Abstract: A processing device acquires map data that has road information, acquires detection results detected by one or more detectors that detects surroundings of a first mobile object, and cross-checks a position of a second mobile object included in the detection results with the road information of the map data to determine whether or not the position of the second mobile object is included in a region indicating a road of the road information.

Abstract: A vehicle control device includes an information acquisition unit acquiring information on the frontward image including the traveling road surface of the host vehicle; a recognition unit recognizing the traveling environment of the host vehicle based on the frontward image acquired by the information acquisition unit; and the autonomous driving control unit performing control of the autonomous driving including at least one of a speed control and a steering control of the host vehicle based on the traveling environment recognized by the recognition unit, wherein the recognition unit includes the extraction unit extracting a defective image in the frontward image; and the autonomous driving control unit limits functions related to the defective image among the plurality of functions involved in the autonomous driving when the defective image is extracted by the extraction unit.

Abstract: A processing device acquires map data that has road information, acquires detection results detected by one or more detectors that detects surroundings of a first mobile object, and cross-checks a position of a second mobile object included in the detection results with the road information of the map data to determine whether or not the position of the second mobile object is included in a region indicating a road of the road information.

Abstract: If an external environment recognition unit recognizes a particular section adjacent to a first travel path, a trajectory generation unit generates a first travel trajectory that causes the own vehicle to enter the first travel path after a travel along the first travel path inside the particular section, and if the external environment recognition unit does not recognize the particular section, the trajectory generation unit generates a second travel trajectory that causes the own vehicle to directly enter the first travel path from outside the first travel path.

Abstract: In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize lane types of a host vehicle lane and an adjacent lane, a control condition setting unit adapted to set first to third control conditions in order to make a lane change depending on the lane types that were recognized by the lane recognition unit, and a vehicle control unit adapted to carry out a lane change control with respect to a host vehicle on the basis of the first to third control conditions set by the control condition setting unit.

Abstract: In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize a lane type of an adjacent lane adjacent to a host vehicle lane in which a host vehicle is traveling, a determination condition setting unit adapted to set a determination condition for permitting a lane change of the host vehicle from the host vehicle lane to the adjacent lane depending on the lane type of the adjacent lane that was recognized by the lane recognition unit, a lane change determining unit adapted to permit the lane change in the case that the determination condition is satisfied, and a vehicle control unit adapted to carry out a travel control or an assist control in relation to the lane change, in the case that the lane change determining unit has permitted the lane change.

Abstract: A vehicle control device includes an information acquisition unit acquiring information on the frontward image including the traveling road surface of the host vehicle; a recognition unit recognizing the traveling environment of the host vehicle based on the frontward image acquired by the information acquisition unit; and the autonomous driving control unit performing control of the autonomous driving including at least one of a speed control and a steering control of the host vehicle based on the traveling environment recognized by the recognition unit, wherein the recognition unit includes the extraction unit extracting a defective image in the frontward image; and the autonomous driving control unit limits functions related to the defective image among the plurality of functions involved in the autonomous driving when the defective image is extracted by the extraction unit.

Abstract: A vehicle control apparatus is configured to have a first state for performing travel control of a host vehicle based on traffic signals that appear in images captured by front cameras and a second state for performing travel control of the host vehicle based on traffic signals that appear in images captured by a front left camera, a front right camera, a rear left camera, or a rear right camera. The vehicle control apparatus is capable of performing travel control of the host vehicle in the first state when the host vehicle progresses straight, and transitioning from the first state to the second state while the host vehicle is turning left or right (during the turning operation).

Abstract: If an external environment recognition unit recognizes another vehicle that is positioned along a travel lane, an offset setting unit sets an offset amount in a direction of separating a host vehicle from the other vehicle. The offset setting unit sets the offset amount (predetermined amount) to be smaller in a case where the external environment recognition unit identifies the other vehicle as a streetcar, than the offset amount (predetermined amount) in a case where the external environment recognition unit identifies the other vehicle as an vehicle other than the streetcar.

Abstract: In the case of recognizing a traffic regulation which determines that the priority of a first lane is higher than the priority of a second lane, and in the case of determining a state in which another vehicle is in compliance with the traffic regulation, and then determining that the other vehicle is not complying with the traffic regulation, a vehicle control device carries out at least one of a travel control in which a travel position of a host vehicle is moved in a direction of a side opposite to the second lane, and a travel control in which acceleration is not performed.

Abstract: An external environment recognition unit recognizes a construction section ahead of a host vehicle and recognizes that one or more recognition objects express entry possible/impossible information as to whether the host vehicle can enter the construction section. If the external environment recognition unit recognizes a traffic control person who directs traffic in the construction section as the recognition object and recognizes the entry possible/impossible information that is expressed by the traffic control person, an action plan unit (or an entry determination unit) decides whether to cause the host vehicle to enter the construction section or to stop before the construction section by using preferentially the entry possible/impossible information that is expressed by the traffic control person.

Abstract: A vehicle control apparatus is configured to have a first state for performing travel control of a host vehicle based on traffic signals that appear in images captured by front cameras and a second state for performing travel control of the host vehicle based on traffic signals that appear in images captured by a front left camera, a front right camera, a rear left camera, or a rear right camera. The vehicle control apparatus is capable of performing travel control of the host vehicle in the first state when the host vehicle progresses straight, and transitioning from the first state to the second state while the host vehicle is turning left or right (during the turning operation).

Abstract: An action plan unit (or an avoidance action plan unit) determines whether a host vehicle needs to enter a second travel path in order to pass by an avoidance object (or a construction site) on the basis of a position of the avoidance object in a width direction and a position of a center line. If the host vehicle needs to enter the second travel path and the center line prohibits departure from a first travel path in compliance with traffic regulations, the action plan unit temporarily cancels the path departure suppression control of suppressing the departure from the first travel path among controls that comply with the traffic regulations.

Abstract: An external environment recognition unit recognizes a construction section ahead of a host vehicle and recognizes that one or more recognition objects express entry possible/impossible information as to whether the host vehicle can enter the construction section. If the external environment recognition unit recognizes a traffic control person who directs traffic in the construction section as the recognition object and recognizes the entry possible/impossible information that is expressed by the traffic control person, an action plan unit (or an entry determination unit) decides whether to cause the host vehicle to enter the construction section or to stop before the construction section by using preferentially the entry possible/impossible information that is expressed by the traffic control person.

Abstract: When a host vehicle returns to a first travel path, an external environment recognition unit recognizes oncoming vehicle information including information of the presence or absence of an oncoming vehicle in an exit area, the position of the oncoming vehicle in the exit area, and behavior of the oncoming vehicle in the exit area. An action plan unit (or a passage action plan unit) sets a return start position and a return end position to cause the host vehicle to return to the first travel path, or a return travel trajectory to cause the host vehicle to return to the first travel path on the basis of the oncoming vehicle information.

Abstract: A vehicle control apparatus includes a signal recognizing section that recognizes an output state of a traffic signal, a passage permission judging section that judges whether passage of a host vehicle through an intersection is allowed, and a driving control section that performs travel control of the host vehicle. The passage permission judging section changes a judgment standard for whether to allow passage of the host vehicle through the intersection in a transitional state, when the host vehicle is in the intersection and the output state of the traffic signal is the transitional state.

Abstract: An action planning unit determines an amount of deceleration of a host vehicle corresponding to a traffic regulation on the basis of at least one item of information from among a situation of other vehicles traveling in a second travel path recognized by an external environment recognition unit, a number of the other vehicles traveling in the second travel path, a speed limit of the second travel path, and environmental information of the second travel path.

Abstract: In the case of recognizing a traffic regulation which determines that the priority of a first lane is higher than the priority of a second lane, and in the case of determining a state in which another vehicle is in compliance with the traffic regulation, and then determining that the other vehicle is not complying with the traffic regulation, a vehicle control device carries out at least one of a travel control in which a travel position of a host vehicle is moved in a direction of a side opposite to the second lane, and a travel control in which acceleration is not performed.

Abstract: If an external environment recognition unit recognizes another vehicle that is positioned along a travel lane, an offset setting unit sets an offset amount in a direction of separating a host vehicle from the other vehicle. The offset setting unit sets the offset amount (predetermined amount) to be smaller in a case where the external environment recognition unit identifies the other vehicle as a streetcar, than the offset amount (predetermined amount) in a case where the external environment recognition unit identifies the other vehicle as an vehicle other than the streetcar.

Abstract: When a host vehicle crosses a track of a streetcar, if an external environment recognition unit recognizes a stop line (or a section line) between the host vehicle and the track, a stop position setting unit sets the stop line as a target stop position. In addition, if the external environment recognition unit does not recognize the stop line between the host vehicle and the track, the stop position setting unit sets a predetermined position that is separated from the track toward the host vehicle as the target stop position.