Abstract: A trajectory determination device includes a position estimation unit configured to estimate a position of a vehicle, an acquisition unit configured to acquire driving environment information relating to a driving environment of the vehicle, a generation unit configured to generate a plurality of trajectory candidates of the vehicle based on the position of the vehicle and map information, an evaluation unit configured to evaluate driving comfort for each trajectory candidate based on the driving environment information acquired by the acquisition unit and the plurality of trajectory candidates generated by the generation unit, and a selection unit configured to select one trajectory to travel with the autonomous driving from the plurality of trajectory candidates based on the driving comfort for each trajectory candidate evaluated by the evaluation unit.

Abstract: A vehicle control system executes automated driving control that controls automated driving of a vehicle based on driving environment information indicating a driving environment for the vehicle. When a part of functions of the vehicle is failed during the automated driving, the vehicle control system executes emergency stop control that stops the vehicle. In the emergency stop control, the vehicle control system: acquires failure status information being information on the failed part of functions; determines, based on the failure status information and the driving environment information, a target stop position at which even the vehicle with the failed part of functions is able to arrive and stop by the automated driving; and executes the automated driving control such that the vehicle travels toward the target stop position to stop at the target stop position.

Abstract: The vehicle control system includes a first controller configured to generate a target trajectory for the automated driving, and a second controller configured to execute vehicle travel control such that the vehicle follows the target trajectory. During the automated driving, the second controller controls a travel control amount which is a control amount of the vehicle travel control, acquire driving environment information, and execute preventive safety control for intervening in the travel control amount based on the driving environment information. The first controller includes a memory device in which information of an intervention suppression area is stored. When the vehicle travels in the intervention suppression area during the automated driving, the first controller outputs a suppression instruction for the preventive safety control to the second controller.

Abstract: A target trajectory generation device generates and outputs target trajectories each including a target position and a target speed of a vehicle. A first target trajectory is intended to perform at least one of steering, acceleration, and deceleration of the vehicle. A second target trajectory is intended to decelerate and stop the vehicle. When a malfunctioning device does not exist, a vehicle traveling control device executes vehicle traveling control based on the first target trajectory. When the malfunctioning device exists, the vehicle traveling control device stops the vehicle by executing the vehicle traveling control based on the second target trajectory output before the malfunction occurs, or based on the second target trajectory output from the target trajectory generation device other than the malfunctioning device.

Abstract: A remote autonomous driving vehicle transmits sensor information detected by a sensor to a remote instruction apparatus, and travels based on a remote instruction from a remote commander. The remote autonomous driving vehicle includes a sensor type determination unit configured to determine a type of the sensor that transmits the sensor information to the remote instruction apparatus based on an external environment and map information; and a sensor information transmission unit configured to transmit the sensor information detected by the sensor of which the type is determined by the sensor type determination unit to the remote instruction apparatus.

Abstract: A vehicle control device includes a traveling environment classification database configured to record traveling environment classification data in which at least one past traveling plan for autonomous driving and a traveling result of the past traveling plan are associated with each other for each preset traveling environment classification, a traveling environment classification determination unit configured to determine whether or not the traveling environment classification corresponding to a traveling environment of a host vehicle is present in the traveling environment classification database when the host vehicle travels in a map non-correspondence region during the autonomous driving, and a traveling plan generation unit configured to generate a mapless traveling plan as a traveling plan of the host vehicle in the map non-correspondence region when the traveling environment classification corresponding to the traveling environment of the host vehicle is present in the traveling environment classificat

Abstract: A vehicle remote instruction system that includes a remote autonomous driving vehicle and a remote instruction apparatus in which the remote commander issues the remote instruction includes: a remote instruction request reception unit configured to receive the remote instruction request; a position information acquisition unit configured to acquire position information on a location where the remote autonomous driving vehicle transmitted the remote instruction request; a request occurring location determination unit configured to determine a location where the remote instruction request is transmitted at equal to or higher frequency than an instruction request frequency set in advance, based on the acquired remote instruction request and the position information; and a passing-detour location setting unit configured to set the location where the remote instruction request is transmitted at equal to or higher frequency than the instruction request frequency, as a passing-detour location for the remote autonomo

Abstract: In a vehicle remote instruction system, a remote commander issues a remote instruction relating to travel of an autonomous driving vehicle based on sensor information from an external sensor that detects an external environment of the autonomous driving vehicle. The vehicle remote instruction system sets a range of information to be transmitted to the remote commander among the sensor information detected by the external sensor, as a limited information range, based on the external situation or an external situation obtained based on map information and a trajectory of the autonomous driving vehicle.

Abstract: An autonomous driving system is configured to include a normal driving situation determination unit configured to determine whether or not an autonomous driving is in a normal driving situation, a driver situation recognition unit configured to recognize at least one of a reaction delay time of a driver against the changes in an external environment of a vehicle, a warning reaction delay time of the driver against the warning, and a driver's non-driving action time, an overconfidence determination unit configured to determine whether or not the driver is in a system overconfidence state, and a warning control unit configured to output an alert if it is determined by the normal driving situation determination unit that the autonomous driving is in the normal driving situation and if it is determined by the overconfidence determination unit that the driver is in the system overconfidence state.

Abstract: A device includes: a reference confidence degree calculation unit configured to calculate a reference confidence degree in estimating the position of the host vehicle at a candidate passing position of the host vehicle set in advance based on the position information on the object on the map; a shield information acquisition unit configured to acquire shield information based on a result of detection; a shielding influence degree calculation unit configured to calculate a shielding influence degree in estimating the position of the host vehicle at the candidate passing position based on the shield information; and a confidence degree calculation unit configured to calculate a confidence degree in estimating the position of the host vehicle at the candidate passing position based on the reference confidence degree and the shielding influence degree.

Abstract: An autonomous driving delivery system includes a first selection unit configured to select a first candidate delivery location based on a position of the user or the like, a determination unit configured to determine whether or not the autonomous driving vehicle can reach the first candidate delivery location, a second selection unit configured to select a second candidate delivery location where the autonomous driving vehicle can reach if it is determined that the autonomous driving vehicle cannot reach the first candidate delivery location, a designation unit configured to designate the first candidate delivery location or the second candidate delivery location as the delivery location, and a presentation unit configured to present the designated delivery location to the user before the autonomous driving vehicle starts the delivery of the luggage to the designated delivery location.

Abstract: An autonomous driving vehicle management system is a system for providing a user with an autonomous driving vehicle that is capable of autonomous driving at a plurality of autonomous driving allowable areas respectively associated with a plurality of parking stations. The autonomous driving vehicle management system includes a vacancy situation acquisition unit configured to acquire a vacancy situation at the parking stations, a drop-off available area specifying unit configured to specify a drop-off available area where the autonomous driving vehicle can be dropped off based on the vacancy situation acquired by the vacancy situation acquisition unit and the autonomous driving allowable area, an information providing unit configured to provide the user with information relating to the drop-off available area specified by the drop-off available area specifying unit.

Abstract: A vehicle remote instruction system is a system in which a remote operator performs a remote instruction relating to travel of an autonomous driving vehicle according to a situation of the autonomous driving vehicle. The system includes: a recording required situation determination unit configured to determine whether or not the autonomous driving vehicle traveling according to the remote instruction is in a predetermined recording required situation, based on detection information from a vehicle-mounted sensor of the autonomous driving vehicle, if the remote operator performs the remote instruction on the autonomous driving vehicle; and a remote instruction result recording unit configured to record position information of the autonomous driving vehicle as a result of the remote instruction, if it is determined by the recording required situation determination unit that the autonomous driving vehicle is in the recording required situation.

Abstract: An autonomous driving delivery system that delivers luggage to a user by an autonomous driving vehicle includes: an early delivery request reception unit configured to receive a request for early delivery of the luggage from a user's mobile terminal; a position information acquisition unit configured to acquire position information of the user's mobile terminal when the early delivery request reception unit receives the request for early delivery; a candidate delivery location proposal unit configured to propose at least one candidate delivery location from a plurality of predetermined stop locations to the user's mobile terminal based on the position information when the position information is acquired by the position information acquisition unit; and a delivery location determination unit configured to designate the candidate delivery location selected by the user as a delivery location of the luggage.

Abstract: An autonomous driving system includes a normal driving situation determination unit configured to determine whether or not autonomous driving is in a normal driving situation, a driver situation recognition unit configured to recognize a driver situation, a distrust determination unit configured to determine whether or not the driver is in a system distrust state, based on a recognition result obtained by the driver situation recognition unit, and a warning control unit configured to output an alert in accordance with the external environment of the vehicle when the normal driving situation determination unit determines that autonomous driving is in the normal driving situation and the distrust determination unit determines that the driver is in the system distrust state.

Abstract: An information presentation apparatus includes an activity determination unit configured to determine whether a driver engages in a driving activity or a non-driving activity; an engagement level calculation unit configured to calculate a driver engagement level related to driving, based on at least one of a determination result of the driving activity and a determination result of the non-driving activity in an engagement level calculation period; a system confidence level acquisition unit configured to acquire a system confidence level of autonomous driving control; and an information presentation unit configured to present information to the driver based on the engagement level and the system confidence level.

Abstract: A notification device includes an object detection unit configured to detect a position and a relative condition of an object around a host vehicle; a virtual sound source setting unit configured to set a virtual sound source around the driver, based on the detected position of the object; a sound output unit configured to output a notification sound to a driver; and a sound output control unit configured to output the notification sound from the sound output unit such that the driver identifies that the notification sound in response to the relative condition has come from a direction of the set virtual sound source, based on the set virtual sound source and the relative condition.

Abstract: An autonomous driving system is configured to include a normal driving situation determination unit configured to determine whether or not an autonomous driving is in a normal driving situation, a driver situation recognition unit configured to recognize at least one of a reaction delay time of a driver against the changes in an external environment of a vehicle, a warning reaction delay time of the driver against the warning, and a driver's non-driving action time, an overconfidence determination unit configured to determine whether or not the driver is in a system overconfidence state, and a warning control unit configured to output an alert if it is determined by the normal driving situation determination unit that the autonomous driving is in the normal driving situation and if it is determined by the overconfidence determination unit that the driver is in the system overconfidence state.

Abstract: A trajectory determination device includes a position estimation unit configured to estimate a position of a vehicle, an acquisition unit configured to acquire driving environment information relating to a driving environment of the vehicle, a generation unit configured to generate a plurality of trajectory candidates of the vehicle based on the position of the vehicle and map information, an evaluation unit configured to evaluate driving comfort for each trajectory candidate based on the driving environment information acquired by the acquisition unit and the plurality of trajectory candidates generated by the generation unit, and a selection unit configured to select one trajectory to travel with the autonomous driving from the plurality of trajectory candidates based on the driving comfort for each trajectory candidate evaluated by the evaluation unit.

Abstract: A display device includes a traveling state recognition unit configured to recognize a traveling state of a vehicle, an intervening driving manipulation recognition unit configured to recognize intervention in a driving manipulation by a driver of the vehicle during autonomous driving control, a trajectory acquisition unit configured to acquire a trajectory of the autonomous driving control, a first calculation unit configured to calculate a first path of the vehicle if an amount of intervention in the driving manipulation is maintained, a second calculation unit configured to calculate a second path of the vehicle due to the autonomous driving control based on the trajectory; and a display control unit configured to cause a first pointer showing the first path and a second pointer showing the second path to be displayed on an in-vehicle display when the intervention in the driving manipulation during the autonomous driving control is recognized.