Abstract: A driving support device includes a determiner that determines that a driver of a mobile body is to be prompted to avoid contact with an object detected by an object detection device whose detection range includes at least an area toward which the mobile body advances by steering and determines a preferred steering direction for avoiding contact with the object and a controller that causes an actuator configured to be able to output a force to a steering operator to vibrate in the preferred steering direction at a frequency of 10 hertz or more and 30 hertz or less upon determining that the driver of the mobile body is to be prompted to avoid contact with the object by steering.

Abstract: A control system of a mobile object that can move in any one operation mode determined from a plurality of operation modes is provided. The control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: determine whether a predetermined road is a first road in which passage of vehicles in a mode other than a first operation mode in which a maximum moving speed of the mobile object is less than a predetermined speed is restricted; and execute a first process of generating a route of the mobile object so as to include the road determined to be first road and a second process of generating a route of the mobile object so as not to include the road determined to be the first road.

Abstract: A driving assistance device that is one aspect of the embodiment includes a recognizer configured to recognize surrounding conditions of a host vehicle, a determiner configured to determine whether the host vehicle is able to pass through a traveling section ahead on the basis of a result of the recognition by the recognizer, and an output controller configured to cause an output to output information based on a result of the determination by the determiner, in which, when a first distance between a marking line for dividing a traveling path of the host vehicle, which is recognized by the recognizer, and an obstacle in front of the host vehicle is equal to or greater than a predetermined distance, the determiner determines that the host vehicle is able to pass next to the obstacle.

Abstract: A control device includes a recognizer that recognizes a surrounding situation of a mobile body, a path generator that generates a path through which a reference position of the mobile body is to pass based on the surrounding situation, a passage area setter that sets boundary lines of a passage area of the mobile body at positions that are offset to the left and right from the path, a corrector that corrects the path based on the passage area and the surrounding situation of the mobile body, and a controller that controls a drive device provided in the mobile body such that the mobile body moves along the path corrected by the corrector, wherein when the path includes a turn, the passage area setter makes an amount of offset on an outside of the turn greater than an amount of offset on an inside of the turn.

Abstract: An information processing device for generating a trajectory of a moving object includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a travel environment around the moving object, calculate a risk value to be set for a region surrounding a target located in the recognized travel environment, and generate a travel trajectory of the moving object as a travel trajectory along which a plurality of trajectory points are arranged. The trajectory is generated by executing an iterative process and a current travel trajectory is generated by designating a previous travel trajectory generated at a processing timing before a current processing timing as a reference line and offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line on the basis of the risk value.

Abstract: A mobile object control device recognizes an object which is located near a vehicle, generates a movement plan for the vehicle, which includes generation of a target trajectory in which the vehicle is to travel and which is obtained by connecting a plurality of trajectory points, and generates, when generating the movement plan, the target trajectory such that a line which is obtained by connecting trajectory points adjacent to each other with respect to a traveling direction of the vehicle does not pass through a risk area including the recognized object.

Abstract: A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine a stop position of a moving object in a sidewalk region near a specific location in a case where a degree of congestion of a sidewalk near the specific location is less than a threshold value, and determines the stop position in a region that does not belong to the sidewalk region near the specific location in a case where the degree of congestion of the sidewalk near the specific location is equal to or more than the threshold value.

Abstract: A moving body control system generates a reference route indicating a route from a position of the moving body on which the moving body travels and determines a part of the reference route to be referred to for controlling travel of the moving body out of the reference route. The system determines a control amount for controlling travel of the moving body with reference to the determined part of the reference route. The system determines a part of the reference route so as to include a position distant from the position of the moving body out of a terminal end of a straight line forming the reference route identified by first identification processing, and a terminal end or a change point of a predetermined curvature of a curved line forming the reference route identified by second identification processing.

Abstract: A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine whether or not an element selected on a basis of a priority based on the type of a specific location near the sidewalk among a plurality of elements satisfies a criterion defined for each element, and determine whether or not a sidewalk is to be included in a route of a moving object on a basis of a result of determination of whether or not the element satisfies the criterion.

Abstract: A control system of a mobile object that can move in any one operation mode determined from a plurality of operation modes is provided. The control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: generate evaluation information for a trajectory of the mobile object including a trajectory on a sidewalk; each of the plurality of operation modes being associated with an acceptance level for an event that may occur when the mobile object moves along a trajectory; and generate the evaluation information for the trajectory based on the acceptance level in the operation mode associated with an event that occurs when moving along the trajectory.

Abstract: A drive assist apparatus includes: an avoidance target recognition portion that recognizes an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road; a steering control portion that assists steering of the host vehicle at a time of the host vehicle and the avoidance target passing each other; a margin detection portion that detects a margin indicating a distance between the host vehicle and the avoidance target at the time of passing each other; and a level change portion that changes a steering assistance degree of the host vehicle by the steering control portion at subsequent times of passing each other based on the margin detected by the margin detection portion.

Abstract: A moving object control system includes a storage device configured to store instructions; and one or more processors, wherein the one or more processors executes the instructions stored in the storage device to determine whether or not an element selected on a basis of a priority based on the type of a specific location near the sidewalk among a plurality of elements satisfies a criterion defined for each element, and determine whether or not a sidewalk is to be included in a route of a moving object on a basis of a result of determination of whether or not the element satisfies the criterion.

Abstract: A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road surface around the mobile object is imaged; recognize support information for supporting walking of a specific traffic participant who is a traffic participant having a predetermined attribute obtained from the road surface imaged in the image and the traffic participant imaged in the image; predict a behavior of the recognized traffic participant based on the support information; and control the behavior of the mobile object based on the support information and the prediction result.

Abstract: A drive assist apparatus includes: an avoidance target recognition portion that recognizes an avoidance target which is a target with which a host vehicle should avoid coming into contact when traveling on a road; and an output control portion that causes an output device to output an advice for a driver who drives the host vehicle at a plurality of stages which include: a pre-stage before mutual passing between the host vehicle and the avoidance target; and a post-stage after the mutual passing.

Abstract: A control device includes a recognizer that recognizes a surrounding situation of a mobile body, a path generator that generates a path through which a reference position of the mobile body is to pass based on the surrounding situation, a passage area setter that sets boundary lines of a passage area of the mobile body at positions that are offset to the left and right from the path, a corrector that corrects the path based on the passage area and the surrounding situation of the mobile body, and a controller that controls a drive device provided in the mobile body such that the mobile body moves along the path corrected by the corrector, wherein when the path includes a turn, the passage area setter makes an amount of offset on an outside of the turn greater than an amount of offset on an inside of the turn.

Abstract: A driving assistance device that is one aspect of the embodiment includes a recognizer configured to recognize surrounding conditions of a host vehicle, a determiner configured to determine whether the host vehicle is able to pass through a traveling section ahead on the basis of a result of the recognition by the recognizer, and an output controller configured to cause an output to output information based on a result of the determination by the determiner, in which, when a first distance between a marking line for dividing a traveling path of the host vehicle, which is recognized by the recognizer, and an obstacle in front of the host vehicle is equal to or greater than a predetermined distance, the determiner determines that the host vehicle is able to pass next to the obstacle.

Abstract: A driving support device includes a determiner that determines that a driver of a mobile body is to be prompted to avoid contact with an object detected by an object detection device whose detection range includes at least an area toward which the mobile body advances by steering and determines a preferred steering direction for avoiding contact with the object and a controller that causes an actuator configured to be able to output a force to a steering operator to vibrate in the preferred steering direction at a frequency of 10 hertz or more and 30 hertz or less upon determining that the driver of the mobile body is to be prompted to avoid contact with the object by steering.

Abstract: A mobile object control system includes: a storage device configured to store a instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: determining whether a roadway is a pedestrian road in which passage of vehicles is restricted; expanding a movable area in which the mobile object can move in a width direction of the roadway when it is determined that the roadway is the pedestrian road; and controlling the mobile object based on the movable area.

Abstract: A mobile object control system includes: a storage device configured to store instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: acquire an image in which a road where a mobile object is present is imaged; recognize support information for supporting movement of a specific traffic participant who is a traffic participant having a predetermined attribute appearing on a road surface included in the image; recognize a road structure included in the image or a road structure which is a structure provided on the road; move the mobile object at least based on a trajectory determined using the support information when the support information is recognized; and move the mobile object based on a trajectory determined using the road structure without using the support information when the support information has not been recognized.

Abstract: An information processing device for generating a trajectory of a moving object includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a travel environment around the moving object, calculate a risk value to be set for a region surrounding a target located in the recognized travel environment, and generate a travel trajectory of the moving object as a travel trajectory along which a plurality of trajectory points are arranged. The trajectory is generated by executing an iterative process and a current travel trajectory is generated by designating a previous travel trajectory generated at a processing timing before a current processing timing as a reference line and offsetting each of the plurality of trajectory points constituting the reference line in a direction normal to the reference line on the basis of the risk value.