Abstract: To provide a vehicle behavior prediction apparatus and a vehicle behavior prediction method which can estimate a lane change destination position of the adjacent vehicle to an object lane considering an overlap degree between an object vehicle and an adjacent vehicle. A vehicle behavior prediction apparatus calculates an overlap degree between a position range of a prediction object vehicle and a position range of an object vehicle in a longitudinal direction, based on position information and shape information on the prediction object vehicle which is set from adjacent vehicles, and shape information on the object vehicle; and estimates a lane change destination position of the prediction object vehicle to the object lane, using a prediction model into which the position information and the speed information on the prediction object vehicle and the overlap degree is inputted.

Abstract: To provide a vehicle control apparatus and a vehicle control method that makes it easy for the other vehicle to change lanes in back of the ego vehicle, by controlling the travel behavior of the ego vehicle, when the other vehicle is estimated to change lanes in back of the ego vehicle. A vehicle control apparatus acquires a periphery state of an ego vehicle, and a traveling state of an ego vehicle; estimates relative positions of one ore more other vehicles which travel on an adjacent lane adjacent to an ego lane where the ego vehicle is traveling, after a lane change to the ego lane, based on the periphery state and the traveling state; and increases a speed of the ego vehicle, when the relative position of the other vehicle after the lane change is in back of the ego vehicle.

Abstract: Conventionally, a method in which pieces of point group information for use in position matching between a white line position detected by an object detection sensor and a white line position on a map are extracted from the white line positions according to a travel environment, has not been taken into account. In the present disclosure, a point group extraction condition is changed according to change in the travel environment so that: a process of position matching that exhibits robustness with respect to change in the travel environment can be realized; and an own position and a white line position existing at a long distance from an own vehicle can be detected with high accuracy.

Abstract: To provide a traveling support system and a traveling support method which can switch a rough traveling support adapted to a rough merging behavior of the merging vehicle, and a traveling support of avoiding a collision between the object vehicle and the merging vehicle, according to conditions. A traveling support system comprising: a merging supporter that supports a traveling of the object vehicle so that a traveling at a time of merging becomes smooth; a collision avoidance supporter that calculates a collision risk and supports a traveling of the object vehicle so that the collision risk decreases; and a traveling support selector that determines whether the traveling support of the merging supporter or the traveling support of the collision avoidance supporter is performed.

Abstract: To provide a lane change prediction system and a lane change prediction method which can predict whether the merging vehicle interrupts on the front side or the back side of the object vehicle. A lane change prediction system, when the peripheral vehicle which exists around the object vehicle is a merging vehicle, predicts whether the merging vehicle interrupts on a front side or a back side of the object vehicle, based on a detection value of the relative position with respect to the object vehicle, a detection value of the relative speed, and a positive or negative of the detection value of the relative speed.

Abstract: A lane-change prediction device includes: a first index calculating unit to calculate a first index that corresponds to a conditional probability of keeping the travel lane of a second vehicle and a conditional probability of changing the travel lane of the second vehicle, on the basis of time-series information related to the travel lane of the second vehicle; a second index calculating unit to calculate a second index related to a travel lane change or deceleration of the second vehicle, on the basis of surrounding vehicle information; and a lane-change prediction unit to calculate a lane change probability that the second vehicle changes the travel lane, on the basis of the first index and the second index.

Abstract: This route prediction device includes: an information acquisition circuitry to acquire a position and a speed of an own vehicle, positions and speeds of surrounding vehicles traveling around the own vehicle, and map information around the own vehicle; a cut-in determinator to determine whether or not the surrounding vehicle will cut in onto a traveling lane of the own vehicle, on the basis of an inducing factor of inducing cut-in of another vehicle; an assumptive vehicle setting circuitry to determine a traveling position, on a road, of an assumptive vehicle assumed to influence traveling of a cut-in vehicle determined to cut in, among the surrounding vehicles, using road information obtained from the map information; and a route prediction circuitry to predict a traveling route of one of the surrounding vehicles, on the basis of the traveling position of the assumptive vehicle, and so forth.

Abstract: There is provided a course prediction device which includes: a vehicle information detection unit for detecting positions and velocities of multiple vehicles; a road information acquisition unit for acquiring road information indicative of positions of lanes in a road on which the vehicles are traveling; a predicted course calculation unit for calculating a predicted course of each vehicle that is a future traveling course thereof; a collision-expected vehicle extraction unit for extracting the front vehicle and the rear vehicle on the same lane that may possibly collide with each other, on the basis of the road information and the predicted courses; an avoidance-action vehicle prediction unit for predicting which one of the front and rear vehicles is an avoidance action vehicle that will take a collision avoidance action; and an avoidance course calculation unit for calculating a collision avoidance course of the avoidance action vehicle.

Abstract: To provide an own position estimation apparatus and an own position estimation method which can correct the position coordinate of own vehicle, even if a periphery monitoring apparatus in which detection points detected with good accuracy at the same timing is few is used. An own position estimation apparatus detects relative positions of a road side wall based on detection information of a periphery monitoring apparatus; converts the past relative positions, into relative positions on a basis of the current position of the own vehicle, and superimposes the current relative positions and the past relative positions after conversion; searches for a relative position relation that a coincidence degree between the relative positions of the road side wall after superposition and the positions of the road side wall of the map data becomes high; and corrects the position coordinate of the own vehicle based on the relative position relation.

Abstract: Conventionally, a method in which pieces of point group information for use in position matching between a white line position detected by an object detection sensor and a white line position on a map are extracted from the white line positions according to a travel environment, has not been taken into account. In the present disclosure, a point group extraction condition is changed according to change in the travel environment so that: a process of position matching that exhibits robustness with respect to change in the travel environment can be realized; and an own position and a white line position existing at a long distance from an own vehicle can be detected with high accuracy.