Abstract: An electronic control apparatus is mounted on a vehicle and includes an information acquiring section that acquires traveling environment information concerning a traveling environment around the vehicle, an immobility risk area estimating section that estimates an immobility restriction area on the basis of the traveling environment information, the immobility restriction area being an area where, if the vehicle is immobilized therein, the vehicle obstructs an action by a mobile object other than the vehicle, and being an area where immobility of the vehicle is restricted, and a traveling control planning section that plans traveling control of the vehicle on the basis of the estimated immobility restriction area.

Abstract: A vehicle control device includes a peripheral state detection sensor and one or more controllers. The peripheral state detection sensor detects a peripheral state of a host vehicle. The one or more controllers calculate a blind-spot region around the host vehicle based on the peripheral state of the host vehicle and estimate an object existing in the calculated blind-spot and a behavior trend of the object. The one or more controllers generate a region having a potential risk that the host vehicle approaches the object. The one or more controllers generate a lane-change trajectory of the host vehicle, compare the generated lane-change trajectory with a potential risk map, and determine whether or not lane change of this host vehicle is possible. The one or more controllers control an operation of the host vehicle in accordance with the determination of whether or not the lane change is possible.

Abstract: The present invention provides a vehicle control device capable of ensuring safety and ride comfort. The device includes: a self-location estimation processing unit 306 estimating self location (absolute position information on a map) of a vehicle by matching sensor information obtained from external sensors 2 to 5 mounted in the vehicle with map information including future information as a point group; a solid object movement predicting unit 307 predicting movement of an object as a factor of obstructing the matching with the map information; and a driving movement candidate generating unit (driving movement planning unit) 309 making a driving movement plan of the vehicle on the basis of a result of predicting movement of the obstructive factor object, a result of presuming a road situation at future time, and an estimation result of a position error of the vehicle at future time.

Abstract: To provide a vehicle control system that is capable of planning a trajectory that can ensure more visibility and enables safe traveling when an invisible range of a sensor exists. A vehicle control system that plans a target trajectory of a vehicle based on recognition information from an external environment sensor, the vehicle control system including a recognizing unit that recognizes an object at a periphery of the vehicle based on the recognition information; and a trajectory planning unit that plans the target trajectory such that an actual detection range of the external environment sensor becomes wide when the recognizing unit recognizes the object.

Abstract: An in-vehicle electronic controller includes a risk map generating unit that determines a traveling risk level in an area around the vehicle, based on external environment information acquired by an external environment sensor installed in the vehicle, movement information on the vehicle, and map information, and that maps the traveling risk level onto a map to generate a risk map; and a track generating unit that generates a traveling track of the vehicle, using the risk map. The track generating unit generates at least one binarized image representing the risk map divided into a low risk area and a high risk area, by a binarization process by which whether the traveling risk level is larger than a given set value is determined, performs a thinning process on the at least one binarized image to determine a center line in a width direction of the low risk area, and generates a traveling track of the vehicle, based on the determined center line.

Abstract: A vehicle control device that autonomously controls a vehicle so as not to cause rapid deceleration that leads to a deterioration in ride quality. The vehicle control device controls first and second deceleration, means that reduce a speed at a deceleration rate large than a deceleration rate of the first deceleration means. The vehicle control device includes a blind spot area detecting unit that detects a blind spot area of a sensor that recognizes an external environment, and a blind spot object estimating unit that estimates a blind spot object that is a virtual moving body hidden in the blind spot area. When a vehicle approaches the blind spot area at a speed reduced by the first deceleration means, the vehicle is decelerated by the second deceleration means when a type of a moving body detected by the sensor is different from a type of the blind spot object.

Abstract: A vehicle control system capable of ensuring safety at a low cost even when a control device fails, includes a first control device that implements at least two automatic driving-related functions based on information from external sensors and/or information from a map database, a second control device that implements fewer automatic driving-related functions than the first control device based on the information from the sensors and/or the map database, and a vehicle motion control device that automatically controls a driving state of a host vehicle based on a function planned by the first or second control device including: a backup determination unit that determines whether the future function planned by the first or second control device is backed up by the second control device; and an interface that notifies a driver that system responsibility is switched to the driver, when the backup is not available.

Abstract: Provided is a vehicle control device that can ensure riding comfort or safety. A vehicle control device includes a driving plan calculation unit that calculates a drivable area, which is a space in which an own vehicle is safely drivable, based on a driving environment around the own vehicle and a destination of the own vehicle; and a vehicle motion control unit that calculates a target track including a route and a velocity satisfying a predetermined riding comfort condition in the drivable area calculated by the driving plan calculation unit and controls the own vehicle so as to follow the target track.

Abstract: A vehicle control device capable of suppressing an unnecessary lane-change operation of a host vehicle and suppressing deterioration of ride comfort is achieved. A vehicle control device 1 includes peripheral state detection sensors 301 to 304 that detect a peripheral state for a host vehicle, a blind-spot object estimation processing unit 311 that calculates a blind-spot region around the host vehicle based on the detected peripheral state of the host vehicle and a feature amount of map information, and estimates an object existing in the blind-spot region and a behavior trend of the object, and a potential risk map generation unit 309 that generates a region having a potential risk that the host vehicle approaches the object, based on the behavior trend of the object estimated by the blind-spot object estimation processing unit 311.

Abstract: There are provided a vehicle control device and a vehicle control system capable of improving efficiency and reliability of auto valet parking compared to the related art when a communication failure occurs. A vehicle control device mounted on a vehicle includes a recognition unit, an estimation unit, a communication unit, a determination unit, a trajectory generation unit, a vehicle control unit, and a retreated position decision unit. When the determination unit determines that communication of the communication unit is abnormal, the trajectory generation unit generates a target trajectory along which the vehicle drives to a retreated position decided by the retreated position decision unit.

Abstract: A vehicle control device that autonomously controls a vehicle so as not to cause rapid deceleration that leads to a deterioration in ride quality. The vehicle control device controls first and second deceleration, means that reduce a speed at a deceleration rate large than a deceleration rate of the first deceleration means. The vehicle control device includes a blind spot area detecting unit that detects a blind spot area of a sensor that recognizes an external environment, and a blind spot object estimating unit that estimates a blind spot object that is a virtual moving body hidden in the blind spot area. When a vehicle approaches the blind spot area at a speed reduced by the first deceleration means, the vehicle is decelerated by the second deceleration means when a type of a moving body detected by the sensor is different from a type of the blind spot object.

Abstract: To provide a vehicle control system that is capable of planning a trajectory that can ensure more visibility and enables safe traveling when an invisible range of a sensor exists. A vehicle control system that plans a target trajectory of a vehicle based on recognition information from an external environment sensor, the vehicle control system including a recognizing unit that recognizes an object at a periphery of the vehicle based on the recognition information; and a trajectory planning unit that plans the target trajectory such that an actual detection range of the external environment sensor becomes wide when the recognizing unit recognizes the object.

Abstract: The present invention provides a vehicle control device capable of ensuring safety and ride comfort. The device includes: a self-location estimation processing unit 306 estimating self location (absolute position information on a map) of a vehicle by matching sensor information obtained from external sensors 2 to 5 mounted in the vehicle with map information including future information as a point group; a solid object movement predicting unit 307 predicting movement of an object as a factor of obstructing the matching with the map information; and a driving movement candidate generating unit (driving movement planning unit) 309 making a driving movement plan of the vehicle on the basis of a result of predicting movement of the obstructive factor object, a result of presuming a road situation at future time, and an estimation result of a position error of the vehicle at future time.

Abstract: When an automatic parking function and an automatic driving function are provided in the same system, a vehicle stops for parking trajectory calculation when switching between an automatic driving mode and an automatic parking mode is performed, and thus, there is concern that a driver is likely to feel discomfort with this stop.

Abstract: Provided is a vehicle control device that can ensure riding comfort or safety. A vehicle control device includes a driving plan calculation unit that calculates a drivable area, which is a space in which an own vehicle is safely drivable, based on a driving environment around the own vehicle and a destination of the own vehicle; and a vehicle motion control unit that calculates a target track including a route and a velocity satisfying a predetermined riding comfort condition in the drivable area calculated by the driving plan calculation unit and controls the own vehicle so as to follow the target track.

Abstract: A vehicle control system capable of ensuring safety at a low cost even when a control device fails, includes a first control device that implements at least two automatic driving-related functions based on information from external sensors and/or information from a map database, a second control device that implements fewer automatic driving-related functions than the first control device based on the information from the sensors and/or the map database, and a vehicle motion control device that automatically controls a driving state of a host vehicle based on a function planned by the first or second control device including: a backup determination unit that determines whether the future function planned by the first or second control device is backed up by the second control device; and an interface that notifies a driver that system responsibility is switched to the driver, when the backup is not available.

Abstract: There are provided a vehicle control device and a vehicle control system capable of improving efficiency and reliability of auto valet parking compared to the related art when a communication failure occurs. A vehicle control device mounted on a vehicle includes a recognition unit, an estimation unit, a communication unit, a determination unit, a trajectory generation unit, a vehicle control unit, and a retreated position decision unit. When the determination unit determines that communication of the communication unit is abnormal, the trajectory generation unit generates a target trajectory along which the vehicle drives to a retreated position decided by the retreated position decision unit.

Abstract: When an automatic parking function and an automatic driving function are provided in the same system, a vehicle stops for parking trajectory calculation when switching between an automatic driving mode and an automatic parking mode is performed, and thus, there is concern that a driver is likely to feel discomfort with this stop.

Abstract: The purpose of the present invention is to provide a coast-stop control device that makes it possible to change gears to an appropriate gear change while traveling, before the engine is stopped. The present invention is a coast-stop control device for performing coast-stop control that automatically stops an engine while the vehicle is traveling, the coast-stop control device being characterized: in being provided with an engine stop condition-assessing means for assessing whether it is possible to stop the engine and a gear change control means for controlling the gear change ratio of a gear change mechanism; and in controlling the gear change mechanism to a prescribed gear change ratio when the engine stop condition-assessing means determines that an engine stop condition has been met.

Abstract: The purpose of the present invention is to provide a coast-stop control device that makes it possible to change gears to an appropriate gear change while traveling, before the engine is stopped. The present invention is a coast-stop control device for performing coast-stop control that automatically stops an engine while the vehicle is traveling, the coast-stop control device being characterized: in being provided with an engine stop condition-assessing means for assessing whether it is possible to stop the engine and a gear change control means for controlling the gear change ratio of a gear change mechanism; and in controlling the gear change mechanism to a prescribed gear change ratio when the engine stop condition-assessing means determines that an engine stop condition has been met.