Abstract: A route selection device includes a processor configured to identify a position of a lane on which a vehicle is traveling; search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination; determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching. The score is weighted depending on the position of the determined lane change location or whether a lane change at the lane change location can be controlled by a travel controller.

Abstract: A grain oriented electrical steel sheet includes the texture aligned with Goss orientation. In the grain oriented electrical steel sheet, when (?1 ?1 ?1) and (?2 ?2 ?2) represent deviation angles of crystal orientations measured at two measurement points which are adjacent on the sheet surface and which have an interval of 1 mm, the boundary condition BA is defined as [(?2??1)2+(?2??1)2+(?2??1)2]1/2?0.5°, and the boundary condition BB is defined as [(?2??1)2+(?2??1)2+(?2??1)2]1/2?2.0°, the boundary which satisfies the boundary condition BA and which does not satisfy the boundary condition BB is included.

Abstract: An apparatus for assigning priorities to traffic lanes detects a plurality of lanes reachable by a vehicle from a travel lane of the vehicle without straddling a lane line, and assigns a higher priority to at least one of the plurality of lanes than to the plurality of lanes except the at least one lane in the case that the plurality of lanes is included in the same road, that the at least one of the plurality of lanes adjoins a lane included in the road other than the plurality of lanes with a lane line in between, and that the plurality of lanes except the at least one lane does not adjoin any lane included in the road other than the plurality of lanes with a lane line in between.

Abstract: A map data output device includes: a map storage that stores map data that represents lane network information; a position determination portion that determines a current position of a vehicle; a read processing portion that reads the map data of an area established based on the current position; a control map generation portion that generates control map data obtained by adding information to the map; and an output portion that outputs the control map data to a vehicle control device.

Abstract: An apparatus for setting a planned trajectory includes a processor configured to identify a travel lane on which a vehicle is traveling, detect, as a specific section, a section lacking at least one of left and right lane lines of the travel lane of the vehicle in a planned travel section, set at least one candidate of a planned trajectory to be traveled by the vehicle in the specific section, the at least one candidate including a candidate based on an existing one of the lane lines or a road edge, and set, of the set candidate, a candidate having a minimum variation in curvature or a minimum offset distance in a direction perpendicular to a travel direction of the vehicle at parts connected to the planned trajectory in sections ahead of and behind the specific section as the planned trajectory of the specific section.

Abstract: A route selection device includes a processor configured to identify a position of a lane on which a vehicle is traveling; search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination; determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching. The score is weighted depending on the position of the determined lane change location or whether a lane change at the lane change location can be controlled by a travel controller.

Abstract: A lane determination device includes a processor configured to: store map information including information on division lines defining two lanes on a road; calculate a first angle and a second angle based on the map information, the first angle being a bending angle of a first division line at a junction where the two lanes merge together, the second angle being a bending angle of a second division line at the junction, the first division line being one of two outermost division lines in the division lines defining the two lanes, the second division line being the other one of the two outermost division lines; and determine, as a merging lane, a lane defined by the second division line out of the two lanes when the first angle is larger than the second angle.

Abstract: A lane determination device includes a processor configured to: store map information including information on division lines defining two lanes on a road; calculate a first angle and a second angle based on the map information, the first angle being a bending angle of a first division hue at a junction where the two lanes merge together, the second angle being a bending angle of a second division line at the junction, the first division line being one of two outermost division lines in the division lines defining the two lanes, the second division line being the other one of the two outermost division lines; and determine, as a merging lane, a lane defined by the second division line out of the two lanes when the first angle is larger than the second angle.

Abstract: A vehicle travel control system installed on a vehicle executes vehicle travel control that determines a travel lane and controls the vehicle to travel in the travel lane based on driving environment information. A restricted lane section is a lane and a section of lane in which a specific type of vehicle is prohibited from traveling. An avoidance target lane section is the restricted lane section in which the vehicle is prohibited from traveling. The driving environment information includes: vehicle type information indicating a type of the vehicle; and restricted lane section information indicating a position of the restricted lane section. The vehicle travel control system recognizes the avoidance target lane section based on the vehicle type information and the restricted lane section information, and executes the vehicle travel control so as to avoid the avoidance target lane section.