Abstract: A vehicle periphery information verification device comprises: an obstacle detecting unit configured to detect an obstacle; an arranging unit configured to arrange a travelable region in which a vehicle is travelable and the detected obstacle on a map; an action determining unit configured to determine an action of a host vehicle by using information on the arranged obstacle; a judging unit configured to judge whether the arranged obstacle is arranged in the travelable region; and a prohibiting unit configured to prohibit the action determining unit from determining the action of the host vehicle when the obstacle is determined to be not arranged in the travelable region.

Abstract: A step detection device detects the distance and the direction to a road surface around a vehicle, using a distance sensor mounted on the vehicle, and sets a first step determination position and a second step determination position on the road surface. Then, the step detection device calculates the height changes of the road surfaces at the first step determination position and the second step determination position based on the distance and the direction to the road surface, and detects a step on the road surface based on one of the step determination positions, the gradient of the height change of the road surface at the one being larger.

Abstract: A travel control method includes estimating the position of a subject vehicle on the basis of a detection result of a first detector, detecting a lane in which the subject vehicle travels, on the basis of a detection result of a second detector, determining that whether the position of the subject vehicle based on the positional information is included in the lane and outputting the determination as a first determination result, and determining that whether the position of the subject vehicle estimated on the basis of the detection result of the first detector is included in the lane and outputting the determination as a second determination result, and a step of performing a position estimation process of estimating the position of the subject vehicle on the basis of the detection result of the first detector when the first determination result and the second determination result are not identical.

Abstract: A travel control method includes estimating the position of a subject vehicle on the basis of a detection result of a first detector, detecting a lane in which the subject vehicle travels, on the basis of a detection result of a second detector, determining that whether the position of the subject vehicle based on the positional information is included in the lane and outputting the determination as a first determination result, and determining that whether the position of the subject vehicle estimated on the basis of the detection result of the first detector is included in the lane and outputting the determination as a second determination result, and a step of performing a position estimation process of estimating the position of the subject vehicle on the basis of the detection result of the first detector when the first determination result and the second determination result are not identical.

Abstract: A step detection device detects the distance and the direction to a road surface around a vehicle, using a distance sensor mounted on the vehicle, and sets a first step determination position and a second step determination position on the road surface. Then, the step detection device calculates the height changes of the road surfaces at the first step determination position and the second step determination position based on the distance and the direction to the road surface, and detects a step on the road surface based on one of the step determination positions, the gradient of the height change of the road surface at the one being larger.

Abstract: A vehicle periphery information verification device comprises: an obstacle detecting unit configured to detect an obstacle; an arranging unit configured to arrange a travelable region in which a vehicle is travelable and the detected obstacle on a map; an action determining unit configured to determine an action of a host vehicle by using information on the arranged obstacle; a judging unit configured to judge whether the arranged obstacle is arranged in the travelable region; and a prohibiting unit configured to prohibit the action determining unit from determining the action of the host vehicle when the obstacle is determined to be not arranged in the travelable region.

Abstract: A control method allows an own vehicle to proceed through a specific intersection into which vehicles are permitted to proceed in the order that the vehicles arrive. The method includes setting a determination region within a lane other than a lane in which the own vehicle travels; determining whether the own vehicle reaches a certain position at the near side of the specific intersection; allocating a priority state to the determination region when the own vehicle reaches the certain position and allocating a non-priority state to the determination region in which the vehicle does not exist when the own vehicle reaches the certain position; changing the priority state of the determination region to the non-priority state when the vehicle no longer exists in the determination region; and allowing the own vehicle to proceed into the specific intersection when the determination region of the priority state is not present.

Abstract: A control method allows an own vehicle to proceed through a specific intersection into which vehicles are permitted to proceed in the order that the vehicles arrive. The method includes setting a determination region within a lane other than a lane in which the own vehicle travels; determining whether the own vehicle reaches a certain position at the near side of the specific intersection; allocating a priority state to the determination region when the own vehicle reaches the certain position and allocating a non-priority state to the determination region in which the vehicle does not exist when the own vehicle reaches the certain position; changing the priority state of the determination region to the non-priority state when the vehicle no longer exists in the determination region; and allowing the own vehicle to proceed into the specific intersection when the determination region of the priority state is not present.