Abstract: To provide a control calculation apparatus which can generate the target trajectory according to the state of deviating, and can suppress that the riding comfort is deteriorated, even if the vehicle deviates from the initial trajectory for the lane change due to disturbance, such as the override. A control calculation apparatus calculates a target value of vehicle control variable, which includes at least a steering angle, for the own vehicle to travel along the target trajectory, based on the traveling state and the target trajectory; and after the generation start of the target trajectory for the lane change, generates the target trajectory for the lane change which passes through a position within a prescribed distance range from the current position of the own vehicle detected based on the traveling state.

Abstract: To provide a travel route generation apparatus and a travel route generation method which can generate a travel route for changing lanes with good accuracy using the newest lane marking information obtained during lane change. A travel route generation apparatus and a travel route generation method, during lane change of the own vehicle, determines whether or not the lane marking information of each lane marking is effective lane marking information which can be used for generation of a lane change travel route which is a travel route for changing lanes; selects a reference lane marking from the lane marking on the left side and the lane marking on the right side of an own lane, based on an effectiveness determination result; and generates a lane change travel route, based on the lane marking information of the reference lane marking.

Abstract: An optimal solution calculation device for an optimization problem includes an initial condition generation unit for generating an executable initial solution and an equality constraint set with respect to an optimization problem, an optimization calculation unit for calculating a solution of a simultaneous linear equation generated from an evaluation function and for calculating an evaluated solution that is a solution to minimize or maximize the evaluation function, and an update unit. A convergence determination unit of the optimization calculation unit determines that an iterative solution has converged when a residual norm is equal to or less than a convergence determination threshold value, and outputs the converged iterative solution as the evaluated solution. The update unit determines the evaluated solution as an optimal solution when an update of the equality constraint set is determined to be unnecessary, and the convergence determination threshold value is the first threshold value.

Abstract: A vehicle control device includes: a surrounding vehicle lane determination unit; a surrounding vehicle behavior prediction unit for predicting whether or not the surrounding vehicle will cut in at a time point after a present; a preceding vehicle determination unit; a target acceleration calculation unit; and a drive force calculation unit for calculating a drive force of the own vehicle. The preceding vehicle determination unit includes: a preceding vehicle candidate selection unit for selecting, as a preceding vehicle candidate, the surrounding vehicle traveling in front on an own vehicle traveling lane and the surrounding vehicle predicted to cut in to the own vehicle traveling lane; a collision risk determination unit for determining a collision risk of each surrounding vehicle selected as the preceding vehicle candidate; and a preceding vehicle selecting unit for selecting, as the preceding vehicle, the surrounding vehicle of which the collision risk is greatest.

Abstract: To provide a traveling lane recognition apparatus and a traveling lane recognition method which can determine the reliability of the detected lane marking information in order to deal with the case where, even though the detecting state of the periphery monitoring apparatus is good, the reliability of the detected lane marking information is bad, and can set appropriately the lane marking information used for autonomous driving. A traveling lane recognition apparatus acquires detection lane marking information based on detection information of a periphery monitoring apparatus; acquires map lane marking information from map data; determines a reliability of the detection lane marking information based on variation of the detection lane marking information; and selects from the detection lane marking information and the map lane marking information based on the reliability, and calculates lane marking information for autonomous driving.

Abstract: A processor of a computing device comprises: a rearrangement unit to rearrange a plurality of elements included in each of a Hessian matrix of an evaluation function and a coefficient matrix of the linear constraint; a generation unit to generate a simultaneous linear equation for finding the optimal solution, based on the evaluation function including the rearranged Hessian matrix and the linear constraint including the rearranged coefficient matrix; and a search unit to find the optimal solution using the simultaneous linear equation. The rearrangement unit rearranges the plurality of elements so as to gather a sparse element of the plurality of elements included in the Hessian matrix, and rearranges the plurality of elements so as to gather a sparse element of the plurality of elements included in the coefficient matrix.

Abstract: To provide a traveling lane recognition apparatus-which can suppress deterioration of recognition accuracy of the division line of the own lane, even when the own vehicle crosses the division line by lane change, and the correspondence relation between the own lane and the division line changes. A traveling lane recognition apparatus acquires division line information about division lines of one or a plurality of lanes which are recognizable in front of the own vehicle and include the own lane and the adjacent lane; acquires vehicle movement information; converts the division line information into the division line information of current position basis based on vehicle movement information; determines a correspondence relation between the own lane and each division line; stores the division line information by correlating with the correspondence relation; and estimates estimation division line information based on the division line information of current position.

Abstract: A processor of a computing device comprises: a generation unit to generate an active constraint set based on an inequality constraint set and an initial solution; a search unit to find a solution of a simultaneous linear equation generated based on the active constraint set and an evaluation function; and an updating unit to update the active constraint set based on the solution obtained by the search unit. The generation unit adds, to the active constraint set, the first inequality constraint determined as being not linearly dependent on one or more second inequality constraints included in the active constraint set.