Abstract: An external-world recognition system includes: a satellite positioning device that measures the position of a vehicle by receiving radio waves transmitted from artificial satellites; a yaw rate sensor that detects or estimates the movement of the vehicle; a camera that acquires external-world information about the surroundings of the vehicle; and an external-world recognition device that recognizes external-world information considering a reference direction as the center. The external-world recognition device corrects a detection value from the yaw rate sensor on the basis of time-series positions of the vehicle as measured by the satellite positioning device and corrects the reference direction on the basis of the corrected detection value.

Abstract: A surroundings recognition unit recognizes the road environment and traffic participants around the host vehicle. A condition satisfaction determination unit determines whether or not first to fifth conditions are satisfied, on the basis of recognition results from the surroundings recognition unit. When causing the host vehicle to travel in a lane of a traveling road adjacent to the edge of the traveling road, a control unit changes travel control content and/or notification control content relating to automated driving, depending on whether or not the first to fifth conditions are satisfied.

Abstract: A vehicle control device which at least partially automatically performs travel control of a vehicle includes processor(s) which diagnose failure of functions related to automated driving and to continue the automated driving with the functions partially stopped when a failure is diagnosed, and a light emission unit which provides notification to a surrounding of the vehicle by light emission that the vehicle is controlled in a fallback operation. The processor(s) detect an operation state of the light emission unit, permit execution of the automated driving when the light emission unit operates normally and prohibits the automated driving when the light emission unit does not operate normally.

Abstract: A vehicle control device which at least partially automatically performs travel control of a vehicle includes processor(s) which diagnose failure of functions related to automated driving and to continue the automated driving with the functions partially stopped when a failure is diagnosed, and a light emission unit which provides notification to a surrounding of the vehicle by light emission that the vehicle is controlled in a fallback operation. The processor(s) detect an operation state of the light emission unit, permit execution of the automated driving when the light emission unit operates normally and prohibits the automated driving when the light emission unit does not operate normally.

Abstract: A vehicle control device of the present invention at least partially automatically performs drive control for a vehicle by self-drive and is provided with: a hazard lamp for notification around the vehicle; and a light emitting control unit which, when a predetermined condition is satisfied during self-drive, performs light emitting control causing the hazard lamp to emit light. The light emitting control unit, as well as causing the hazard lamp to emit light, performs light emitting control whereby a lighting member, different from the hazard, for notification around the vehicle is caused to emit light when the hazard lamp is not normal.

Abstract: A vehicle motion determining unit determines a value indicative of a motion of the vehicle that occurs in the vehicle transverse direction of a host vehicle, on the basis of a planned travel trajectory generated by a trajectory generating unit at a time of making a lane change. The grasping request unit outputs a grasping request to the notification control unit to request grasping of the steering wheel in the case that the value indicative of the vehicle motion is greater than or equal to a predetermined value.

Abstract: The present invention pertains to a vehicle control apparatus and a vehicle control method. This vehicle control apparatus is provided with: an identification process unit that identifies intersections through which a host vehicle passes while traveling straight; a lane determination unit that determines whether travel lanes of the vehicle are offset lanes deviated leftward or rightward on the near side and the deep side of the identified intersections; and a traveling control unit that carries out traveling control varied according to the determination result of the lane determination unit.

Abstract: A vehicle control device of the present invention at least partially automatically performs drive control for a vehicle by self-drive and is provided with: a hazard lamp for notification around the vehicle; and a light emitting control unit which, when a predetermined condition is satisfied during self-drive, performs light emitting control causing the hazard lamp to emit light. The light emitting control unit, as well as causing the hazard lamp to emit light, performs light emitting control whereby a lighting member, different from the hazard, for notification around the vehicle is caused to emit light when the hazard lamp is not normal.

Abstract: An external-world recognition system includes: a satellite positioning device that measures the position of a vehicle by receiving radio waves transmitted from artificial satellites; a yaw rate sensor that detects or estimates the movement of the vehicle; a camera that acquires external-world information about the surroundings of the vehicle; and an external-world recognition device that recognizes external-world information considering a reference direction as the center. The external-world recognition device corrects a detection value from the yaw rate sensor on the basis of time-series positions of the vehicle as measured by the satellite positioning device and corrects the reference direction on the basis of the corrected detection value.

Abstract: A vehicle operation setting unit determines vehicle operations of a host vehicle. When a course change is performed, the vehicle operation setting unit sets values (at least one of target values for a velocity, an acceleration/deceleration, a curvature, a yaw rate, a steering angle, and a lateral G force) to be less than or equal to upper limit values thereof. The vehicle operation setting unit causes the upper limit values to differ between a case in which a preceding vehicle is recognized by an external environment recognition unit, and a case in which a preceding vehicle is not recognized by the external environment recognition unit.

Abstract: A surroundings recognition unit recognizes the road environment and traffic participants around the host vehicle. A condition satisfaction determination unit determines whether or not first to fifth conditions are satisfied, on the basis of recognition results from the surroundings recognition unit. When causing the host vehicle to travel in a lane of a traveling road adjacent to the edge of the traveling road, a control unit changes travel control content and/or notification control content relating to automated driving, depending on whether or not the first to fifth conditions are satisfied.

Abstract: An object detection device includes: an imaging unit configured to image the surroundings of a vehicle; a horizontal edge extraction unit configured to extract horizontal edges that are characteristic lines of approximately horizontal direction components in a search region of an image captured by the imaging unit; and a detection object recognition unit configured to recognize a detection object within a recognition region set on the basis of, among the horizontal edges extracted by the horizontal edge extraction unit, a specific horizontal edge satisfying a predetermined condition.

Abstract: A vehicle operation setting unit determines vehicle operations of a host vehicle. When a course change is performed, the vehicle operation setting unit sets values (at least one of target values for a velocity, an acceleration/deceleration, a curvature, a yaw rate, a steering angle, and a lateral G force) to be less than or equal to upper limit values thereof. The vehicle operation setting unit causes the upper limit values to differ between a case in which a preceding vehicle is recognized by an external environment recognition unit, and a case in which a preceding vehicle is not recognized by the external environment recognition unit.

Abstract: A vehicle motion determining unit determines a value indicative of a motion of the vehicle that occurs in the vehicle transverse direction of a host vehicle, on the basis of a planned travel trajectory generated by a trajectory generating unit at a time of making a lane change. The grasping request unit outputs a grasping request to the notification control unit to request grasping of the steering wheel in the case that the value indicative of the vehicle motion is greater than or equal to a predetermined value.

Abstract: In an original image color pixels and transparent pixels are arranged, the color pixels having gradation values assigned according to received light levels of respective color light-receiving pixels and the transparent pixels having gradation values assigned according to received light levels of respective transparent light-receiving pixels. An image processing device includes an image generation unit which generates a high-sensitivity image for the original image by calculating for each color pixel, a corrected gradation value correcting a first reference gradation value of gray calculated based on the gradation value of itself or the gradation values of other color pixels in the periphery, according to the gradation values of transparent pixels in the periphery; and the corrected gradation value of each color pixel and the gradation value of each transparent pixel are assigned as gradation values of the pixels in the corresponding arranged positions of the high-sensitivity image.

Abstract: An object detection device includes: an imaging unit configured to image the surroundings of a vehicle; a horizontal edge extraction unit configured to extract horizontal edges that are characteristic lines of approximately horizontal direction components in a search region of an image captured by the imaging unit; and a detection object recognition unit configured to recognize a detection object within a recognition region set on the basis of, among the horizontal edges extracted by the horizontal edge extraction unit, a specific horizontal edge satisfying a predetermined condition.

Abstract: An exposure level determination unit (33) determines, for a region of interest in an original image captured by a camera (2) using a first exposure level in a control cycle at a predetermined time point, a second exposure level which is an exposure level for the next control cycle, by calculating a transparent pixel saturation rate which is a ratio of transparent pixels having a saturated gradation value among transparent pixels in the region of interest, and changing the first exposure level according to the transparent pixel saturation rate.

Abstract: An exposure level determination unit (33) determines, for a region of interest in an original image captured by a camera (2) using a first exposure level in a control cycle at a predetermined time point, a second exposure level which is an exposure level for the next control cycle, by calculating a transparent pixel saturation rate which is a ratio of transparent pixels having a saturated gradation value among transparent pixels in the region of interest, and changing the first exposure level according to the transparent pixel saturation rate.

Abstract: In an original image color pixels and transparent pixels are arranged, the color pixels having gradation values assigned according to received light levels of respective color light-receiving pixels and the transparent pixels having gradation values assigned according to received light levels of respective transparent light-receiving pixels. An image processing device includes an image generation unit which generates a high-sensitivity image for the original image by calculating for each color pixel, a corrected gradation value correcting a first reference gradation value of gray calculated based on the gradation value of itself or the gradation values of other color pixels in the periphery, according to the gradation values of transparent pixels in the periphery; and the corrected gradation value of each color pixel and the gradation value of each transparent pixel are assigned as gradation values of the pixels in the corresponding arranged positions of the high-sensitivity image.

Abstract: A method and system for detecting objects in an environment of a vehicle. The method and system includes calculating an index value indicating a level of received near infrared light based on a difference between gradient values of color pixels and clear pixels in an original image and generating a color image by allocating corrected color gradient values allocated to each clear pixel and color pixel in the original image.