Abstract: A vehicle control device includes a first recognizer configured to recognize a surrounding situation of a vehicle including a first marking, a second recognizer configured to recognize a second marking relating to a lane near the vehicle from map information, a driving controller, and a mode decider. It is determined whether or not there is interference between a specific region set on the basis of the second marking and a position of the preceding vehicle when the first marking is not recognized and the preceding vehicle is recognized. A driving mode is changed from the first driving mode to the second driving mode when it is determined that the preceding vehicle interferes with the specific region. A width of the specific region is variably set in accordance with at least one of an inter-vehicle distance between the vehicle and the preceding vehicle and a road's curvature where the vehicle travels.

Abstract: Provided is a vehicle control device configured to acquire a camera image obtained by imaging a peripheral situation of a vehicle, control steering and acceleration or deceleration of the vehicle on the basis of the camera image and map information irrespective of an operation of a driver of the vehicle, determine a driving mode of the vehicle to be any of a plurality of driving modes including a first driving mode and a second driving mode, calculate a margin for the vehicle to continue traveling in the second driving mode on the basis of a speed of the vehicle and a distance to an intersection between a map road centerline indicated in the map information and any one of map road partition lines on both sides, and determine whether to cause the vehicle to continue the second driving mode referring to the map road centerline on the basis of the margin when the vehicle is traveling in the second driving mode referring to the map road centerline.

Abstract: Provided is a vehicle control device configured to: recognize a surrounding situation of a vehicle; control steering and acceleration/deceleration of the vehicle based on the recognized surrounding situation and map information; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; change the driving mode of the vehicle to a driving mode imposing a heavier task when the task of the determined driving mode is not performed by the driver; determine whether or not a determination angle is equal to or larger than a first threshold value, whether or not a determination distance is equal to or larger than a second threshold value, and whether or not a forward region of the vehicle corresponds to a predetermined region; and change the second driving mode to the first driving mode depending on the determination.

Abstract: Provided is a vehicle control device configured to: recognize a surrounding situation of a vehicle; control steering and acceleration/deceleration of the vehicle based on the recognized surrounding situation and map information; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; determine whether or not a camera road division line matches a map road division line; and compare, when the camera road division line and the map road division line are determined not to match each other during traveling of the vehicle in the second driving mode, a first distance with a second distance, and when the second distance is larger than the first distance, change the second driving mode to the first driving mode that is performed referring to the camera road division line.

Abstract: A vehicle control device includes: a first recognizer configured to recognize a surrounding situation of a vehicle including a first marking; a second recognizer configured to recognize a second marking associated with a lane near the vehicle from map; a driving controller; and a mode determiner. The mode determiner is configured to perform: determining a driving mode and determining whether to refer to the map based on a determination result indicating whether the first marking and the second marking match and a determination result indicating whether there is a separation between two of the second markings; and setting driving support details which are able to be executed by the driving controller to be different between a first state in which the map is referred to and a second state in which the map is not referred to when the first driving mode based on the first marking is executed.

Abstract: A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle based on the surrounding situation and map information, determines a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, determines whether there is an error in the map information based on the surrounding situation and the map information, and in a case where an error is determined in the map information while the vehicle is driving in the second driving mode, continues the second driving mode when a preceding vehicle is recognized within a first predetermined distance, or changes the second driving mode to the first driving mode when a preceding vehicle is not recognized within the first predetermined distance.

Abstract: A vehicle control device acquires a camera image obtained by capturing an image of surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, determines any of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, judges whether or not a preceding vehicle is present in front of the vehicle when it is judged that an abnormality has occurred, calculates, when it is judged that the preceding vehicle is present, a margin for the vehicle to continue traveling in the second driving mode, and causes the vehicle to continue traveling in the second driving mode for a period of time indicated based on the margin.

Abstract: Provided is a vehicle control device including: a storage device storing a program; and a hardware processor executing the program stored in the storage device to: recognize a surrounding situation of a vehicle; determine whether or not the surrounding situation includes a road division line; control steering and acceleration/deceleration of the vehicle; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; and set, when the vehicle is traveling in the second driving mode, the surrounding situation is determined not to include a road division line, and a preceding vehicle is recognized within a first predetermined distance in a traveling direction of the vehicle, a longer traveling continuation distance in the second driving mode using the map information.

Abstract: According to an embodiment, a mobile object control device includes a recognizer configured to recognize a surrounding situation of a mobile object on the basis of an output of an external sensor and a marking recognizer configured to recognize markings for dividing an area through which the mobile object passes on the basis of the surrounding situation recognized by the recognizer. The marking recognizer extracts a prescribed area from the surrounding situation when it is determined that marking recognition accuracy has been lowered, extracts an edge within the extracted prescribed area, and recognizes the markings on the basis of an extraction result.

Abstract: A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle based on the surrounding situation and map information, determines a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, determines whether there is an error in the map information based on the surrounding situation and the map information, and in a case where an error is determined in the map information while the vehicle is driving in the second driving mode, continues the second driving mode when a preceding vehicle is recognized within a first predetermined distance, or changes the second driving mode to the first driving mode when a preceding vehicle is not recognized within the first predetermined distance.

Abstract: A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task is not executed by the driver, determines whether there is an error in the map information and determines whether there is a recognition error, and when an error is determined in the map information, there is a recognition error while the vehicle is traveling in the second driving mode, and a preceding vehicle is recognized within a first predetermined distance, sets a travel continuation distance in the second driving mode to be longer.

Abstract: A vehicle control device recognizes surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task associated with the determined driving mode is not executed by the driver, determines whether or not the map information includes an error and determines whether or not a road division line is included in the surrounding circumstances, and sets a longer traveling continuation distance in the second driving mode in a case where it is determined that the map information includes an error, the road division line is not included in the surrounding circumstances, and a preceding vehicle has been recognized.

Abstract: A vehicle control device includes a first recognizer that recognizes a pair left and right road lane markings on the basis of an output from a detection device and outputs the left and right road lane markings as a first left road lane marking and a first right road lane marking, respectively, a second recognizer that recognizes a pair of left and right road lane markings on the basis of map information and outputs the left and right road lane markings as a second left road lane marking and a second right road lane marking, respectively, determiner that determines whether or not there is a deviation between the first left road lane marking and the second left road lane marking and a deviation between the first right road lane marking and the second right road lane marking, a setter that, in a case where the determiner determines that a deviation is present only in one of a pair of the first left road lane marking and the second left road lane marking and a pair of the first right road lane marking and the sec

Abstract: A vehicle travel control apparatus configured to control a traveling operation of a vehicle including an actuator for traveling, the vehicle travel control apparatus including a sensor mounted on the vehicle to capture an image of a division line in a traveling direction of the vehicle or measure the division line and an electronic control unit including a microprocessor. The microprocessor is configured to perform controlling the actuator based on a position information of the division line obtained by the sensor and a reliability with respect to the position information of the division line obtained by the sensor, and setting the reliability based on a shape of a road surface or a road structure in the traveling direction of the vehicle.

Abstract: In one embodiment, a blanking aperture array is for a multi-charged particle beam writing apparatus. The blanking aperture array includes a substrate and a plurality of blankers. Each of the plurality of blankers includes a blanking electrode and a ground electrode that are formed on a first surface of the substrate. The plurality of blankers includes at least a normal blanker which is capable of applying a predetermined voltage between the blanking electrode and the ground electrode and for which a through hole bored through the substrate is formed, and a defective blanker which is not capable of applying the predetermined voltage between the blanking electrode and the ground electrode and for which the through hole bored through the substrate is filled with a beam shield.

Abstract: In one embodiment, a blanking aperture array is for a multi-charged particle beam writing apparatus. The blanking aperture array includes a substrate and a plurality of blankers. Each of the plurality of blankers includes a blanking electrode and a ground electrode that are formed on a first surface of the substrate. The plurality of blankers includes at least a normal blanker which is capable of applying a predetermined voltage between the blanking electrode and the ground electrode and for which a through hole bored through the substrate is formed, and a defective blanker which is not capable of applying the predetermined voltage between the blanking electrode and the ground electrode and for which the through hole bored through the substrate is filled with a beam shield.

Abstract: In one embodiment, a charged particle beam drawing apparatus includes a drawing unit that draws a pattern in a drawing area on a substrate and a control processing circuitry that controls the drawing unit via a process including receiving drawing data with a hierarchical correction map input to the control processing circuitry. The drawing data with the hierarchical map includes a plurality of files in which division maps are respectively described in files in units of subframes. Each division map includes dose correction information associated with corresponding one of blocks of the drawing area. The process further includes generating shot data by performing a data conversion process on the drawing data, reading a division map corresponding to a block in the area to be drawn from the hierarchical correction map, calculating a dose, and controlling the drawing unit based on the shot data and the calculated dose.

Abstract: In one embodiment, a charged particle beam drawing apparatus includes a drawing unit that draws a pattern in a drawing area on a substrate and a control processing circuitry that controls the drawing unit via a process including receiving drawing data with a hierarchical correction map input to the control processing circuitry, the drawing data with the hierarchical map including a plurality of files in which division maps are respectively described in files in units of subframes, each division map including dose information associated with corresponding one of blocks of the drawing area, and the process further including generating shot data by performing a data conversion process on the drawing data, reading a division map corresponding to a block in the area to be drawn from the hierarchical correction map, calculating a dose, and controlling the drawing unit based on the shot data and the calculated dose.

Abstract: A transition metal compound of Groups to 10 of the Periodic Table, represented by the following formula (1): wherein M represents a transition metal of Groups 8 to 10 of the Periodic Table; L, electrically neutral, represents a hetero atom-containing hydrocarbon group represented by the following formula (2) wherein R1 to R5 each independently represent a hydrogen atom, a halogen atom, a hydrocarbon group having form 1 to 20 carbon atoms, a halogenohydrocarbon group having from 1 to 20 carbon atoms, or a hetero atom-containing group, and optionally these groups are bonded to each other to form a ring; R6 represents a hydrogen atom, a hydrocarbon group having form 1 to 40 carbon atoms, a halogenohydrocarbon group having from 1 to 40 carton atoms, or a hetero atom-containing group; L? electrically neutral, represents a hetero atom-containing hydrocarbon group represented by the following formula (3) wherein R7 to R11 each independently represent a hydrogen atom, a halogen atom, a hydrocarbon group

Abstract: A catalyst which is able to express a high oligomerizing activity of ethylene and a method for the production of &agr;-olefin where ethylene is oligomerized using said catalyst are provided. The present invention relates to a catalyst for the production of &agr;-olefin obtained by contacting (a) clay, clay mineral or ion-exchange layer compound with (b-1) a transition metal complex of Groups 4 to 6 of the Periodic Table and also relates to a method for the production of &agr;-olefin by oligomerization of ethylene using said catalyst. The present invention further relates to a catalyst for the production of &agr;-olefin obtained by contacting (a) clay, clay mineral or ion-exchange layer compound with (b-2) a transition metal complex of Groups 8 to 10 of the Periodic Table and also relates to a method of the production of &agr;-olefin by oligomerization of ethylene using said catalyst.