Abstract: A plurality of candidate estimated paths (301) for a vehicle (100) to travel to an intermediate destination (300) while avoiding a moving object present by estimation time is generated depending on cost information of lanes (200, 201), and an estimated path selected from the plurality of candidate estimated paths (301) is set as a path of the vehicle (100) for each estimation time.

Abstract: An electrode catalyst layer includes a catalyst material, a conductive carrier, which supports the catalyst material, a polymer electrolyte, and a fibrous material. The electrode catalyst layer includes a three-dimensional network of a flow path. The flow path includes a plurality of terminal points and a plurality of branches. Each of the branches is an elongated hole connecting a pair of the terminal points. The plurality of branches include a bifurcated branch. One of the pair of the terminal points of the bifurcated branch is connected to another branch. The number of branches per unit volume of the electrode catalyst layer is 8500 or more and 13000 or less. The unit volume is defined as 3.9 ?m×3.9 ?m×4.4 ?m.

Abstract: A plurality of candidate estimated paths (301) for a vehicle (100) to travel to an intermediate destination (300) while avoiding a moving object present by estimation time is generated depending on cost information of lanes (200, 201), and an estimated path selected from the plurality of candidate estimated paths (301) is set as a path of the vehicle (100) for each estimation time.

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A route prediction unit estimates a route of an object of interest with respect to a target object based on collision avoidance models. A collision risk estimation unit calculates collision risks between the object of interest and target object for each collision avoidance model. A collision deciding unit decides the presence or absence of a collision from the collision risks and feeds back a collision avoidance model correction value to the route prediction unit when it is determined that the collision occurs. A collision avoidance route selector selects any of the plurality of collision avoidance models in which the absence of collision is decided by the collision deciding unit, and selects a route of the collision avoidance model as a route for avoiding the collision between the objects. The route prediction unit performs a new route prediction using the collision avoidance model correction value.

Abstract: The route prediction system according to the invention includes a measurement unit to measure an area including a host vehicle and other moving vehicles, a vehicle detection unit to detect the host vehicle and at least two of the surrounding vehicles having collision possibilities on the basis of observation results observed by the observation unit, a hypothesis generation unit to generate plural hypotheses for the at least two of the surrounding vehicles detected by the vehicle detection unit to avoid collision, a likelihood calculation unit to calculate a likelihood indicating probability of occurrence of each of the plural hypotheses generated by the hypothesis generation unit, and a predicted route analysis unit to analyze, on the basis of the likelihood calculated by the likelihood calculation unit, predicted routes of the at least two of the surrounding vehicles, and output the analysis result.

Abstract: A route prediction unit estimates a route of an object of interest with respect to a target object based on collision avoidance models. A collision risk estimation unit calculates collision risks between the object of interest and target object for each collision avoidance model. A collision deciding unit decides the presence or absence of a collision from the collision risks and feeds back a collision avoidance model correction value to the route prediction unit when it is determined that the collision occurs. A collision avoidance route selector selects any of the plurality of collision avoidance models in which the absence of collision is decided by the collision deciding unit, and selects a route of the collision avoidance model as a route for avoiding the collision between the objects. The route prediction unit performs a new route prediction using the collision avoidance model correction value.

Abstract: A radar device including an up-chirp tracking filter that performs a tracking process using a beat frequency at the time of an up-chirp to acquire a beat frequency, a down-chirp tracking filter that performs a tracking process using a beat frequency at the time of a down-chirp to acquire a beat frequency, target detectors that calculate distance and speed estimated values of the target for the chirps from beat frequency time series data about the chirps; an identical target determinator that determines whether or not the target detected for each of the chirps is an identical target using the distance and speed estimated values, and a distance and speed calculator that calculates a distance and a speed of the target using the beat frequency of the target which is determined to be an identical target.

Abstract: A tracking error covariance matrix updating unit 6 that updates a tracking error covariance matrix Pk (?) before update at a sampling time k by using a nominal distance difference error parameter ??rnom and that outputs the tracking error covariance matrix Pk (+) after update is disposed, and a TrackDOP calculating unit 7 calculates an evaluation index TrackDOP for tracking accuracy for a target by using both the tracking error covariance matrix Pk (+) after update, and the nominal observation error parameter ??rnom.

Abstract: A tracking error covariance matrix updating unit 6 that updates a tracking error covariance matrix Pk (?) before update at a sampling time k by using a nominal distance difference error parameter ??rnom and that outputs the tracking error covariance matrix Pk (+) after update is disposed, and a TrackDOP calculating unit 7 calculates an evaluation index TrackDOP for tracking accuracy for a target by using both the tracking error covariance matrix Pk (+) after update, and the nominal observation error parameter ??rnom.

Abstract: A radar device including an up-chirp tracking filter that performs a tracking process using a beat frequency at the time of an up-chirp to acquire a beat frequency, a down-chirp tracking filter that performs a tracking process using a beat frequency at the time of a down-chirp to acquire a beat frequency, target detectors that calculate distance and speed estimated values of the target for the chirps from beat frequency time series data about the chirps; an identical target determinator that determines whether or not the target detected for each of the chirps is an identical target using the distance and speed estimated values, and a distance and speed calculator that calculates a distance and a speed of the target using the beat frequency of the target which is determined to be an identical target.

Abstract: A radar (peripheral object observation device) repeatedly observes a relative position of an object relative to the moving object, which is located in the vicinity of a moving object. A stationary object identification unit (stationary object determination unit) determines whether or not the object the relative positions of which have been observed by the radar is still. A road approximate curve temporary computation unit (object correlation unit) determines a plurality of the relative positions of an identical object observed by the radar from among the relative positions observed by the radar. A road approximate curve main computation unit (approximate curve computation unit) computes an approximate curve that approximates the configuration of a road on which the moving object is located, based on a result of the determination by the stationary object identification unit and a result of the determination by the road approximate curve computation unit.

Abstract: There is provided a road configuration estimation apparatus that precludes influences of erroneous detection of an object and erroneous still determination and estimates a road configuration. A radar (peripheral object observation device) 110 repeatedly observes a relative position of an object relative to the moving object, which is located in the vicinity of a moving object. A stationary object identification unit (stationary object determination unit) 130 determines whether or not the object the relative positions of which have been observed by the radar 110 is still. A road approximate curve temporary computation unit (object correlation unit) 140 determines a plurality of the relative positions of an identical object observed by the radar 110 from among the relative positions observed by the radar 110.

Abstract: An angular velocity estimation apparatus of the invention is provided to estimate the angular velocity of a moving object with good accuracy. A peripheral object observation device (radar) 811 repeatedly observes a relative position of an object relative to the moving object, located in the vicinity of the moving object. A relative position acquisition unit 211 obtains a result of the observation by the peripheral object observation device 811. A stationary object determination unit (stationary object identification unit) 220 determines whether or not the object the relative position of which have been observed by the peripheral object observation device 811 is still. An object correlation unit (stationary object tracking unit) 230 determines a plurality of the relative positions of an identical object observed by the peripheral object observation device 811, from among the relative positions observed by the peripheral object observation device 811.

Abstract: A radar device includes: a signal processor that receives an FMCW signal, detects a peak of a beat signal according to a reception signal and a transmission signal, and performs a correspondence of the beat frequency and an angle measurement process to generate target information; a beat frequency tracking filter that receives the beat frequency and updates a position and a velocity of the target; a pair observation value tracking filter that receives the observation value of the position and the velocity of the target to update the position and the velocity of the target; an integration/selection unit that integrates the tracks of both the tracking filters together or selects one thereof; a system track memory; and an abnormal value determination unit.