a vehicle and a traffic signal information, a traffic signal included in a camera image, identifies a traffic signal display for each recognized traffic signal, and calculates, for each traffic signal, a first evaluation value indicating the certainty of the identified traffic signal display. The system integrates, based on a traffic-signal-to-traffic-signal relational information, a forward traffic signal that is ahead of the travelling direction and that the vehicle should follow and a traffic signal correlated with the forward traffic signal in terms of the traffic signal display, among a plurality of recognized traffic signals. When there is an inconsistency in traffic signal displays identified between a plurality of integrated traffic signals, the system determines a first estimated traffic signal display of the forward traffic signal, based on the first evaluation value for each traffic signal.

Abstract: A distribution calculation process, a similarity level calculation process, a similarity level evaluation process, and a collision determination process are executed. In the distribution calculation process, a probability density distribution related to a future position of a moving object is calculated for each behavior pattern using position data and speed data of the moving object, error data thereof, and a plurality of behavior models set for each behavior pattern corresponding to a type of the moving object. In the similarity level calculation process, a similarity level between the probability density distribution and a reference probability density distribution is calculated for each behavior pattern. In the similarity level evaluation process, the similarity level is evaluated. The similarity level includes an out-of-range level falling below a similarity allowable range.

Abstract: An automated driving trajectory generating device is configured to: recognize a mobile object which is located near a vehicle; calculate a host vehicle path for automated driving of the vehicle and a plurality of predicted paths of the mobile object based on a position of the vehicle on a map, a position of the mobile object on the map, and map information; calculate a predicted acceleration which is generated in the mobile object moving along a predicted path for each predicted path based on the plurality of predicted paths and a vehicle speed of the mobile object; identify a target path which is a predicted path used to generate the trajectory out of the plurality of predicted paths based on a result of comparison between the predicted acceleration and an acceleration threshold value; and generate the trajectory based on the host vehicle path and the target path.

Abstract: The vehicle position estimation apparatus that estimates the position of the host vehicle includes: a laser light irradiation unit configured to illuminate laser light; a light reception element configured to receive reflection light of the laser light and reflection light of ambient light which is light other than the laser light and be able to detect an intensity of each of the received reflection light; and a host position estimation unit configured to estimate the position of the host vehicle, based on a result of light reception of the reflection light of the laser light received by the light reception element and a result of light reception of the reflection light of the ambient light.

Abstract: The object detection apparatus detects an object target by using the LIDAR and the camera. The object detection apparatus includes a calibration processing unit that is configured to perform calibration of the LIDAR and the camera. The LIDAR includes a light reception element configured to receive reflection light of irradiated laser light and reflection light of ambient light which is light other than the laser light and to detect an intensity of the received reflection light of the ambient light. The calibration processing unit is configured to perform the calibration, based on a result of light reception of the received reflection light of the ambient light and the camera image captured by the camera.

Abstract: The object detection apparatus includes: a laser light irradiation unit; a light reception element configured to detect a laser light intensity of reflection light of laser light and an ambient light intensity of reflection light of ambient light; a correlation information generation unit configured to generate correlation information indicating a correlation relationship between the laser light intensity and the ambient light intensity; an image correction unit configured to correct the camera image captured by the camera based on the correlation information and generate a corrected camera image; and an object detection unit configured to detect an object target based on the corrected camera image.

Abstract: An object detection apparatus includes: a laser light irradiation unit; a light reception element configured to detect reflection light of the laser light and reflection light of ambient light which is light other than the laser light; a camera; an information correction unit configured to generate corrected ambient light information by correcting ambient light information, which is information about the reflection light of the ambient light detected by the light reception element, based on a camera image; an object detection unit configured to detect an object target, based on the corrected ambient light information and laser light information received by the light reception element.

Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.

Abstract: A vehicle control system includes a vehicle control apparatus configured to set a target trajectory of a vehicle in autonomous driving, a manual driving database configured to contain manual driving trajectory information that indicates a manual driving trajectory that is a trajectory of the vehicle in manual driving, a weight acquisition device configured to acquire weight information that indicates weights of the target trajectory and manual driving trajectory, the weights being designated by a user of the vehicle, and a trajectory adjusting device configured to determine an integrated target trajectory by integrating the target trajectory and the manual driving trajectory based on the weights indicated by the weight information. The vehicle control apparatus is configured to control the autonomous driving of the vehicle such that the vehicle follows the integrated target trajectory.

Abstract: An assistance control system performs assistance control for causing a moving object to move to a destination based on map information. The assistance control system includes an electronic control unit. The electronic control unit is configured to generate or update the map information based on input from a sensor mounted on the moving object, acquire a plurality of route candidates to the destination, evaluate certainty of the map information for each location or each section, and calculate a map information evaluation value, evaluate accuracy of the assistance control in the acquired route candidates based on the calculated map information evaluation value, and present a route candidate having the highest priority among the route candidates to an occupant of the moving object, or control the moving object along the route candidate having the highest priority.

Abstract: A map information system includes a map database including map information; and a driving assist level determination device. The map information is associated with an evaluation value indicating a certainty of the map information for each location in an absolute coordinate system. Information indicating that the intervention operation is performed is included in driving environment information indicating a driving environment of a vehicle. The driving assist level determination device is configured to acquire, based on the driving environment information, intervention operation information indicating an intervention operation location where the intervention operation is performed, acquire, based on the map information, the evaluation value for each point or section in a target range, and determine, based on the evaluation value and the intervention operation location, an allowable level for each point or section within the target range.

Abstract: An assistance control system performs assistance control for causing a moving object to move to a destination based on map information. The assistance control system includes an electronic control unit. The electronic control unit is configured to generate or update the map information based on input from a sensor mounted on the moving object, acquire a plurality of route candidates to the destination, evaluate certainty of the map information for each location or each section, and calculate a map information evaluation value, evaluate accuracy of the assistance control in the acquired route candidates based on the calculated map information evaluation value, and present a route candidate having the highest priority among the route candidates to an occupant of the moving object, or control the moving object along the route candidate having the highest priority.

Abstract: Camera image information includes an image that is imaged by a camera installed on a vehicle. Lamp pattern information, which is information on a traffic signal having plural lamp parts, indicates a relative positional relationship between the plural lamp parts and an appearance of each lamp part when lighted. A system detects a subject traffic signal around the the vehicle based on the camera image information to acquire traffic signal detection information that indicates at least an appearance of each of plural detected parts of the subject traffic signal. The system compares the traffic signal detection information with the lamp pattern information. The system recognizes a lighting state of the plural lamp parts that is consistent with the appearance of each of the plural detected parts of the subject traffic signal as a lighting state of the subject traffic signal.

Abstract: In deceleration set processing, first-class and second-class deceleration are specified. The first-class deceleration is deceleration of the vehicle corresponding to a first-class state. The first-class state is a state of a slowdown target of the vehicle. The second-class deceleration is deceleration of a following moving body corresponding to a second-class state. The second-class state is a state of the vehicle as viewed from the following moving body. If a minimum value of the first-class deceleration (a first-class minimum value) is equal to or greater than a minimum value of the second-class deceleration (a second-class minimum value), target deceleration is set to the first-class minimum value. Otherwise, based on a second-class minimum value phase, the target deceleration is set to deceleration equal to or greater than the second-class minimum value. The second-class minimum value phase is a phase to which the second-class minimum value belongs in a second deceleration feature.

Abstract: Setting processing of a target acceleration is executed based on a deceleration feature. In the deceleration feature, a relationship between deceleration and a state of a slowdown target of a vehicle is defined. In the deceleration feature, the state is divided into multiple phases by a predetermined boundary deceleration. In the setting processing, at least one deceleration corresponding to the state is specified. Also, a plausibility indicating an accuracy of information on the state or the accuracy of information associated with the state is calculated for each of the at least one deceleration. Further, a minimum value of the at least one deceleration is specified. Based on a phase to which the minimum value belongs in the deceleration feature and a minimum value plausibility indicating a plausibility corresponding to the minimum value, the minimum value is reflected to a target acceleration in a reflection degree of 0 to 100%.

Abstract: An autonomous driving system that performs a traveling of an autonomous driving vehicle based on a remote instruction by a remote commander includes: a vehicle position acquisition unit configured to acquire a position of the autonomous driving vehicle on the map; an external environment recognition unit configured to recognize an external environment of the autonomous driving vehicle; a remote instruction location situation recognition unit configured to recognize a remote instruction location situation on a target route of the autonomous driving vehicle set in advance based on the target route, the position of the autonomous driving vehicle on the map, and map information; and a remote instruction request determination unit configured to determine whether or not to request the remote commander for the remote instruction with regard to the remote instruction location situation, based on the external environment of the autonomous driving vehicle.

Abstract: A traffic signal information management system executes a region-of-interest calculation processing to calculate, based on a position information of a vehicle and a traffic signal information indicating the position of a traffic signal, a region of interest in which a traffic signal is presumed to be present in an image imaged by the camera, and also execute a traffic signal image detection processing to detect a traffic signal image included in the region of interest. The traffic signal information management system then execute an evaluation processing to perform a comparison between the position of the region of interest calculated by the region-of-interest calculation processing and the position of the traffic signal image detected by the traffic signal image detection processing and evaluate the certainty of the traffic signal information based on the comparison.

Abstract: A traffic signal interpretation system applied to a vehicle sets an action pattern of a vehicle with respect to a target area where a traffic signal is installed. Corresponding pattern information indicates a correspondence relationship between a lighting state of the traffic signal and the action pattern. Rule information indicates a rule that permits or prohibits a transition of the action pattern. The traffic signal interpretation system refers to the corresponding pattern information to acquire the action pattern corresponding to the lighting state as a provisional action pattern. When the provisional action pattern becomes one different from a previous action pattern, the traffic signal interpretation system sets a current action pattern by correcting a transition from the previous action pattern to the provisional action pattern so as to be consistent with the rule indicated by the rule information.

Abstract: A traffic signal display estimation system recognizes, based on the position information of a vehicle and a traffic signal information, a traffic signal included in a camera image, identifies a traffic signal display for each recognized traffic signal, and calculates, for each traffic signal, a first evaluation value indicating the certainty of the identified traffic signal display. The system integrates, based on a traffic-signal-to-traffic-signal relational information, a forward traffic signal that is ahead of the travelling direction and that the vehicle should follow and a traffic signal correlated with the forward traffic signal in terms of the traffic signal display, among a plurality of recognized traffic signals. When there is an inconsistency in traffic signal displays identified between a plurality of integrated traffic signals, the system determines a first estimated traffic signal display of the forward traffic signal, based on the first evaluation value for each traffic signal.