Abstract: Information about a present position and a posture of an own vehicle for performing desired vehicle operation control is estimated with high accuracy even if the vehicle is not mounted with any satellite positioning sensor. This position estimation device includes: an information reception unit which receives surrounding environment information including first mobile object information including at least a position, an angle, and a speed of a mobile object and road information about a surrounding of the mobile object; a recognition unit which unifies pieces of the surrounding environment information so as to create unification environment information; and an information transmission unit which transmits the unification environment information including positional information about the mobile object to the mobile object.

Abstract: A traffic control device of the present disclosure includes: a communication unit which receives target passing direction information and traffic information about moving objects in an intersection area transmitted from a traffic environment recognition device which acquires the traffic information; a pass schedule generation unit which predicts behaviors in the intersection area for each moving object to pass an intersection, on the basis of the traffic information and the target passing direction information, and generates a pass schedule in the intersection for each moving object; a collision judgment unit which judges a collision occurrence possibility in the intersection on the basis of the pass schedules; a passing order rank setting unit which sets passing order ranks if it is judged that collision will occur; and an adjusted pass schedule generation unit which generates adjusted pass schedules.

Abstract: A vehicle control device includes: an ego-vehicle information acquisition unit which acquires ego-vehicle information; a map information acquisition unit which acquires map information about an intersection; an other-vehicle information acquisition unit which acquires other-vehicle information about another vehicle traveling on a road connected to the intersection; an intersection entry possibility determination unit which calculates a stop time of the other vehicle at a position of a stop line for the intersection, calculates a stop time of the ego vehicle at a position of a stop line for the intersection, and determines whether or not the ego vehicle is allowed to enter the intersection on the basis of the stop time of the other vehicle and the stop time of the ego vehicle; and a vehicle control unit which controls traveling of the ego vehicle at the intersection.