Abstract: A travel plan generation device used for an autonomous driving system of a vehicle includes circuitry, in which the circuitry is configured to generate a restriction related to a quantity of state of the vehicle, and generate a target trajectory and a target vehicle speed of the vehicle as a travel plan so as to satisfy the restriction by using a Bayes filter as a state estimation calculation without a convergence calculation.

Abstract: The present disclosure relates to a path planning apparatus, and includes: a travelable region calculation unit configured to calculate a travelable region of a moving body, based on surrounding information of the moving body; a target state calculation unit configured to calculate target state quantity including at least a target position of the moving body; a state prediction unit configured to predict at least current state quantity of the moving body and state quantity of the moving body at one or more positions between a current position and the target position of the moving body, and thereby generate one or more path candidates; a predicted state evaluation unit configured to evaluate the one or more path candidates based on the target state quantity and the travelable region, and output evaluation results; and a path generation unit configured to generate a path from the one or more path candidates based on the evaluation results, and output the path to a motion controller configured to control the mov

Abstract: A path generation device and a vehicle control system capable of inhibiting generation of paths that make a vehicle unstable are provided. The path generation device includes a path generator that generates a plurality of paths along which a vehicle is to travel, in association with each piece of environment measurement data about a travel environment of the vehicle detected by a plurality of detectors; a reliability setting part that sets, for each of the generated paths, the reliability of the path in itself, the reliability corresponding to the degree to which a variation in the path falls within a predetermined range, and a path-weight setting part that sets the weight of each path on the basis of the reliability of the path.

Abstract: A remote control device is a remote control device configured to control one or more mobile objects via a network, which includes a receiver configured to receive mobile object information including a first state quantity of a state quantity of the mobile object and surrounding information around the mobile object, a trajectory generation unit configured to generate a target trajectory of the mobile object on the basis of the surrounding information, a mobile object estimation unit configured to estimate transmission latency of the network, a gain setting unit configured to set a control gain on the basis of the transmission latency, a control amount calculation unit configured to calculate a control amount for causing the mobile object to follow the target trajectory on the basis of the mobile object information and the control gain, and a transmitter configured to transmit the control amount to the mobile object.

Abstract: The present invention is related to a vehicle positioning device being connected to a first sensor outputting satellite positioning data, and a second sensor detecting a state amount of a vehicle and outputting the state amount as state amount data, and being connected to at least one of a third sensor detecting a terrestrial object and outputting data of a relative relationship between the terrestrial object and the vehicle, and a fourth sensor detecting a road line shape and outputting road line shape data. The vehicle positioning device includes: observed value processing circuitry configured to generate an actual observed value; sensor correction circuitry; inertial positioning circuitry; and observed value prediction circuitry configured to predict an observed value and output the observed value as a predicted observed value. Positioning calculation is performed by using the predicted observed value and the actual observed value and results are output as positioning results.

Abstract: A control arithmetic device comprises a mixed state equation generation unit to generate a plurality of vehicle state equations each including one or more first state variables that are acquisition targets of one or more internal sensors installed in a vehicle, and generate a first mixed state equation by weighting each of the vehicle state equations using a first weighting function, a vehicle state acquisition unit to acquire a current value of each first state variable by the one or more internal sensors, a target route generation unit to generate a target route of the vehicle based on peripheral information acquired by one or more external sensors installed in the vehicle, and a target value arithmetic unit to calculate a target control value for the vehicle to travel along the target route based on the first mixed state equation and the current value of each first state variable, and output the target control value to a control unit that controls the vehicle.

Abstract: In a vehicle control device, a switching hyperplane generation unit generates a switching hyperplane based on a travel state of a vehicle and cornering stiffness dependent on a travel surface state as a state of a road surface on which the vehicle travels. A deviation computation unit calculates a deviation between a target trajectory and an actual trajectory of the vehicle. A state estimation unit estimates a state to be controlled of the vehicle based on the deviation calculated by the deviation computation unit. A target steering angle and acceleration/deceleration computation unit calculates a target steering angle and a target acceleration/deceleration rate of the vehicle based on the switching hyperplane generated by the switching hyperplane generation unit and an estimated state as the state estimated by the state estimation unit.

Abstract: An action planning device includes a plane-coordinate-system movement predictor that predicts the movement of an obstacle detected around the periphery of a moving object by an external sensor mounted on the moving object, in accordance with plane-coordinate-system obstacle information that expresses the obstacle in a plane coordinate system, and outputs a result of prediction as plane-coordinate-system obstacle movement information, a scene judgement part that judges the condition of the obstacle and outputs a situation in the moving object as scene information, and an action determination part that determines the action of the moving object in accordance with the scene information and outputs a result of determination as an action determination result. The control arithmetic device calculates a target value used to control the moving object, in accordance with the action determination result output from the action planning device.

Abstract: The present disclosure relates to a vehicle control device including: a satellite positioning result processing part obtaining first data from the satellite positioning device, and outputting the first data as a satellite positioning result; a sensor correction part obtaining second data from an autonomous sensor, and correcting a first error to output the corrected second data as corrected data; an inertial positioning part performing an inertial positioning calculation and outputting an inertial positioning result; an observation value prediction part performing a positioning calculation using the inertial positioning result, and calculating a prediction observation value to output the prediction observation value; an error estimation part estimating an error between the prediction observation value and a satellite positioning result to output the error as a second error; a positioning correction part correcting the prediction observation value, and outputting the prediction observation value as a corrected

Abstract: Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.

Abstract: In a vehicle control device, a switching hyperplane generation unit generates a switching hyperplane based on a travel state of a vehicle and cornering stiffness dependent on a travel surface state as a state of a road surface on which the vehicle travels. A deviation computation unit calculates a deviation between a target trajectory and an actual trajectory of the vehicle. A state estimation unit estimates a state to be controlled of the vehicle based on the deviation calculated by the deviation computation unit. A target steering angle and acceleration/deceleration computation unit calculates a target steering angle and a target acceleration/deceleration rate of the vehicle based on the switching hyperplane generated by the switching hyperplane generation unit and an estimated state as the state estimated by the state estimation unit.

Abstract: The present invention is related to a vehicle positioning device being connected to a first sensor outputting satellite positioning data, and a second sensor detecting a state amount of a vehicle and outputting the state amount as state amount data, and being connected to at least one of a third sensor detecting a terrestrial object and outputting data of a relative relationship between the terrestrial object and the vehicle, and a fourth sensor detecting a road line shape and outputting road line shape data. The vehicle positioning device includes: observed value processing circuitry configured to generate an actual observed value; sensor correction circuitry; inertial positioning circuitry; and observed value prediction circuitry configured to predict an observed value and output the observed value as a predicted observed value. Positioning calculation is performed by using the predicted observed value and the actual observed value and results are output as positioning results.

Abstract: Provided is a collision avoidance apparatus that can avoid a collision through both steering and braking. In a collision avoidance apparatus, a no-entry zone defining unit defines a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle. A following determination unit determines whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone. A constraint establishing unit establishes a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone.

Abstract: A travel plan generation device used for an autonomous driving system of a vehicle includes circuitry, in which the circuitry is configured to generate a restriction related to a quantity of state of the vehicle, and generate a target trajectory and a target vehicle speed of the vehicle as a travel plan so as to satisfy the restriction by using a Bayes filter as a state estimation calculation without a convergence calculation.

Abstract: A path generation device and a vehicle control system capable of inhibiting generation of paths that make a vehicle unstable are provided. The path generation device includes a path generator that generates a plurality of paths along which a vehicle is to travel, in association with each piece of environment measurement data about a travel environment of the vehicle detected by a plurality of detectors; a reliability setting part that sets, for each of the generated paths, the reliability of the path in itself, the reliability corresponding to the degree to which a variation in the path falls within a predetermined range, and a path-weight setting part that sets the weight of each path on the basis of the reliability of the path.

Abstract: Provided is an obstacle avoidance apparatus that can specify a distance between a subject vehicle and an obstacle when making the subject vehicle avoid the obstacle. An obstacle avoidance apparatus includes: an obstacle movement predictor that predicts movement of the obstacle; and a constraint generator that establishes a constraint on a state quantity or a control input of the subject vehicle by determining whether to steer right or left around the obstacle and defining a no-entry zone for preventing the subject vehicle from colliding with the obstacle. The constraint generator incorporates, into the no-entry zone, an area to the left of the obstacle when determining to steer right around the obstacle, and incorporates, into the no-entry zone, an area to the right of the obstacle when determining to steer left around the obstacle.

Abstract: Provided is a collision avoidance apparatus that can avoid a collision through both steering and braking. In a collision avoidance apparatus, a no-entry zone defining unit defines a no-entry zone for preventing a subject vehicle from colliding with an obstacle around the subject vehicle, based on obstacle information including information on a position of the obstacle and based on lane information that is information on a traveling lane of the subject vehicle. A following determination unit determines whether the obstacle is an avoidance target or a following target, based on the position of the obstacle or a position of the no-entry zone. A constraint establishing unit establishes a constraint on a state quantity or a control input of the subject vehicle to prevent the subject vehicle from at least entering the no-entry zone.