Abstract: A parking assist method according to the present disclosure is for performing autonomous driving of a vehicle on the basis of teacher driving by a driver. The parking assist method includes acquiring, from an imaging device installed in the vehicle, captured images obtained by imaging periphery of the vehicle in time series according to movement of the vehicle during the teacher driving. The method includes recording a travel route of the vehicle in the teacher driving, and generating, on the basis of the captured images, a first enlarged overhead image of a display target range viewed from above. The display target range covers the travel route and periphery of the travel route. The method further includes causing a display device to display the first enlarged overhead image.

Abstract: Provided is a driving assistance apparatus that assists driving of a vehicle. The driving assistance apparatus includes: a training data generator that stores a traveling route traveled by the vehicle according to a driving operation of a user in a training traveling mode, and generates training data for a target route based on the traveling route. The training data generator generates the target route by connecting, for example, between a first point and a second point on the traveling route, in a case where a difference in orientation of the vehicle at the first point and the second point during training traveling is less than a first threshold and distance between the vehicle at the first point and the vehicle at the second point during the training traveling is less than a second threshold.

Abstract: A parking assistance method according to the present disclosure is a method of performing autonomous travel of a vehicle based on a travel route generated using teaching travel by a driver. The parking assistance method including: acquiring as absolute position and an azimuth is the a travel direction of the vehicle; and determining, based on the absolute position and the azimuth in the travel direction, whether or not the vehicle is located oriented with a prescribed azimuth in a prescribed position, which are registered in association with the travel route.

Abstract: A driving assistance apparatus for assisting driving of a vehicle. The driving assistance apparatus includes a teacher data generator that stores a movement route traveled by the vehicle according to the user's driving operation in a teacher traveling mode, and generates teacher data related to a target route generated by inverting the movement route; a position estimator that estimates the vehicle current position based on sensor information from a peripheral sensor monitoring the surrounding environment of the vehicle; and a vehicle controller that feedback controls the vehicle based on the vehicle current position estimated by the position estimator and each of target positions on the target route so that the vehicle travels along the target route when an execution command for an automatic traveling mode is received from the user.

Abstract: A parking support method according to the present disclosure is a method of performing automatic traveling of a vehicle based on a parking operation performed in the past. The method includes: storing, in a storage unit, information on at least one of a traveling route and a parking target position in the parking operation performed in the past; and displaying, on a display unit, guidance information on a target position where automatic traveling of the vehicle can be performed based on at least one of the traveling route and the parking target position.

Abstract: This position estimation device of a moving body with n cameras for imaging the surrounding scene is provided with: an estimation unit which, for each of the n cameras, calculates a camera candidate position in a map space on the basis of the camera image position of a feature point in the scene extracted from the camera image and the map space position of said feature point pre-stored in the map data; and a verification unit which, with reference to said candidate positions, projects onto the camera image of each of the n cameras a feature point cloud in the scene stored in the map data, and calculates the accuracy of the candidate positions of the n cameras on the basis of the matching degree between the feature point cloud projected onto the camera image and a feature point cloud extracted from the camera images.

Abstract: A parking assistance device according to the present disclosure performs automatic travel of a vehicle based on teaching travel by a driver. The parking assistance device includes a memory and a hardware processor coupled to the memory. The hardware processor is configured to: learn a travel route for parking the vehicle in a parking position and a speed, a steering angle, and braking operation of the vehicle during the teaching travel, based on the teaching travel; and modify the speed, the steering angle, or the braking operation in the automatic travel of the vehicle from the speed, the steering angle, or the braking operation in the teaching travel, based on any of a regulation for the automatic travel of the vehicle, environmental information relating to an environment around the vehicle, or geographic information relating to a road condition around the vehicle.

Abstract: Provided is a driving assistance apparatus that assists driving of a vehicle. The driving assistance apparatus includes: a training data generator that stores a traveling route traveled by the vehicle according to a driving operation of a user in a training traveling mode, and generates training data for a target route based on the traveling route. The training data generator generates the target route by connecting, for example, between a first point and a second point on the traveling route, in a case where a difference in orientation of the vehicle at the first point and the second point during training traveling is less than a first threshold and distance between the vehicle at the first point and the vehicle at the second point during the training traveling is less than a second threshold.

Abstract: A vehicle state determination device includes an input unit and a controller. The input unit receives sidewalk information indicating a state of a sidewalk region which a moving body passes through and roadway information indicating a state of a roadway region adjacent to the sidewalk region. The controller determines whether or not a sidewalk entering operation is possible based on the sidewalk information and the roadway information. The sidewalk entering operation is an operation in which a vehicle trying to enter the roadway region by crossing the sidewalk region enters the sidewalk region.

Abstract: A determination device includes an input unit and a controller. The input unit receives information on a sidewalk area and information on a target object recognized in the sidewalk area. The sidewalk area exists between a position where a vehicle is present and a non-sidewalk area. The controller (i) divides the sidewalk area into a plurality of partial areas including at least a first partial area and a second partial area based on the information on the sidewalk area, the first partial area being closest to the vehicle among the plurality of partial areas, and the second partial area being adjacent to the non-sidewalk area, and (ii) determines, based on the information on the target object, at least one partial area among the plurality of partial areas to be a range where the vehicle is allowed to enter.

Abstract: A vehicle situation determination device includes an input unit and a controller. The input unit receives information about a recognition result of recognizing one or a plurality of moving objects existing in a sidewalk region ahead of a vehicle in an advancing direction. The controller determines, based on the recognition result, that the vehicle is allowed to enter a passing scheduled region in a time period of a sparse state when a transition is made from the sparse state into a dense state. The sparse state is a state where density of the one or plurality of moving objects existing in the passing scheduled region is lower than or equal to a predetermined value. The dense state is a state where the density is higher than the predetermined value.

Abstract: A control device for an autonomous driving vehicle includes a first input section, a second input section, and a travel state determination section. The first input section acquires a detection signal of a first sensor that detects another vehicle approaching the intersection. The second input section acquires a detection signal of a second sensor that detects at least one of a gesture of a driver of the other vehicle, a voice of the driver of the other vehicle, a motion of the other vehicle, and a radio signal output from the other vehicle. The travel state determination section generates, upon detection of the other vehicle based on the detection signal of the first sensor, a travel command signal for allowing or restricting entry of the autonomous driving vehicle into the intersection in accordance with an action of the other vehicle predicted based on the detection signal of the second sensor.

Abstract: A control device for an autonomous driving vehicle includes a first input section, a second input section, and a travel state determination section. The first input section acquires a detection signal of a first sensor that detects another vehicle approaching the intersection. The second input section acquires a detection signal of a second sensor that detects at least one of a gesture of a driver of the other vehicle, a voice of the driver of the other vehicle, a motion of the other vehicle, and a radio signal output from the other vehicle. The travel state determination section generates, upon detection of the other vehicle based on the detection signal of the first sensor, a travel command signal for allowing or restricting entry of the autonomous driving vehicle into the intersection in accordance with an action of the other vehicle predicted based on the detection signal of the second sensor.

Abstract: A road surface estimation device includes a spatial measurement unit, a filter, and a road surface estimator. The spatial measurement unit measures a three-dimensional measurement point cloud on a road surface on the basis of an image received from a stereo camera or a camera capable of three-dimensional measurement. The filter filters the three-dimensional measurement point cloud on the basis of a road surface model created based on map information so as to obtain road surface candidate points. The road surface estimator estimates the road surface on the basis of the road surface candidate points.

Abstract: A vehicle situation determination device includes an input unit and a controller. The input unit receives information about a recognition result of recognizing one or a plurality of moving objects existing in a sidewalk region ahead of a vehicle in an advancing direction. The controller determines, based on the recognition result, that the vehicle is allowed to enter a passing scheduled region in a time period of a sparse state when a transition is made from the sparse state into a dense state. The sparse state is a state where density of the one or plurality of moving objects existing in the passing scheduled region is lower than or equal to a predetermined value. The dense state is a state where the density is higher than the predetermined value.

Abstract: A vehicle state determination device includes an input unit and a controller. The input unit receives sidewalk information indicating a state of a sidewalk region which a moving body passes through and roadway information indicating a state of a roadway region adjacent to the sidewalk region. The controller determines whether or not a sidewalk entering operation is possible based on the sidewalk information and the roadway information. The sidewalk entering operation is an operation in which a vehicle trying to enter the roadway region by crossing the sidewalk region enters the sidewalk region.

Abstract: A determination device includes an input unit and a controller. The input unit receives information on a sidewalk area and information on a target object recognized in the sidewalk area. The sidewalk area exists between a position where a vehicle is present and a non-sidewalk area. The controller (i) divides the sidewalk area into a plurality of partial areas including at least a first partial area and a second partial area based on the information on the sidewalk area, the first partial area being closest to the vehicle among the plurality of partial areas, and the second partial area being adjacent to the non-sidewalk area, and (ii) determines, based on the information on the target object, at least one partial area among the plurality of partial areas to be a range where the vehicle is allowed to enter.

Abstract: A determination device includes: an input unit that receives sensing result information on a moving object on a roadway in a first area, the first area being a sensing range of a sensor for use in a vehicle; and a controller that determines that another moving object safely enters a second area subsequently to the moving object based on the sensing result information when an acceleration of the moving object traveling from the first area to the second area is equal to or more than a first threshold, the second area being outside the sensing range of the sensor.

Abstract: A radar transmitting unit Tx transmits a radio-frequency radar transmission signal from a transmission antenna which is inclined in the direction of a depression angle ?. A radar receiving unit Rx estimates the height and speed of a vehicle which travels on a road surface using a reflected wave signal from the vehicle. A template generating unit 19 generates a variation in a phase component of the reflected wave signal corresponding to N heights and speeds of the vehicle as N templates. N vehicle height/speed template correlation calculation units #1 to #Nrep calculate correlation on the basis of any one of the N templates and a correlation value between the reflected wave signal and a transmission code of the radar transmission signal.

Abstract: A radar signal processing apparatus is disclosed which includes: time-series phase data generating section 3 generating time-series phase data in a range bin of interest based on a range profile indicating, for each range bin, a phase of a reflected wave of a radio wave from a target; phase-rotation-amount time-series data generating section 4 that divides the time-series phase data into segments of a predetermined time length, calculates an amount of phase rotation that occurs in the segments, and generates time-series data on the amount of phase rotation; pattern matching section 6 that performs pattern matching between the generated time-series data on the amount of phase rotation and a template of time-series data on the amount of phase rotation that is defined by a distance and a moving speed; and speed detection section 7 that detects the moving speed of the target based on a result of the pattern matching.