Abstract: The electric braking device includes a nut that is a rotating member that rotates upon receiving the rotation of an electric motor, a screw shaft that is a linear motion member that linearly moves in accordance with the rotation of the nut, and a piston that linearly moves together with the screw shaft to press a brake pad against a brake rotor. The piston is provided with a socket hole that is a spherical hole, and the screw shaft is provided with a spherical ball head that fits into the socket hole. With the ball head fitted into the socket hole, the piston is pivotably coupled to the screw shaft.

Abstract: A vehicle control device for a vehicle capable of autonomous driving and manual driving includes a surroundings information recognition unit configured to acquire, in a direction of travel of the vehicle, left and right lane boundaries of a lane, and recognizes information about surroundings of the vehicle, a notification unit configured to provide a notification of a hands-on request for switching from a hands-off state to a hands-on state, and a control determination unit configured to determine controls for the vehicle according to a result of recognition by the surroundings information recognition unit. The control determination unit is configured to determine the control to continue the hands-off state when the left and right lane boundaries are parallel in the hands-off state, and determine the control to provide a notification of the hands-on request when the left and right lane boundaries are not parallel in the hands-off state.

Abstract: A road shape recognizer includes a peripheral information recognizer that recognizes at least two items of peripheral information based on an output of a periphery detector. A reliability assigner assigns a reliability level to each of the peripheral information. A point sequence generator generates and places a point sequence representing a shape of a road on which the own vehicle travels, based on at least two items of peripheral information and the reliability level. The point sequence generator generates and places a point sequence by generating and placing points one by one toward a distant place from a point located at a prescribed relative position to the own vehicle. The point sequence generator generates and places the next point corresponding to an amount of change in shape and a position of a point generated and placed at the end of the point sequence. The amount of change in shape is represented by the peripheral information and determined per section having a prescribed distance.

Abstract: A road shape recognizer includes a peripheral information recognizer that recognizes at least two items of peripheral information based on an output of a periphery detector. A reliability assigner assigns a reliability level to each of the peripheral information. A point sequence generator generates and places a point sequence representing a shape of a road on which the own vehicle travels, based on at least two items of peripheral information and the reliability level. The point sequence generator generates and places a point sequence by generating and placing points one by one toward a distant place from a point located at a prescribed relative position to the own vehicle. The point sequence generator generates and places the next point corresponding to an amount of change in shape and a position of a point generated and placed at the end of the point sequence. The amount of change in shape is represented by the peripheral information and determined per section having a prescribed distance.