Abstract: A track generation device generates a track of a fluid discharge unit that discharges a fluid for applying the fluid to a surface of an object along a target application track. The track generation device includes a storage unit and a track generation unit. The storage unit stores a time-series model indicating a relationship between the track of the fluid discharge unit and an application track of the fluid in consideration of behavior of the fluid due to a viscosity, and the relationship is learned based on an actual track of the fluid discharge unit and an actual application track of the fluid. The track generation unit is configured to generate the track of the fluid discharge unit corresponding to the target application track using the time-series model upon reception of the target application track.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle, and a mode determiner configured to determine 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, in which it is recognized that there is an end point to end the second driving mode due to a road structure on a traveling direction side of the vehicle, and the driving mode of the vehicle is changed from the second driving mode to the first driving mode when a distance from the end point is equal to or less than a reference distance.

Abstract: A vehicle control device includes a recognition part, a driving control part, and an output control part. When determining there is a section where a current driving mode cannot be continued in a first lane and the vehicle changes to a second lane, the output control part outputs predetermined information, including first and second information, before reaching the section. When detecting an intention to change lanes after outputting the first information, and a lane change to the second lane is completed before outputting the second information, the driving control part continues a first driving mode executed during traveling in the first lane even after the lane change is completed, and when detecting the intention to change lanes after outputting the first information, and the lane change to the second lane is completed after outputting the second information, the driving control part changes to a driving mode imposing a larger task.

Abstract: A vehicle control device includes a recognition part, a driving control part, and an output control part. When determining there is a section where a current driving mode cannot be continued in a first lane and the vehicle changes to a second lane, the output control part outputs predetermined information, including first and second information, before reaching the section. When detecting an intention to change lanes after outputting the first information, and a lane change to the second lane is completed before outputting the second information, the driving control part continues a first driving mode executed during traveling in the first lane even after the lane change is completed, and when detecting the intention to change lanes after outputting the first information, and the lane change to the second lane is completed after outputting the second information, the driving control part changes to a driving mode imposing a larger task.

Abstract: A vehicle control apparatus that controls a vehicle, comprising: an acquisition unit configured to acquire peripheral information of the vehicle; and a control unit configured to control traveling of the vehicle based on the peripheral information, wherein the control unit determines whether the vehicle is traveling on a main lane, if the vehicle is traveling on a main lane, executes control in which both first course change control and second course change control, in which an automation rate is lower than in the first course change control or a degree of involvement in vehicle operations required of a driver is increased, are executable, and if the vehicle is not traveling on the main lane, executes control in which the second course change control is executable but the first course change control is not executable.