Abstract: In the vehicle control device mounted on the vehicle, the information acquisition unit 11 acquires a vehicle information data group representing vehicle information regarding the behavior of the vehicle 2, a road environment data group 32 representing road environment information regarding the environment of the road on which the vehicle 2 is traveling, and a sensor recognition data group 33 representing sensor recognition information regarding the surrounding environment of the vehicle 2 recognized by the external sensor group 4 mounted on the vehicle 2. Based on the road environment data group 32 and the sensor recognition data group 33, the apparent obstacle prediction unit 12 predicts the future behavior of the apparent obstacle that may hinder the traveling of the vehicle 2.

Abstract: A vehicle control apparatus appropriately resumes traveling after a host vehicle performs an escaping action. The vehicle control apparatus includes a candidate area determination unit that determines a passable area, which is an area where a host vehicle and an oncoming vehicle can pass each other, on a road where there is an area where the host vehicle and the oncoming vehicle cannot pass each other, an action plan determination unit that determines an action plan indicating a sequence of action steps, of the host vehicle, a trajectory generation unit generating a travel trajectory of the host vehicle in the passable area, an action plan update unit that updates the action plan based on a position of the oncoming vehicle and a travel trajectory of the host vehicle generated by the trajectory generation unit, and a travel control unit controlling travel of the host vehicle according to the action plan.

Abstract: An electronic control apparatus is mounted on a vehicle and includes an information acquiring section that acquires traveling environment information concerning a traveling environment around the vehicle, an immobility risk area estimating section that estimates an immobility restriction area on the basis of the traveling environment information, the immobility restriction area being an area where, if the vehicle is immobilized therein, the vehicle obstructs an action by a mobile object other than the vehicle, and being an area where immobility of the vehicle is restricted, and a traveling control planning section that plans traveling control of the vehicle on the basis of the estimated immobility restriction area.

Abstract: In the vehicle control device mounted on the vehicle, the information acquisition unit 11 acquires a vehicle information data group representing vehicle information regarding the behavior of the vehicle 2, a road environment data group 32 representing road environment information regarding the environment of the road on which the vehicle 2 is traveling, and a sensor recognition data group 33 representing sensor recognition information regarding the surrounding environment of the vehicle 2 recognized by the external sensor group 4 mounted on the vehicle 2. Based on the road environment data group 32 and the sensor recognition data group 33, the apparent obstacle prediction unit 12 predicts the future behavior of the apparent obstacle that may hinder the traveling of the vehicle 2.

Abstract: A driving support system includes a storage unit that stores a plurality of pieces of invasion event information including information on an invasion position where a moving object invades a traveling region, the invasion event information being information on an invasion event in which the moving object invades the traveling region, an invasion frequent occurrence region calculation unit that specifies an invasion frequent occurrence region which is a region where the invasion event easily occurs based on the plurality of pieces of invasion event information, a position specification unit that specifies a position of the vehicle, and a driving support unit that supports driving of the vehicle by notifying an occupant of the vehicle and controlling traveling of the vehicle based on a relationship between the invasion frequent occurrence region and the position of the vehicle.