Abstract: Realized is a vehicle control device capable of performing automatic driving control that does not reduce turning accuracy of a host vehicle even when an object in a blind spot is different from an assumption and a vehicle speed decreases due to a rapid deceleration. A vehicle control device 10 includes a blind spot object estimation unit 24 that detects a blind spot region 320 of an external-field recognition sensor 12 that recognizes an external field and estimates a blind spot object 310 potential in the blind spot region 320, and a future trajectory generation unit 26 that generates a future trajectory of a host vehicle in consideration of a potential risk from the blind spot object 310 estimated by the blind spot object estimation unit 24 and surrounding information of a vehicle 1 that is the host vehicle.

Abstract: A travel assistance device includes: a detection result storage unit that stores a detection result of an external sensor installed in a host vehicle; a moving object recognition unit that recognizes a surrounding moving object based on a detection result of the external sensor; a route storage unit that stores a route along which the host vehicle has moved based on vehicle information acquired by a vehicle sensor installed in the host vehicle; an initial stop position determination unit that determines an initial position at which the host vehicle has stopped before starting, based on the detection result stored in the detection result storage unit; and a vehicle control unit that stops the host vehicle based on a recognition result of the moving object recognition unit after the host vehicle starts from the initial position. The detection result storage unit stores at least the initial position and the detection result on the route.

Abstract: Provided is an external recognition abnormality determination system capable of determining abnormality of a recognition result of an external recognition sensor even in a vehicle that does not have an alternative available external recognition sensor. An external recognition abnormality determination system determines abnormality of an operation of an external recognition sensor of a vehicle. The vehicle transmits, to a cloud server, type information and a recognition result of the external recognition sensor, and a self-position estimation result that is an estimation result of a self-position of the vehicle. The cloud server accumulates cloud data in which type information and recognition results of the external recognition sensors which are received from a plurality of vehicles and the self-position estimation result are associated with map information, and updates the cloud data.

Abstract: Realized is a vehicle control device capable of performing automatic driving control that does not reduce turning accuracy of a host vehicle even when an object in a blind spot is different from an assumption and a vehicle speed decreases due to a rapid deceleration. A vehicle control device 10 includes a blind spot object estimation unit 24 that detects a blind spot region 320 of an external-field recognition sensor 12 that recognizes an external field and estimates a blind spot object 310 potential in the blind spot region 320, and a future trajectory generation unit 26 that generates a future trajectory of a host vehicle in consideration of a potential risk from the blind spot object 310 estimated by the blind spot object estimation unit 24 and surrounding information of a vehicle 1 that is the host vehicle.