Abstract: A vehicle include a first wheel and a second wheel, a steering circuit configured to steer at least one of the first wheel and the second wheel, and a wireless communication circuit configured to wirelessly communicate with the first vehicle and the second vehicle. When the wireless communication circuit receives a scheduled route of the first vehicle from the first vehicle while the vehicle is traveling on a first scheduled route, and determines that a possibility of a collision with the first vehicle is equal to or greater than a certain value based on the first scheduled route and the scheduled route of the first vehicle. The vehicle creates a second scheduled route different from the first scheduled route, starts traveling on the second scheduled route, and transmits the scheduled route of the first vehicle and the second scheduled route to the second vehicle.

Abstract: A vehicle traveling control method, includes: predicting traveling paths of candidate vehicles within the sensing range of a current vehicle; determining a target competing vehicle competing with the current vehicle from the candidate vehicles, where the target competing vehicle is a vehicle having a path intersection with the traveling path of the current vehicle; determining the traveling strategy combinations of the current vehicle and the target competing vehicle according to preset traveling variations and current traveling status of the current vehicle and the target competing vehicle; and determining a target traveling strategy combination that meets preset safe traveling conditions from the traveling strategy combinations, and controlling the traveling of the current vehicle according to the target traveling strategy combination.

Abstract: In a driving assist apparatus which carries out a collision avoidance assist that is an assist for avoiding a collision of a self-vehicle and a collision risk object that is an object judged to have a high possibility to collide with the self-vehicle when the collision risk object is judged to exist, an object which does not exist in an object detection range of a front side radar and whose predicted running locus and a predicted running locus of a self-vehicle intersect at a position within a predetermined distance from the self-vehicle on the front side of the self-vehicle is selected as a target of judgment of a possibility to collide with the self-vehicle based on information acquired by the front lateral side radar, among the objects detected by the front lateral side radar.

Abstract: Division line recognition apparatus includes: external sensor mounted on vehicle and detecting external situation in front of vehicle; behavior sensor detecting traveling behavior of vehicle; and electronic control unit performing: storing posture information of external sensor with respect to vehicle; recognizing division line defining travel lane along which vehicle travels based on external situation detected by external sensor and posture information; calculating movement amount of vehicle from first time point to second time point based on traveling behavior detected by behavior sensor; setting inspection point on division line recognized at second time point; calculating error of position of division line recognized at first time point with respect to position of inspection point based on movement amount; and updating posture information based on error.

Abstract: A rapid acceleration suppression device of a subject vehicle includes: an information acquisition part configured to acquire information on vehicle speed and time-series information on accelerator position; a determination part configured to determine whether or not the accelerator has been performed abnormally, based on the time-series information on the accelerator position; and a control part configured to provide control over a drive force of the subject vehicle, based on a current vehicle speed and a current accelerator position. If the determination part determines that the accelerator has been performed abnormally, the control part allows an acceleration of the subject vehicle within a range within which the current vehicle speed does not exceed a preset upper limit vehicle speed.

Abstract: To increase convenience of an operation performed from a vehicle stop state until ACC is started or resumed, provided is a driving assistance device for a vehicle, including: a control unit (11) configured to execute travel control of at least one of constant-speed travel control or follow-up travel control, and to stop the travel control during stop of the own vehicle (100); a detection unit (43, 13) configured to detect release of a brake pedal by an occupant of the own vehicle (100); and a reception unit (60, 13) configured to receive an assistance request from the occupant. The control unit (11) is configured to execute one of start or resumption of the travel control when the detection unit (43, 13) detects the release of the brake pedal and the reception unit (60, 13) receives the assistance request during the stop of the own vehicle (100).

Abstract: Provided is a vehicle control method in which a controller executes sailing stop control in which, if the conditions for stopping a drive source are satisfied during travel, the drive source is stopped and a coupling element provided in a power transmission path between the drive source and a continuously variable transmission is released for coasting. If the conditions for stopping the drive source are not satisfied, the controller restarts the drive source and estimates the driver's intention to accelerate, and if the driver has an intention to accelerate, the gear ratio of the continuously variable transmission is increased to a higher value than when there is no intention to accelerate, and the coupling element is coupled.

Abstract: A braking arrangement (100) for deaccelerating a vehicle is provided. The braking arrangement comprises, a drive clutch unit (104), a secondary clutch-brake unit (106) and an electronic control unit (108). When the brake pedal (114) is operated, the sensor (112) senses the movement of the brake pedal (114) and provides sensed signal to the control unit (108). The control unit (108) generates and transmits the control signal to the control valves (110) which in turn triggers solenoids of both the control valve (108) and an engagement is provided to the drive clutch unit (104) and secondary clutch-brake unit (106) respectively. At first the drive clutch unit (104) is engaged automatically irrespective of the vehicle drive mode. Gradually the secondary clutch-brake unit (106) is actuated. The present arrangement provides expedited deacceleration of the vehicle over conventional arrangements.

Abstract: A controller for a vehicle executes, when an ignition switch is turned off before an engine speed increases to an autonomous speed that is a speed allowing for autonomous operation of an engine, an increase process that increases the engine speed to greater than or equal to the autonomous speed, and a stop position control that stops a piston at a predetermined position in a cylinder through regenerative braking that converts rotational energy of a crankshaft of the engine into electric power with a motor generator after the increase process is completed.

Abstract: A control device controlling a vehicle, includes a control unit configured to execute lane change assist control of the vehicle, and an acquisition unit configured to acquire highly accurate map information that contains location information within a lane. When the acquisition unit acquires the highly accurate map information that contains information regarding a road on which the vehicle is running, the control unit is configured to be capable of executing the lane change assist control, and when the acquisition unit does not acquire the highly accurate map information that contains the information regarding a road on which the vehicle is running, the control unit does not execute the lane change assist control.

Abstract: A driving assistance device in a vehicle, the driving assistance device comprises a control unit configured to perform a lane change from a traveling lane in which the vehicle travels to a branch lane branching from the traveling lane, by driving assistance capable of automatically performing the lane change on an initiative of a system. The control unit acquires a travel distance in the branch lane, an elapsed time in the branch lane, and information indicating passage of an end position of the branch lane detected based on map information or external environment recognition information, after the lane change is completed by crossing a division line of the traveling lane, and ends the driving assistance in the branch lane.

Abstract: The present invention provides a driving support device that performs driving support of a vehicle, comprising: a detector configured to detect a state of a driver of the vehicle; and a controller configured to control the driving support with a setting validated by the driver among a plurality of settings including a first setting and a second setting each of which requests the driver to perform a predetermined operation obligation, wherein the controller is configured to invalidate the second setting, in a case of determining that the driver does not fulfill the operation obligation from a detection result of the detector in a state where the second setting is validated.

Abstract: A control device that performs travel control of a vehicle, includes a processor configured to acquire output information of a sensor configured to detect an object in an around of the vehicle based on a reflected wave from the object. The processor is configured to: acquire detection point data of the object in a peripheral region of the vehicle based on the output information of the sensor; and recognize that a peripheral environment of the vehicle is a travel-restricted section based on a distribution of detection point data in a first group including a plurality pieces of the detection point data on one side in a left-right direction of the vehicle in the peripheral region.

Abstract: A control device includes a processor configured to acquire output information of a first type of a first sensor and output information of a second type of a second sensor each configured to detect an object in an around of a vehicle, the processor performing first processing of recognizing a first range including a specific object among a plurality of ranges set in a peripheral region of the vehicle based on the output information of the first sensor, and second processing of recognizing a second range including the specific object among the plurality of ranges based on the output information of the second sensor, selecting a third range from the plurality of ranges obtained by excluding the first range based on the first range, and determining reliability of a recognition result of the first range based on a recognition result of the second processing for the third range.

Abstract: A driving mode control method, apparatus, device, program and storage medium, which relates to the technical field of electronic control, and is for a control platform, the method includes: acquiring a location information sent by a target vehicle, wherein the location information comprises a target location; determining a status data of at least one sample vehicle pre-stored by the control platform based on the target location, wherein the sample vehicle is a vehicle which has travelled through the target location; determining a target driving mode based on the status data of the sample vehicle, and sending the target driving mode to the target vehicle, such that the target vehicle travels in the target driving mode. This disclosure enables the target vehicle to travel in the target driving mode. The driver needs not to manually switch the driving mode, and the accuracy and convenience of controlling the drive mode are improved.

Abstract: A method includes collecting wheel loads applied to wheels tires of the vehicle, from wheel sensor sets installed in the wheels, when the vehicle is in a steady state and when it is subjected to a movement computing, by a vehicle control unit, longitudinal and lateral positions of a center of gravity of the vehicle, based on vehicle parameters and the wheel loads when the vehicle in the steady state; measuring the movement; and computing, by the vehicle control unit, a height of the center of gravity, based on the movement, the vehicle parameters, the longitudinal or lateral position of the center of gravity and the wheel loads when the vehicle is subjected to the movement.

Abstract: A method for allocating power between electric machines in a powertrain of an electric vehicle is described. The electric vehicle includes a gearbox having an input shaft and an output shaft configured to transmit a first torque to the wheels of the vehicle, a first electric machine having an output shaft coupled to the input shaft of the gearbox, and a second electric machine configured to supply a second torque to wheels of the vehicle. The method comprises: prior to a gear change of the first electric machine, allocating power to the first and second electric machines according to a first power ratio; in response of an intended gear change of the first electric machine, allocating power to the first and second electric machines according to a second power ratio.

Abstract: A method for performing at least one perception task associated with autonomous vehicle control includes receiving a first dataset and identifying a first object category of objects associated with the plurality of images, the first object category including a plurality of object types. The method also includes identifying a current statistical distribution of a first object type of the plurality of object types and determining a first distribution difference between the current statistical distribution of the first object type and a standard statistical distribution associated with the first object category. The method also includes, in response to a determination that the first distribution difference is greater than a threshold, generating first object type data corresponding to the first object type, configuring at least one attribute of the first object type data, and generating a second dataset by augmenting the first dataset using the first object type data.

Abstract: A method for vehicle control, including: obtaining a slip ratio in a current control cycle of a vehicle; calculating a road friction coefficient in the current control cycle of the vehicle by invoking a corresponding calculation strategy according to the slip ratio; and controlling the vehicle in real time by inputting the road friction coefficient into a vehicle control optimization model to obtain a control instruction for the current control cycle of the vehicle.

Abstract: A driving assistance method of assisting driving of a vehicle, includes, by a computer, acquiring biological information of a driver who is driving the vehicle, acquiring environment information of the driver, acquiring operation information of the driver, generating biological index data from the biological information, generating integrated information by aligning and combining time series of the biological index data, the environment information, and the operation information, calculating accident risk information after a predetermined time, by inputting the integrated information to an accident risk prediction model set in advance, and calculating factor information of the accident risk information by inputting the accident risk information, the integrated information, and accident risk judge information set in advance to a factor calculation model set in advance.

Abstract: A method for controlling a driving force of a vehicle includes setting and providing a filter simulation map for simulating a filter to a control unit of the vehicle, determining a required driving force command based on vehicle driving information collected while the vehicle is driven, determining a final front wheel driving force command and a final rear wheel driving force command from the determined required driving force command through a limit application process of using a limit determined in accordance with a vehicle driving variable in the filter simulation map, and controlling a driving force which is applied to front wheels and rear wheels of the vehicle by a driving device configured to drive the vehicle in accordance with the determined final front wheel driving force command and the determined final rear wheel driving force command.

Abstract: A method and apparatus for determining a load of a drive device are disclosed. The drive device is provided with at least one sensor system which is coupled to a computing unit. By the sensor system, different data relating to the drive device in operation are detected. The detected data are transmitted to the computing unit and the detected data are compared to load-typical information stored in the computing unit. A type of load is determined based on the compared data.

Abstract: The present disclosure relates to a method for controlling performance of a vehicle by estimating a center of gravity of the vehicle, the method comprising: receiving by a vehicle control unit, load parameters describing features of a load in the vehicle, collecting, by the vehicle control unit, a load weight measure of a load in the vehicle, from a load sensor, when the vehicle is in a steady state; and computing, by the vehicle control unit, using a neural network, longitudinal and lateral positions and height of a center of gravity of the vehicle, based on the load parameters and the load weight measure.

Abstract: An example operation includes one or more of: predicting that a driving condition will exist at a future location of a vehicle as the vehicle maneuvers on a road; determining an action that the vehicle will take at or approaching the location; and responsive to the predicted driving condition existing, applying a first braking level to a first set of one or more wheels of the vehicle, the first braking level being different from a second braking level applied to a second set of one or more wheels of the vehicle.

Abstract: An apparatus formulates a scheduling optimization problem for controlling the operation of an electric vehicle between multiple operating states based at least in part on battery status information of the electric vehicle, decomposes the scheduling optimization problem into a plurality of subproblems associated with respective sequences of time slots, implements an electric vehicle simulator to generate updated values of the battery status information, including one or more predicted values, for use in solving the subproblem for each of one or more of the sequences of time slots, based at least in part on a solution to the subproblem for a previous one of the sequences of time slots, and generates one or more control signals for the electric vehicle for each of one or more of the sequences of time slots based at least in part on the corresponding solution to the subproblem for that sequence of time slots.

Abstract: The disclosed technology provides solutions for validating/verifying perception outputs, e.g., from a perception module of an autonomous vehicle (AV) software stack. In some aspects, a process of the disclosed technology can include steps for providing sensor data to a perception module, receiving, from the perception module, a first perception output based on the sensor data, providing the sensor data to a validation module, and receiving, from the validation module, a second perception output based on the sensor data. In some aspects, the process can further include steps for determining if the first perception output corresponds with the second perception output. Systems and machine-readable media are also provided.

Abstract: The present disclosure relates to a method performed by a buffer resources prioritizing system for storage prioritization in an event buffer configured to continuously collect operational data of an Automated Driving System, ADS, of a vehicle. The buffer resources prioritizing system obtains sensor data of one or more sensors onboard the vehicle. The buffer resources prioritizing system further determines, at least partly based on the sensor data, current ADS-related operational conditions at least comprising states of vehicle surroundings and internal states of the vehicle. Moreover, the buffer resources prioritizing system determines an upcoming scene predicted to evolve from the current operational conditions. Furthermore, the buffer resources prioritizing system deduces based on assessment of the predicted scene, a storage priority score thereof reflecting predicted relevance of freezing event data of the predicted scene in the event buffer.

Abstract: A navigation instruction of an autonomous vehicle is detected. The autonomous vehicle is in an environment. The autonomous vehicle is communicatively coupled to a plurality of sensors configured to capture environmental information of the environment. An anomalous sensor status of a first sensor of the plurality of sensors is determined based on the plurality of sensors. An air measurement is identified in response to the anomalous sensor status and based on a second sensor of the plurality of sensors. The air measurement is adjacent to the autonomous vehicle. Autonomous movement operation of the autonomous vehicle is directed in response to the movement instruction and based on the air measurement.

Abstract: A system 100 for autonomous vehicle operation can include: a low-level safety platform 130; and can optionally include and/or interface with any or all of: an autonomous agent 102, a sensor system, a computing system 120, a vehicle communication network 140, a vehicle control system 150, and/or any suitable components. The system functions to facilitate fallback planning and/or execution at the autonomous agent. Additionally or alternatively, the system can function to transition the autonomous agent between a primary (autonomous) operation mode and a fallback operation mode.

Abstract: A network-connected autonomous driving method includes obtaining, by a vehicle, adjustment information corresponding to quality of service (QoS) information of a network to which the vehicle is connected. The QoS information includes a predicted QoS of the network. The method further includes adjusting, by the vehicle, a driving assistance mode or driving control mode of the vehicle according to the adjustment information.

Abstract: A state estimation method includes a first step of preparing a plurality of first estimation models estimating a state of an object to be monitored based on a state variable measured with respect to the state of the object to be monitored, a second step of preparing a second estimation model estimating, from among the plurality of first estimation models, which one of the first estimation models estimates the state of the object to be monitored with the highest accuracy based on the state variable measured with respect to the object to be monitored or a state variable measured with respect to a utilization device that runs by using the object to be monitored, and a third step of outputting a result of estimation of the state of the object to be monitored of the one first estimation model estimated by the second estimation model.

Abstract: Provided are a method, apparatus, and computer program for modeling a driving route for automatic driving of a vehicle. According to various embodiments, a method of modeling a driving route for automatic driving of a vehicle, which is executed by a computing device, includes setting a plurality of reference points; and generating a driving route for autonomous driving control of the vehicle based on positions of the plurality of set reference points, in which the generated driving route is a set of curves each corresponding to one of a straight section, a curved section and a clothoid section connecting the straight section and the curved section and is expressed as a curvature function according to displacement.

Abstract: A vehicle control device is configured to acquire a camera image obtained by capturing an image, control steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, decide a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode, change the driving mode of the vehicle to a driving mode with a heavier task when a task related to the decided driving mode is not executed by the driver, determine whether there is a deviation between a road division line shown in the camera image and a road division line shown in the map information, determine whether a preceding vehicle is present in front of the vehicle when it is determined that there is a deviation.

Abstract: At least one processor detects whether a steering wheel is being gripped by a user who operates a mobile object, executes first movement control that is executable with the steering wheel not being gripped, and second movement control that is executable with the steering wheel being gripped, notifies the user, by using an outputter, that the user is requested to grip the steering wheel when gripping of the steering wheel is not detected after an operator for operating a direction indicator is operated while the first movement control is being executed with the steering wheel not being gripped, and continues the first movement control without shifting to the second movement control when the gripping is not detected after the notification is made.

Abstract: Vehicle fleet management includes processing event-based data corresponding to detected events to generate event data sets that include: at least video corresponding to the event and data identifying an event-type for the event. One or more pedagogical event pairs are identified, each of which includes a first event data set reflecting a “good” response to an event-type and a second event data set reflecting a “bad” response to the event-type. At least one cluster of drivers having similar occurrence rates for the event-type is identified. One or more training lessons are generated for the cluster based on the event type, which training lessons include at least the video of the first event data set and the video of the second event data set. The training lessons are administered to a driver of the cluster via a computing device. The autonomous control of one or more vehicle systems is instituted based on the administered training lessons.

Abstract: Provided is a vehicle integrated control method used for a vehicle integrated control system, wherein the vehicle integrated control system at least can comprise an integration module and a plurality of control modules, and the integration module is provided inside a vehicle. The method comprises: in response to a target operation performed by a user on the integration module, determining a target control instruction corresponding to the target operation; determining a target control module corresponding to the target control instruction, the target control module being at least one of the plurality of control modules; and activating the target control module to cause the target control module to control the enabling or disabling of a corresponding function on the basis of attribute information of internal and external environments of the vehicle. Also disclosed are a vehicle integrated control apparatus, a device, and a storage medium.

Abstract: A vehicle includes microphones and a system for detecting a lifeform in the vehicle, such as a pet or child left behind in a vehicle. Detecting the lifeform includes obtaining sound signals captured by the microphones and performing a spectral response analysis of the sound signals. The spectral response analysis is based on frequency-based attenuation of the vehicle. The lifeform detection system determines, based on the spectral response analysis, whether a source of a sound captured by at least one of the plurality of microphones is located inside the vehicle, and if it is, generates a notification in response to determining that the source of the sound is located inside the vehicle.

Abstract: Provided is a vehicle driving control method and apparatus based on a baby mode, the method comprising sensing, using a sensing unit, sensing information, the sensing information comprising a physical value corresponding to a current driving state of a vehicle and movement information of an infant on a car seat in the vehicle, updating a driving evaluation score of a driver of the vehicle based on the sensing information, outputting a warning signal to the driver when the driving evaluation score is less than or equal to a threshold value, and, when the warning signal is repeated at least a predetermined number of times, generating a feedback signal configured to adjust a position of the car seat.

Abstract: A control method is in a system that is communicable with a plurality of terminals via a network and manages a plurality of application candidates for the plurality of terminals. The control method includes: acquiring, via the network, from a first terminal connected to a first vehicle, first request information for requesting first catalog information indicating an application catalog for the first terminal and first level information indicating a level of automatic driving executable by the first vehicle; generating, as the first catalog information, information including one or more first application candidates selected from the plurality of application candidates according to the level of automatic driving executable by the first vehicle, based on the first request information and the first level information; and transmitting, to the first terminal via the network, first display information for displaying the first catalog information on a display of the first terminal.

Abstract: A driver assist system configured to accurately recognize a target vehicle in a communication area set in front of a vehicle to assist a driver to operate the vehicle. The driver assist system notifies a driver of existence of the target vehicle in the communication area. A controller comprises: a timer that measures an elapsed time from a point at which the target vehicle moved out of the communication area; and a recognizer that recognizes other vehicle as a target vehicle until the elapsed time exceeds a threshold period of time, and that cancels a recognition of other vehicle as the target vehicle when the elapsed time exceeds the threshold period of time.

Abstract: A driving operation supporting apparatus of a vehicle is provided with a notification unit that notifies a driver of an operation command for prompting the driver to perform operations to cause the vehicle to start an inertia travelling; and a changing unit that changes at least one of a frequency of notifications of the notification unit, a notification timing and a notification method, depending on at least one of a burden of the driver, a reduction amount of an energy consumption when performing the inertia travelling and a surrounding situation of the vehicle.

Abstract: A recommendation device is a device that recommends a driver assistance function available for a user who is driving a vehicle. The recommendation device includes: an information collection unit configured to collect information related to the use of the driver assistance function in a plurality of the vehicles; an aggregation unit configured to aggregate the information related to the use collected by the information collection unit; a prescribed area specification unit configured to specify, among areas where the driver assistance function is expected to be used, a prescribed area where an aggregation result acquired by the aggregation unit corresponds to a prescribed condition; and a recommendation unit configured to output recommendation information for recommending the prescribed area and the driver assistance function expected to be used in the prescribed area in an associated manner.

Abstract: A recommendation device recommendation device acquires a moving route of the vehicle driven by a target user; specifies one or a plurality of driver assistance functions recommended to be used on the moving route and use recommended areas where the driver assistance functions are recommended to be used; evaluates a use record of the target user regarding the driver assistance functions specified; and outputs recommendation information for recommending: the driver assistance functions remaining after excluding the driver assistance functions for which an evaluation result of the use record of the target user corresponds to a prescribed condition from the driver assistance functions specified; and the respective use recommended areas of the driver assistance functions.

Abstract: An annotation handling system for in an on edge-based manner training a supervised or semi-supervised perception model on edge of a vehicle equipped with an ADS. The annotation handling system stores while the vehicle is being driven, sensor data; selects annotation-eligible data out of the sensor data; generates a learning model candidate by annotating an event in the annotation-eligible data using a perception learning model; generates at least a first corroboration candidate by annotating the event based on perception predictions of the event derived from radar- and/or lidar-based sensor data of the obtained sensor data and/or based on identifying the event in a digital map; determines when one or more of the at least first corroboration candidate match the learning model candidate fulfilling corroboration criteria, an annotation of the event based on the learning model candidate and the first corroboration candidate; and updates the perception model based on the annotation.

Abstract: An apparatus autonomously operates at least one system of a vehicle as the vehicle navigates along a route through at least a portion of a traversable network in a sensor-based navigation mode. The apparatus obtains a map fragment corresponding to an area along the route; and, responsive to determining that the vehicle is located within the area, autonomously operates the at least one system of the vehicle as the vehicle navigates a portion of the route within the area in a map-based navigation mode using map data of the map fragment. Responsive to determining that the vehicle has exited the area, the apparatus autonomously operates the at least one system of the vehicle as the vehicle continues to navigate along the route in the sensor-based navigation mode. The map fragment is a portion of a high definition map configured to enable map-based autonomous vehicle navigation/control.

Abstract: A method of planning a path for reversing a trailer along a defined path a includes defining a desired end point for a trailer path and determining a set of reversing trailer curvatures for moving the trailer between each of a plurality of possible waypoints along a possible trailer path. A steering angle is determined for each of the curvatures. The reversing trailer path to the end point is then created based on a set of waypoints selected based on the determined reversing trailer curvature at each of the plurality of possible waypoints that meets a defined path determination criteria.

Abstract: Provided are methods, systems, and computer program products for lane keep tracking and/or localization of a vehicle using a radar to detect metallic particles in paint applied to lane markings or curb markings. An example method may include: causing a radar system of a vehicle to output radio waves; receiving a radar image from the radar system corresponding to returned radio waves; determining a portion of the radar image includes lane or curb markings, wherein the lane or curb markings are embedded with metallic particles; and determining a location of the vehicle based at least in part on the determined portion of the radar image that includes the lane or curb markings.

Abstract: The disclosed technology provides solutions for validating/verifying perception outputs, e.g., using multiple perception modules. In some aspects, a process of the disclosed technology can include steps for receiving sensor data, providing the sensor data to each of a plurality of perception modules, receiving a perception output from each of the plurality of perception modules, and determining a ground-truth perception output based on the perception outputs received from each of the plurality of perception modules. Systems and machine-readable media are also provided.

Abstract: An object of the present invention is to provide a vehicle control device configured, regardless of the number of travel lanes of a road, to generate a travel route based on a road width of the road or the like, so as to improve a continuous automatic driving system. The present invention provides a vehicle control device configured to perform vehicle control of a self vehicle based on information of a position of the self vehicle, information of a map, and information of a route. The vehicle control device determines, at a specific spot of the route, whether or not a travel lane (311) of the self vehicle has a lane width (Wr1) that allows a plurality of virtual vehicles (303 and 304) to travel parallel to each other, and on determination that the travel lane has the lane width, the vehicle control device generates, on the travel lane, a plurality of virtual lanes and virtual lane center lines (332 and 333) of the plurality of virtual lanes.

Abstract: A vehicle position generation apparatus to be applied to a vehicle includes a memory, an imaging device, and a processor. The memory holds map data including information on at least positions of standing structures arranged to stand along a road on which the vehicle travels. The imaging device captures an image of a forward side in a traveling direction of the vehicle. The processor acquires information from the memory and the imaging device, and processes the acquired information. The processor generates information on one or more standing structures included in the captured image obtained by the imaging device, identifies, in the map data, positions of the one or more standing structures on which the information has been generated, and generates a position of the vehicle, based on the positions of the one or more standing structures identified in the map data, and the captured image.