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 control device for a mobile object including one or more imaging devices, the control device includes an image acquisition unit configured to acquire an image of an external environment of the mobile object from the one or more imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in an image acquired from the one or more imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. The correction unit is configured to determine the one or more regions to be a target of the distortion reduction processing in accordance with a predetermined rule according to a moving scene of the mobile object.

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 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 control apparatus plans a movement route of a moving body based on a recognition result of an exterior environment of the moving body; corrects the planned movement route, based on a recognition result of an obstacle in the exterior environment of the moving body; and controls the movement of the moving body based on the corrected movement route. The recognition result of the obstacle includes a recognition result of a side portion of the obstacle with respect to the movement route of the moving body, and in the correction, the planned movement route is corrected based on a correction amount continuously obtained based on the recognition result of the obstacle associated with advancement of the moving body.

Abstract: A control device for a mobile object including one or more imaging devices, the control device includes an image acquisition unit configured to acquire an image of an external environment of the mobile object from the one or more imaging devices, a correction unit configured to perform distortion reduction processing for reducing distortion of an image for each of one or more regions included in an image acquired from the one or more imaging devices, and a recognition unit configured to recognize the external environment of the mobile object based on an image on which the distortion reduction processing has been performed. The correction unit is configured to determine the one or more regions to be a target of the distortion reduction processing in accordance with a predetermined rule according to a moving scene of the mobile object.

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 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 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 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 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: 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 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 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 control apparatus plans a movement route of a moving body based on a recognition result of an exterior environment of the moving body; corrects the planned movement route, based on a recognition result of an obstacle in the exterior environment of the moving body; and controls the movement of the moving body based on the corrected movement route. The recognition result of the obstacle includes a recognition result of a side portion of the obstacle with respect to the movement route of the moving body, and in the correction, the planned movement route is corrected based on a correction amount continuously obtained based on the recognition result of the obstacle associated with advancement of the moving body.

Abstract: A vehicle control device includes an obstacle recognizer configured to recognize an obstacle which is located near a vehicle and a target trajectory generator configured to generate a target trajectory in which the vehicle is to travel repeatedly with a predetermined cycle. The target trajectory generator is configured to generate the target trajectory such that a first change which is an amount of change in a road width direction from the target trajectory which is generated in a previous cycle during repeated execution and a second change which is an amount of change of a direction with respect to a direction directed from the vehicle to a point a predetermined distance away on the target trajectory between the previous cycle and a current cycle are decreased.

Abstract: A solid-state image capturing device for capturing a subject to generate and output an image signal is provided, in which a predetermined number of transfer gates applied with different driving signals are arranged adjacent to respective pixel sections, so that each light receiving section and the predetermined number of transfer gates in the vertical transfer section form each pixel, and a driving signal for a transfer gate is applied to the transfer gates in such a manner that adjacent pixels are included in a cycle of an arrangement pattern for transfer gates and accumulated charges in the adjacent pixels are simultaneously read out to a single transfer packet formed in a vertical transfer section.

Abstract: An intermediate plate is interposed between first and second sub-stacks. The intermediate plate has, defined in a surface thereof, an oxygen-containing gas mixing passage interconnecting an oxygen-containing gas outlet in the first sub-stack which is located upstream and an oxygen-containing gas inlet in the second sub-stack which is located downstream. In the first and second sub-stacks, an oxygen-containing gas is supplied from the oxygen-containing gas inlet and discharged to the oxygen-containing gas outlet at all times.

Abstract: A cell assembly is formed by stacking a first cell and a second cell. In the cell assembly, oxygen-containing gas flow passages are connected in series by an intermediate oxygen-containing gas flow passage, and fuel gas flow passages are connected in series by an intermediate fuel gas flow passage. An additional oxygen-containing gas is supplied to an oxygen-containing gas passage which includes the intermediate oxygen-containing gas flow passage. An additional fuel gas is supplied to a fuel gas passage which includes the intermediate fuel gas flow passage.

Abstract: The solid-state image pickup device comprises: light-receiving pixels which convert incident light into charges; a vertical-transfer section which has a plurality of transfer gates for transferring charges read from the light-receiving pixels in the column direction; a horizontal-transfer section which is coupled with the vertical-transfer section and outputs charges transferred from the vertical-transfer section in a horizontal period cycle; a timing pulse producing section which produces timing pulses for producing driving signals for driving the transfer gates; and a driving signal producing section for producing driving signals for driving the transfer gates based on outputs from the timing pulse producing section.