Abstract: An advanced map DB 43 stored on a server device 4 includes pulse type information that is configuration information for detecting a landmark using a LIDAR 2. By sending request information D1 including own vehicle position information, the vehicle mounted device 1 receives response information D2 including pulse type information corresponding to a landmark around the own vehicle position and controls the LIDAR 2 on the basis of the received pulse type information.

Abstract: A robot configured to perceive a model of an environment, including: a chassis; a set of wheels; a plurality of sensors; a processor; and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data while the robot moves within the environment; perceiving the model of the environment based on at least a portion of the plurality of data, the model being a top view of the environment; storing the model of the environment in a memory accessible to the processor; and transmitting the model of the environment and a status of the robot to an application of a smartphone previously paired with the robot.

Abstract: An outdoor robotic tool comprising a first part and a second part, wherein the first part supports the second part through a suspension arrangement. The suspension arrangement comprises a first component, which comprises at least one magnetic member; and a second component, which comprises at least one magnetic member. The first component is attached to the first part, wherein the second component is attached to the second part, wherein at least one of the magnetic members of suspension arrangement is a permanent magnet; and wherein a magnetic member of the first component is positioned so as to magnetically interact with a magnetic member of the second component when in use. A magnetic field sensing unit may be present that comprises a control unit and a magnetic field sensor. A method for detecting the alignment of the first part relative to the second part, wherein the method comprises detecting the magnetic field using the magnetic field sensing unit.

Abstract: An electronic system and method controls automatic or semi-automatic docking of a vehicle with a given docking area, applicable, in particular, to the docking of an airport vehicle, such as a baggage belt loader, a catering vehicle, etc., to the fuselage of an aircraft, for example to the door of such an aircraft. The given docking area comprises at least one target.

Abstract: An information processing method in a server device includes obtaining first information on an object to be sucked by a self-propelled vacuum cleaner, specifying a first article constituted by the object to be sucked based on the first information, specifying a second article relating to the first article based on second information on the first article and third information on an owner of the first article, and outputting fourth information on the specified second article.

Abstract: An information processing method in a server device includes obtaining first information obtained by at least one of one or more sensors installed in a space, detecting the breakage of an article present in the space based on the first information, estimating a situation where the breakage of the article occurred based on the first information, and outputting second information for causing a self-propelled device to perform a predetermine operation in the space according to the estimated situation.

Abstract: An accommodation area management device which manages an accommodation area for accommodating a moving body and stops the moving body at a predetermined accommodation position in the accommodation area includes an acquisition unit configured to acquire autonomous movement level information related to autonomous movement that the moving body can perform and a processing unit configured to determine an accommodation position for stopping the moving body based on the autonomous movement level information when the moving body enters the accommodation area.

Abstract: A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the present vehicle, when the autonomous driving system issues a first command to request the vehicle platform to provide deceleration to stop the vehicle and a first signal indicates 0 km/h or a prescribed velocity or less, the autonomous driving system issues a second command to request the vehicle platform to maintain stationary. And after brake hold control is finished, a second signal indicates standstill. Until the second signal indicates standstill, the first command continues to request the vehicle platform to provide deceleration.

Abstract: A vehicle may include a frame structure, a body mounted to the frame structure, and a vehicle navigation system. The vehicle navigation system may include a navigation sensor mounted to the frame structure, and a processor in communication with the navigation sensor. The navigation sensor may be configured to detect reference elements disposed in or on a road on which the vehicle travels. The processor may be configured to receive, from the navigation sensor, signals indicative of a sequence or pattern of detected reference elements. The processor may also be configured to determine, using the received signals, at least one of a position, velocity, or orientation of the vehicle on the road.

Abstract: Included is a surface cleaning service system including: one or more robotic surface cleaning devices, each including: a chassis; a set of wheels; one or more motors to drive the wheels; one or more processors; one or more sensors; and a network interface card, wherein the one or more processors of each of the one or more robotic surface cleaning devices determine respective usage data. A control system or the one or more processors of each of the one or more robotic surface cleaning devices is configured to associate each usage data with a particular corresponding robotic surface cleaning device of the one or more robotic surface cleaning devices.

Abstract: A vehicle including a magnetic detecting part for detecting a magnetic marker disposed in a road is configured to acquire marker state information indicating the state of the magnetic marker from an external server apparatus via wireless communication and diagnose the state of the magnetic detecting part by using a result of detection of the magnetic marker in which the state of the magnetic marker indicated by the marker state information is good, thereby allowing inspection cost and cost of maintenance of the magnetic detecting part for detecting the magnetic marker to be suppressed.

Abstract: A power system and a power method for a power system that includes a first power source operatively connected to an input of a first power device. The power system also includes a switch unit having a first input operatively connected to the output of the first power device. The power system further includes a second power source operatively connected to a second input of a second power device. A second output of the second power device connects to a second input of the switch unit, wherein a third output of the switch unit provides an output parameter responsive to at least one of the output of the first power device and the second output of the second power device.

Abstract: A drive arrangement for a vehicle, the drive arrangement comprising a rotatable interface arranged to be mounted to the vehicle, wherein the rotatable interface is rotatably coupled to a mounting arm to allow continuous rotation of the mounting arm in a clockwise and anti clockwise direction that is substantially perpendicular to the longitudinal and transverse axis of the vehicle; and a first electric motor having a stator and a rotor, wherein the stator is coupled to the mounting arm to allow the axis of the rotor to be substantially perpendicular to the rotational axis of the rotatable interface, wherein the rotor is arranged to be coupled to a wheel of the vehicle to allow the electric motor to provide drive torque to the wheel.

Abstract: An apparatus includes a frame, a drive assembly supported by the frame, an electronic system supported by the frame, and a cleaning assembly coupled to the frame. The drive assembly is configured to move the frame along a surface. The cleaning assembly is configured to engage the surface to transfer detritus from the surface to a storage volume supported by the frame. The electronic system has at least a processor and a memory. The processor is configured to define a path along which the drive assembly travels and is configured to redefined a path along which the drive assembly travels based on at least one signal received from at least one sensor.

Abstract: An autonomous moving transfer robot, including a main body with a base and a vertical plate; a traveling mechanism having a driving wheel and a driven wheel mounted on the base; a working mechanism having two manipulators, each with a mechanical arm, a proximal end of which is connected to the vertical plate, and a clamp pivotally connected to a distal end of the mechanical arm; the mechanical arms enable the clamps to reach a desired position, and the manipulators drive the clamps to grip and release a target object; a carrying mechanism having a plurality of plate-shaped carrying members for carrying the target object, the carrying members being fixed on the same side of the vertical plate, and arranged at intervals along the vertical direction; and a control system for controlling the walking/stopping and steering of the traveling mechanism and the movement of the manipulators.

Abstract: An apparatus such as a robot capable of performing goal oriented tasks may include one or more touch sensors to receive touch perception feedback on the location of objects and structures within an environment. A fusion engine may be configured to combine touch perception data with other types of sensor data such as data received from an image or distance sensor. The apparatus may combine distance sensor data with touch sensor data using inference models such as Bayesian inference. The touch sensor may be mounted onto an adjustable arm of a robot. The apparatus may use the data it has received from both a touch sensor and distance sensor to build a map of its environment and perform goal oriented tasks such as cleaning or moving objects.

Abstract: The present disclosure is generally directed to a system and method of compensating for any forces induced by components of a robotic driving system, the robotic driving system including a turntable defining a steering axis and mounted to a steering wheel of a vehicle including an automated steering system, a robot frame mounted to the vehicle and including a support member, a transmission device coupled to the support member and operatively coupled to the turntable, a steering motor in driving engagement with the transmission device, a load sensor mounted between the support member and the transmission device at a known distance from the steering axis, and a controller in communication with the steering motor and the load sensor, the controller configured to adjust a steering torque generated by the steering motor to compensate for any forces induced by said robotic driving system to prevent overriding the automated steering system.

Abstract: A sheet-shaped magnetic marker to be laid on a road surface so as to be able to be detected by a magnetic sensor attached to a vehicle to achieve assist for driving operation of the vehicle by a driver or control on a vehicle side to achieve automatic driving independently from operation of the driver has a magnet sheet (11) as a magnetism generation source and a wireless tag (2) which outputs information via wireless communication to the vehicle side. In the magnetic marker, the wireless tag (2) is interposed between a sheet (11A) and a sheet (11B) configuring the magnet sheet (11), and the entire wireless tag (2) is accommodated inside the magnet sheet (11).

Abstract: A system and method for power management of hybrid electric vehicles is provided. In some implementations, a plug-in series hybrid electric vehicle may include an engine, a motor/generator (MG), a traction motor, an energy storage device, and a controller. The controller is coupled to the engine and the MG to control operation of the engine and the MG such that a state-of-charge (SOC) of the energy storage device tracks a dynamic reference SOC profile during a trip and an average engine power (AEP) is maintained above a threshold. In some instances, maintaining AEP above a threshold supports emission control of the vehicle.

Abstract: A device, system and method for determining a position of a movable object on a two-dimensional surface obtains, via an image capture device attached to the movable object, at least one image of a portion of the two-dimensional surface. At one virtual marker is identified in at least one image, and a previously determined estimated position of the at least one virtual marker is retrieved. The previously determined estimated position determined from a combination of an image of at least one anchor point on the two-dimensional surface, the at least one anchor point defining a unique position on the two-dimensional surface, and odometry measurements based on at least two images of the two-dimensional surface. The position of the movable object on the two-dimensional surface is determined from the estimated position of the at least one virtual marker.

Abstract: An industrial vehicle comprising a tag reader, a reader module, and a diagnostic tag, wherein the diagnostic tag is coupled to the industrial truck within a read range of the tag reader. The reader module and the tag reader cooperate to identify the diagnostic tag and individual tags of a tag layout and the reader module discriminates between the individual tags of the tag layout and the diagnostic tag and the individual tags of the tag layout, correlates an identified individual tag of the tag layout with tag data, correlates an identified diagnostic tag with operation of the tag reader, and generates a missing tag signal if the diagnostic tag is not identified or the operation of the tag reader is not within specified operating parameters.

Abstract: An information processing device includes: a processor configured to: collect monitoring information indicating circumstances of a monitoring area from a plurality of monitoring information acquiring units, detect an object which is located in the monitoring area on the basis of the monitoring information, update map information of the monitoring area using position information indicating a position of the object, and provide the map information to a working machine that performs predetermined work in the monitoring area.

Abstract: An electric motor control device includes a target torque setting unit setting target torque for each of a right-side control circuit and a left-side control circuit, and a failure occurrence determination unit determining whether there is a failure occurrence in at least one of the two control circuits. The target torque setting unit sets, in response to there being a failure occurrence in a failure control circuit that is one of the two control circuits and there being a no failure occurrence in a normal control circuit that is the other of the two control circuits, fail-safe torque which is lower than a normal value of the target torque as the target torque for the failure control circuit, and sets failure-time target torque which is lower than the normal value of the target torque and being higher than the fail-safe torque as the target torque for the normal control circuit.

Abstract: The present invention provides an automatic deviation correction control method for a hoisting system, comprising the following steps: obtaining a lateral displacement X and an advancing included angle ? generated by the deflection of the hoisting system; when the lateral displacement X is not 0 and the advancing included angle ? is not 0, determining whether the lateral displacement X and the advancing included angle ? satisfy a preset condition; if the lateral displacement X and the advancing included angle ? do not satisfy the preset condition, controlling the hoisting system to correct the deviation toward a center line; and if the lateral displacement X and the advancing included angle ? satisfy the preset condition, controlling the hoisting system to correct the deviation toward the center line in a reverse direction.

Abstract: A system comprising an autonomous mobile device and a base station connected to a boundary wire is configured to transmit information from the base station to the autonomous mobile device. The base station is configured to generate a radio signal to be emitted by the boundary wire, wherein the autonomous mobile device is configured to autonomously drive within a working area based on the signal emitted by the boundary wire. The base station on the other hand is configured to encode data and/or commands into the radio signal which is then emitted by the boundary wire. The autonomous mobile device receive the emitted radio signal and is configured to decode the encoded data and/or commands in order to retrieve the original information.

Abstract: A guiding vehicle (100) for an intralogistics system, wherein the guiding vehicle (100) is remote controlled or autonomous and configured to be connected to a self-propelled load bearing cart (200), and guide and control the propulsion of the self-propelled load bearing cart (200) such that the load bearing cart (200) can transport a load in the intralogistics system. The guiding vehicle (100) comprising a mechanical connector (170) for mechanically connecting the guiding vehicle (100) to the load bearing cart (200) and a connector for transferring data. The guiding vehicle (100) is configured to receive navigation data from the self-propelled load bearing cart (200), using the connector for transferring data, in the form of information concerning the movement of a drive wheel of the load bearing cart (200) obtained from at least one motor of the load bearing cart (200) or from at least one encoder connected to the drive wheel.

Abstract: A method for controlling the motion of a mobile warning triangle for suitable placement on a roadway acquires information as to color of the lane markings detected by a sensor. When the mobile warning triangle is first placed on the roadway, the sensor is preset in position to detect the lane marking. White or yellow color information of the lane marking or of the black-colored roadway are detected or are not detected by the sensor, and deviations from a required path are recognized when different colors are received in certain combinations by the sensor. If no deviation is recognized in the colors, the mobile warning triangle continues moving forward. If a deviation in colors is recognized, the mobile warning triangle is controlled to hunt to the left and right through one or more predetermined angles to try to detect or redetect the lane marking.

Abstract: A vehicle comprises an autonomous driving system and a vehicle platform that controls the vehicle in response to a command received from the autonomous driving system. In the present vehicle, when the autonomous driving system issues a first command to request the vehicle platform to provide deceleration to stop the vehicle and a first signal indicates 0 km/h or a prescribed velocity or less, the autonomous driving system issues a second command to request the vehicle platform to maintain stationary. And after brake hold control is finished, a second signal indicates standstill. Until the second signal indicates standstill, the first command continues to request the vehicle platform to provide deceleration.

Abstract: Disclosed herein is a signature verification apparatus including a first verification circuitry verifying a user's signature by comparing dynamic signature data indicating a change of a user's writing state over time during signing of his or her name by the user and reference data for dynamic signature, a second verification circuitry verifying the user's signature by comparing static signature data indicating a writing path during signing of his or her name by the user and reference data for static signature, and a data registration circuitry registering the reference data for dynamic signature and register the reference data for static signature. In a case where the reference data for static signature has yet to be registered by the data registration circuitry, the second verification circuitry verifies the user's signature by regarding static signature data generated from the reference data for dynamic signature already registered as the reference data for static signature.

Abstract: An operation management device includes a plan generating section for generating a travel plan, for each of a plurality of vehicles traveling autonomously along a prescribed travel route on which are provided a plurality of stations, including at least departure timing at the stations, a communication device for transmitting to corresponding vehicles the travel plan generated by the plan generating section, and an operation monitoring section for obtaining a delay amount of the vehicles relative to the travel plan, wherein the plan generating section judges whether or not revision of the travel plan is necessary based on the delay amount obtained by the operation monitoring section, and revises and regenerates the travel plan if the revision is necessary.

Abstract: An inductive position sensor may be configured to detect relative position between a first member and a second member. The inductive position sensor may include an inductive sensor element configured to be coupled to the first member and a screening layer formed over a screened portion of a member surface of the second member such that an exposed portion of the member surface is free of the screening layer. The screening layer may be configured to reduce an effect on induced signals in the inductive sensor element caused by the screened portion of the second member.

Abstract: An accommodation area management device which manages an accommodation area for accommodating a moving body and stops the moving body at a predetermined accommodation position in the accommodation area includes an acquisition unit configured to acquire autonomous movement level information related to autonomous movement that the moving body can perform and a processing unit configured to determine an accommodation position for stopping the moving body based on the autonomous movement level information when the moving body enters the accommodation area.

Abstract: The present invention provides systems and methods for providing geolocation services in a mobile-based crowdsourcing platform. More specifically, the system of the present invention includes a plurality of remote mobile devices and a visible light communication (VLC) enabled lighting system configured to communicate and exchange data with a cloud-based service, such as a crowdsourcing platform. The crowdsourcing platform generally provides a geolocation service based on the crowdsourcing, or polling, of users of the mobile devices, in addition to VLC data captured by the VLC-enabled lighting system, so as to determine location and movement of the users within a specific environment. The system is further configured to automatically render a floor plan or layout of a location based on the user data and VLC data.

Abstract: A carrier for transporting goods includes a supporting mechanism, a lifting mechanism, a first detection component, and a controller. The supporting mechanism includes at least one entrance and connected to a mobile robot. The lifting mechanism includes a lifting driving member and a bearing part. The lifting driving member is arranged on the supporting mechanism, and the bearing part is arranged on the lifting driving member to be driven to be elevated or lowered by the lifting driving member. The first detection component is arranged on the bearing part and is located in front of the at least one entrance for detecting a position of the goods. The controller is arranged on the supporting mechanism and is respectively communicatively connected with the lifting driving member, the first detection component, and the mobile robot. A mobile lifting conveyor having the carrier is also provided.

Abstract: This disclosure relates to utilizing unmanned vehicles for insurance claim processing. For example, a UAV may be directed to proceed to a target location, which obstructions to avoid and how to avoid them, and what data needs to be gathered about the target. Thus, one or more embodiments described herein relate to navigating to a target location based on receiving a first location of the vehicle and a second location of the target, avoiding obstructions, gathering data about a structure at the target, and initiating an insurance claim.

Abstract: In various embodiments, a zero-turn radius robotic base may comprise a substantially rectangular (e.g., rectangular) base portion that comprises a plurality of wheels. In various embodiments, the plurality of wheels are configured to support the robotic base adjacent a support surface (e.g., the ground, a suitable flooring surface within a building, etc.). In some embodiments, the robotic base comprises a first and second driving wheel and a plurality of stability wheels. In some embodiments, an axis of rotation of the first and the second driving wheel are collinear. In various embodiments, the plurality of stability wheels are spaces apart from the axis of rotation of the first and second driving wheels to provide stability to the robotic base.

Abstract: An apparatus for manipulating a material is provided. The apparatus may comprise a magnetic device arranged in a three-dimensional configuration. The apparatus may comprise a surface on which at least one carrier is configured to move. The magnetic device may be configured to provide a magnetic field for driving the carrier on the surface to manipulate a material. The apparatus may comprise a controller configured to control the magnetic device to modulate the magnetic field. The controller may be further configured to detect a position and/or motion of the carrier.

Abstract: A method for operating a track guidance system including at least one raised floor element includes planning at least one movement of at least one object on the at least one floor element, transmitting at least one control signal for carrying out the planned at least one movement to the object with the aid of an activatable marking on the at least one floor element, and carrying out the planned at least one movement of the at least one object with the aid of an activatable marking on the at least one floor element based upon the at least one control signal.

Abstract: A method in a navigational controller includes: controlling a ceiling-facing camera of a mobile automation apparatus to capture a stream of images of a facility ceiling; activating a primary localization mode including: (i) detecting primary features in the captured image stream; and (ii) updating, based on the primary features, an estimated pose of the mobile automation apparatus and a confidence level corresponding to the estimated pose; determining whether the confidence level exceeds a confidence threshold; when the confidence level does not exceed the threshold, switching to a secondary localization mode including: (i) detecting secondary features in the captured image stream; (ii) updating the estimated pose and the confidence level based on the secondary features; and (iii) searching the image stream for the primary features; and responsive to detecting the primary features in the image stream, re-activating the primary localization mode.

Abstract: A robot configured to perceive a model of an environment, including: a chassis; a set of wheels; a plurality of sensors; a processor; and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data while the robot moves within the environment; perceiving the model of the environment based on at least a portion of the plurality of data, the model being a top view of the environment; storing the model of the environment in a memory accessible to the processor; and transmitting the model of the environment and a status of the robot to an application of a smartphone previously paired with the robot.

Abstract: A method for controlling a vehicle platoon includes determining whether a vehicle platoon is capable of safely passing through a weight-limited road section, generating segment information of the vehicle platoon when the vehicle platoon is incapable of safely passing through the weight-limited road section, and sending this information to a lead vehicle in the vehicle platoon. The lead vehicle can then segment the vehicle platoon based on the segment information.

Abstract: A learning toy which enables learning of high-level programming in a stepwise manner. A movement path is constituted by a plurality of command panels in which command information which can be read with an optical reading module is recorded being arranged. A mobile robot sequentially reads command information included in the command panels through which the mobile robot passes while moving along the movement path and stores a plurality of pieces of command information in a command information memory. The mobile robot takes out a plurality of pieces of command information from arbitrary positions in the command information memory to execute operation. If a plurality of pieces of command information necessary for operation of the mobile robot are stored in the command information memory, a control unit of the mobile robot automatically extracts and takes out the command information and causes the mobile robot to operate.

Abstract: A mobile access device includes a memory, a user interface, a transceiver, and a control module. The memory stores a service application. The user interface receives an input from a user to execute the service application. The transceiver signals a vehicle to establish a connection and initiate a location determining process to determine a location of the mobile access device within the vehicle. The control module: determines whether the service application is permitted to be executed based on the location of the mobile access device; based on the location of the mobile access device, performs an identity verification process to verify identity of at least one of the user or the mobile access device; and tracks driving behavior of the user based on (i) whether the service application is permitted to be executed, and (ii) a result of the identity verification process.

Abstract: A robot configured to perceive a model of an environment, including: a chassis; a set of wheels; a plurality of sensors; a processor; and memory storing instructions that when executed by the processor effectuates operations including: capturing a plurality of data while the robot moves within the environment; perceiving the model of the environment based on at least a portion of the plurality of data, the model being a top view of the environment; storing the model of the environment in a memory accessible to the processor; and transmitting the model of the environment and a status of the robot to an application of a smartphone previously paired with the robot.

Abstract: A method controls a first motor vehicle. The method includes the steps of: i) receiving status data of a roadway section and a geographic position of the roadway section by the first motor vehicle, ii) sensing, as a function of the received status data, the roadway section by a surroundings sensor of the first motor vehicle, and in response thereto, iii) aligning the surroundings sensor with a particular roadway feature of the roadway section, and/or iv) adapting an evaluation of data of the surroundings sensor, and/or v) updating the status data and transmitting the updated status data.

Abstract: A docking station for a robotic cleaner may include a housing, at least one charging contact coupled to the housing, and at least three optical emitters disposed within the housing. The at least three optical emitters may include a first optical emitter configured to generate a first optical signal within a first field of emission, a second optical emitter configured to generate a second optical signal within a second field of emission, and a third optical emitter configured to generate a third optical signal within a third field of emission. The third optical emitter may be disposed between the first and second optical emitters. The first, second, and third optical signals may be different from each other. The third optical signal may be configured to guide a robotic cleaner in a direction of the housing.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for automatically cleaning a portion of an environment. One of the methods includes detecting movement of a person within a physical environment; determining that one or more threshold criteria for cleaning at least a portion of the physical environment are satisfied; detecting one or more areas of the physical environment with cleanliness levels that satisfy a threshold cleanliness level; determining that the portion of the physical environment for which the threshold criteria are satisfied likely was insufficiently cleaned; and in response to determining that the portion of the physical environment for which the threshold criteria are satisfied likely was insufficiently cleaned, sending an instruction to a device in the physical environment to cause the device to present a notification that identifies the portion of the physical environment that likely was insufficiently cleaned.

Abstract: A vehicle control device configured to control a vehicle configured to rotate each of four or more drive wheels by each of different motors, includes a motor control unit configured to control torques that are generated by the motors, and when oversteer has occurred during turning of the vehicle, the motor control unit performs a control upon oversteer, and when understeer has occurred during turning of the vehicle, the motor control unit performs a control upon understeer.

Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command ?c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value ?sgc based on the position command ?c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value ?skc based on the interference torque ?a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value ?sgc and the second position-command correction value ?skc to the position command ?c.

Abstract: A control device includes a processor. The processor is configured to perform a route acquisition process for acquiring route information indicating a target route of a vehicle. The processor is configured to perform a behavior optimization process for correcting, based on at least one of a plurality of state quantities indicating a behavior of the vehicle during traveling, each of a left turning command value and a right turning command value such that the behavior of the vehicle becomes a target behavior. The processor is configured to perform a locus stabilization process for correcting, based on at least one of the state quantities indicating the behavior of the vehicle during traveling, a steering command value such that the vehicle travels on the target route.