Abstract: A vehicle includes an outside sensor configured to acquire information on an outside circumstance of the vehicle, a vehicle height adjusting device configured to adjust a vehicle height, and a control device configured to control the vehicle. The control device is configured to control the vehicle height adjusting device such that the vehicle height becomes a vehicle height corresponding to a platform condition at a predetermined stop position when the vehicle stops at the predetermined stop position. The control device is configured to control the vehicle height adjusting device based on a height of an obstacle such that the obstacle does not interfere with the vehicle when the obstacle is detected at the predetermined stop position by the outside sensor.

Abstract: A control apparatus according to the present disclosure is configured to execute the following first to five processes. The first process is a localization of a moving body. The second process is revising an estimated position obtained by the localization such that a displacement amount with respect to a previous position is within a predetermined range. The third process is regarding a revised estimated position obtained as a position of the moving body in a current process, and performing a control of the moving body based on the revised estimated position. The fourth process is detecting a poor accuracy of the localization based on a difference between the estimated position and the revised estimated position. The fifth process is performing an emergency control corresponding to a magnitude of the difference when the poor accuracy of the localization is detected.

Abstract: A moving body control system executes a localization process that estimates a position of a moving body based on sensor-detected information and feature object map information indicating a position of a feature object. The moving body control system executes driving assist control based on the estimated position of the moving body. A first range includes the estimated position of the moving body and becomes larger as reliability of the localization process becomes lower. A first future range is at least a part of an expected passing range of the first range. When an obstacle is present in the first range or the first future range, the moving body control system makes the moving body decelerate or stop. When no obstacle is present in the first range or the first future range, the moving body control system continues the driving assist control.

Abstract: A control system according to the present disclosure comprises one or more memories and one or more processors. The one or more memories are configured to store observation data detected by one or more sensors installed in a moving body and an estimated position of the moving body. The one or more processors are configured to execute the following first to third processes. The first process is calculating the estimated position at a current time based on at least the estimated position calculated in a previous process and the observation data up to the current time. The second process is recalculating the estimated position at a past predetermined time. The third process is evaluating accuracy of the estimated position at the current time based on a difference between the estimated position at the past predetermined time stored in the memory and the recalculated estimated position.

Abstract: Provided is a vehicle sensor mounting structure by which a GNSS antenna and at least one external sensor are mounted on a roof of a vehicle, the at least one external sensor being configured to detect an external state of the vehicle. The vehicle sensor mounting structure includes: a first wiring hole into which a sensor wiring line of the at least one external sensor is drawn to be placed under the roof, the first wiring hole being formed in the roof; and a second wiring hole into which an antenna wiring line of the GNSS antenna is drawn to be placed under the roof, the second wiring hole being formed in the roof.

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: According to the method of the present disclosure, first, a plurality of data sets is generated from a travel log data group. Each of the plurality of data sets includes one or more travel log data. Each travel log data is defined by one or more parameters. Next, map data for evaluation is generated from each of the plurality of data sets. Then, an evaluation value is calculated for each map data for evaluation. Then, a relationship between a combination of conditions of the one or more parameters and the evaluation value is specified based on a correspondence relationship between each of the plurality of data sets and the evaluation value of each map data for evaluation. And finally, map data for autonomous driving in which the evaluation value is associated with each combination of conditions of the one or more parameters is generated.

Abstract: According to the method of the present disclosure, first, a plurality of data sets is generated from a travel log data group. Each of the plurality of data sets includes one or a plurality of travel log data. Next, map data for evaluation is generated from each of the plurality of data sets. Then, abnormal map data included in a plurality of map data for evaluation generated from the plurality of data sets is specified by comparing the plurality of map data for evaluation with each other. Then, abnormal travel log data is specified by comparing a data set used to generate the abnormal map data with a data set used to generate map data for evaluation other than the abnormal map data. And finally, final map data is generated using a data set that does not include the abnormal travel log data.

Abstract: A map information system includes a database management device configured to manage a map database used for vehicle driving support control. The map database includes road marking map information that indicates a position of a specific road marking including at least one of a stop line and a pedestrian crossing. The database management device is further configured to: detect a road marking candidate being a candidate for the specific road marking around a vehicle; recognize vehicle behavior of at least one of the vehicle and another vehicle in a period when passing the road marking candidate; determine, based on the vehicle behavior, an evaluation value that indicates certainty of the road marking candidate being the specific road marking; and register the road marking candidate having the evaluation value equal to or higher than a threshold, as the specific road marking, in the road marking map information.

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 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 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 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 sensor mounting structure includes a vehicle; and a long-range light detection and ranging (LiDAR) device mounted on a peripheral edge portion of a roof of the vehicle, the long-range LiDAR device having a detection range expanding diagonally downward as viewed from the roof, the detection range including a part of an outer peripheral face of the vehicle, the long-range LiDAR device being configured to detect an object within the detection range, and the long-range LiDAR device having a lower limit of detection distance that is not less than 10 cm and not more than 1 m.

Abstract: A map information system includes a database management device configured to manage a map database used for vehicle driving support control. The map database includes background map information that indicates a position of a stationary object and an evaluation value. The evaluation value indicates certainty that the stationary object exists at the position indicated by the background map information. Driving environment information includes: surrounding situation information including information on a detected target detected by an in-vehicle sensor; and vehicle state information indicating the vehicle state. The database management device recognizes relative behavior of the vehicle with respect to the detected target, based on the driving environment information.

Abstract: A map information system includes: an in-vehicle device that executes driving support control based on map information; an external device having external map information used for the driving support control; and an update determination device. The in-vehicle device further executes external update processing that updates first map information being the map information of a first area by using first external map information being the external map information of the first area. The update determination device calculates a change degree being a difference between the first map information and the first external map information, for each point or each area in the first area. The external update processing is prohibited with respect to a section in which the change degree is equal to or less than a threshold. The external update processing is permitted with respect to a section in which the change degree exceeds the threshold.

Abstract: In a vehicle sensor attaching structure in which a first sensor and second sensors for detecting an object outside a vehicle by sensor fusion are attached to the vehicle, the first sensor and the second sensors are disposed side by side in a uniaxial direction along a surface of the vehicle, and the one first sensor is disposed to be sandwiched between the two second sensors at equal intervals.

Abstract: A vehicle includes an outside sensor configured to acquire information on an outside circumstance of the vehicle, a vehicle height adjusting device configured to adjust a vehicle height, and a control device configured to control the vehicle. The control device is configured to control the vehicle height adjusting device such that the vehicle height becomes a vehicle height corresponding to a platform condition at a predetermined stop position when the vehicle stops at the predetermined stop position. The control device is configured to control the vehicle height adjusting device based on a height of an obstacle such that the obstacle does not interfere with the vehicle when the obstacle is detected at the predetermined stop position by the outside sensor.

Abstract: A target detection apparatus is configured to recognize a stationary object present within a detection range of an external sensor based on map information. Next, the target detection apparatus is configured to determine, by checking an image of the stationary object detected by the external sensor against the stationary object recognized from the map information, whether the image of the stationary object detected by the external sensor includes an undetected region. When the undetected region is identified, the target detection apparatus is configured to recognize an undetectable object present between the stationary object and a vehicle.

Abstract: An alerting system to be applied to a vehicle configured to execute driving assistance control based on a recognition result from a recognition sensor includes: one or more memories configured to store blind area information indicating a blind area around a recognition range recognized by the recognition sensor; and one or more processors configured to acquire a vehicle condition including at least one of a vehicle speed, or a door open or closed state of the vehicle, start a rendering process for rendering the blind area on a road surface around the vehicle in response to satisfaction of a start condition by the vehicle condition, and execute the rendering process by using a light emitting device.