Abstract: A steering system for a work vehicle towing a towed implement is described. A steering control unit is coupled to a location signal generation arrangement on the vehicle, a steering actuator, a memory for storing desired path data of the implement and a slope sensor for detecting a lateral inclination of the work vehicle or the implement. The steering control unit calculates a lateral offset compensation value to steer the work vehicle such that the implement is moved on the desired path and a slope offset compensation value based upon a signal from the tilt sensor to compensate for slope forces pulling the implement down a lateral slope. A steering signal is sent to the steering actuator based upon the lateral offset compensation value and the slope offset compensation value.

Abstract: A method, system and computer readable medium to autonomously keep a vehicle in a lane. The method including, engaging a lane centering system configured to maintain the vehicle within the lane, at a specified lane position. Further engaging a lane keeping system when the lane centering system fails to keep the vehicle within the lane, the lane keeping system configured to return the vehicle to the lane, when the vehicle leaves or is leaving the lane. And, applying a cost function to determine the nature of engagement of the lane keeping system to return the vehicle to the lane.

Abstract: A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.

Abstract: The present invention includes a system and method for selecting a unique geographic feature, including a mobile device that uses position and orientation sensors to determine a user position and a user orientation. The mobile device is adapted for wireless communication with a database that houses or has access to data concerning geographic features, as well as processing and computing means for calculating specific geographic relations discussed in further detail below. The system of the present invention further includes means for selecting among those features that are topologically related to the polygon. These include means for defining the geometry of the polygon, means for filtering those features that should not be within the geometry of the polygon, and means for ranking those features within the polygon. The method of the present invention is operable in conjunction with the system through the system hardware and software.

Abstract: Disclosed are methods and apparatuses for automated control of a moving vehicle. An alarm condition is detected, and in response to the alarm condition, the current radius of curvature of the vehicle is maintained. The radius of curvature may be calculated by using data received from sensors. The alarm condition may be a result of the vehicle becoming unstable or the automated navigation system malfunctioning. In response to operator control input, the vehicle is placed into a manual control state.

Abstract: Methods and apparatus for navigating with the use of correlation within a select area are provided. One method includes, storing data required to reconstruct ranges and associated angles to objects along with statistical accuracy information while initially traversing throughout the select area. Measuring then current ranges and associated angles to the objects during a subsequent traversal throughout the select area. Correlating the then current ranges and associated angles to the objects to reconstructed ranges and associated angles to the objects from the stored data. Determining at least one of then current location and heading estimates within the select area based at least in part on the correlation and using the least one of the then current location and heading estimates for navigation.

Abstract: A robotic mower launch point system includes a user interface for an operator to enter a plurality of launch point locations, durations and frequencies, and a vehicle control unit that stores the locations, durations and frequencies, determines a sequence of launches based on the launch point frequencies, and commands the robotic mower to exit a charging station and follow a boundary wire to each launch point in the sequence where the robotic mower mows for that launch point's duration before returning to the charging station. The vehicle control determines the sequence based on the frequency of each launch point relative to a total of the launch point frequencies.

Abstract: The present invention relates generally to ground transportation systems, and more particularly to a fixed guideway transportation system that achieves a superior ratio of benefits per cost, is lower in net present cost and thus more easily justified for lower density corridors, and can provide passenger carrying capacities appropriate for higher density corridors serviced by mass rapid transit systems today. According to certain aspects, the present invention provides a methodology for limiting the rise in headway as the vehicle speed increases. This innovation further allows systems to achieve shorter time separations between vehicles traveling at high speeds, thus significantly improving the utility of fixed guideway infrastructure.

Abstract: A robot navigation system includes a robot, a navigation beacon, and a cover structure. The robot includes a chassis, an omni-directional receiver, and at least one directional receiver. The navigation beacon includes an omni-directional infrared emitter and at least one directional infrared emitter. The cover structure is configured to block infrared transmissions between the at least one directional infrared emitter and the directional receiver while simultaneously permitting transmissions between the omni-directional infrared emitter and the omni-directional receiver. The cover structure may be made of a black silicone material.

Abstract: A method for operating a safety system of a motor vehicle includes the steps of determining a target trajectory of the motor vehicle to be realized with the safety system after an unavoidable collision, wherein the target trajectory is assigned to a target position of the motor vehicle, which target position is safe with regard to secondary collisions, and performing at least one autonomous and/or supporting driving intervention in the form of at least one of a longitudinally guiding intervention and a transverse guiding intervention after the collision for realizing the target trajectory.

Abstract: Apparatus and method for obtaining information from drilled holes for mining A mobile vehicle (11) is operated autonomously to approach a hole (13a) from which information is to be obtained. An onboard perception system (17) detects the exact location of the hole and an onboard sensor (26) is deployed from the vehicle into the hole. Perception system (17) comprises a number of scanners (23) carried by a mounting (24) fitted to the rear of the vehicle. A downhole sensor unit (18) movable along a swinging arm (19) carries downhole sensors selectively lowerable into the hole by operation of cable reels within the unit (18).

Abstract: A vehicle configured to operate in an autonomous mode could determine a current state of the vehicle and the current state of the environment of the vehicle. The environment of the vehicle includes at least one other vehicle. A predicted behavior of the at least one other vehicle could be determined based on the current state of the vehicle and the current state of the environment of the vehicle. A confidence level could also be determined based on the predicted behavior, the current state of the vehicle, and the current state of the environment of the vehicle. In some embodiments, the confidence level may be related to the likelihood of the at least one other vehicle to perform the predicted behavior. The vehicle in the autonomous mode could be controlled based on the predicted behavior, the confidence level, and the current state of the vehicle and its environment.

Abstract: A system and method for guiding an off-highway truck along a roadway with respect to a trolley line determine a position of the off-highway truck on the roadway by sensing two or more roadside objects and uses the determined position of the off-highway truck and a known position of the trolley line relative to the two or more roadside objects to automatically determine a relative position of the off-highway truck under the trolley line. Based on the relative position of the off-highway truck under the trolley line, the off-highway truck is automatically steered to alter the position of the off-highway truck relative to the trolley line, e.g., to maintain an electrical power flow from the trolley line to the off-highway truck.

Abstract: Auto-guidance may be provided. First, location information may be received and a location of a machine may be determined based on the location information. Once the location of the machine is determined, an auto-guidance data file may be loaded based on the determined location of the machine.

Abstract: A control system to determine a hands on wheel (HOW) condition is provided. The control system includes a sensor that monitors an amount of applied torque exerted upon a hand wheel, and a control module for monitoring the sensor. The control module includes a notch filter to attenuate a normal column mode frequency from the amount of applied torque to produce a filtered torque signal. The normal column mode frequency represents a range of vibrational modes of the hand wheel based on a hands off wheel condition. The control module includes a state detector to receive the filtered torque signal from the notch filter. The state detector determines if the HOW condition exists based on if the filtered torque signal exceeds an ON threshold torque value.

Abstract: A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

Abstract: In an autonomic traveling apparatus for a vehicle, vehicles usually travel an independent travel lane and when there are two approaching vehicles on the independent travel lane, they switch to pass-by lanes to pass by each other. To do this switching operation effectively, respective vehicles check and obtain road conditions around them while they are traveling and the obtained road conditions are transmitted to and collected by a travel administration center so that the road conditions at various points along the lanes can be obtained from the travel administration center. Accordingly, when the autonomic traveling trucks approaching each other and supposed to pass by each other, switch to the associated pass-by lanes, they change travel lanes avoiding the point of bad road condition on the basis of the road conditions sent from the travel administration center.

Abstract: Disclosed are a system and method for controlling an autonomous platform using a wire.

Abstract: An unmanned autonomous vehicle for substantially lateral displacement of feed lying on a ground, comprising two wheels separately drivable by separate drive units, a torque difference adjusting device for adjusting the torque difference between the wheels, a control unit for controlling the vehicle and moving it in a direction of travel by controlling at least one of the separate drive units, a feed displacing device for substantially lateral displacement of the feed, and an adjusting device which is arranged to adjust the height and/or the position of a lowest point of the feed displacing device. The adjusting device comprises a vehicle tilting device which is arranged in such a manner that the lowest point will be located at least substantially off the center line of the vehicle.

Abstract: A method, medium, and system reducing the computational complexity of a Simultaneous Localization And Mapping (SLAM) algorithm that can be applied to mobile robots. A system estimating the pose of a mobile robot with the aid of a particle filter using a plurality of particles includes a sensor which detects a variation in the pose of a mobile robot, a particle filter unit which determines the poses and weights of current particles by applying the detected pose variation to previous particles, and an evolution unit which updates the poses and weights of the current particles by applying an evolution algorithm to the poses and weights of the current particles.

Abstract: Methods and devices for actively modifying a field of view of an autonomous vehicle in view of constraints are disclosed. In one embodiment, an example method is disclosed that includes causing a sensor in an autonomous vehicle to sense information about an environment in a first field of view, where a portion of the environment is obscured in the first field of view. The example method further includes determining a desired field of view in which the portion of the environment is not obscured and, based on the desired field of view and a set of constraints for the vehicle, determining a second field of view in which the portion of the environment is less obscured than in the first field of view. The example method further includes modifying a position of the vehicle, thereby causing the sensor to sense information in the second field of view.

Abstract: A method and a system of transporting material are provided, wherein at least one mobile transport unit is detected by a detection device with a radar or laser detecting device. Position coordinates, position angles and speed of the transport unit are determined using a reference coordinate system and are transmitted to a stationary data processing device. A central material tracking with verification of storage locations is generated by the data processing device, wherein, particularly with use of the positing angle, a storage type for the material is automatically determined.

Abstract: A distributed hardware system for unmanned vehicles is provided, comprising a plurality of electronic hardware modules in communication via a vehicle control network. Each module is enabled to: communicate with one another, issue requests for information from a central control module, and transmit data over the network in a common format to perform respective tasks; and at least one of: independently sense one or more of: a respective status of the distributed hardware system and at least one respective environmental parameter; and independently control the respective function of a vehicle. A portion of the modules can enabled to: be removed and inserted from the distributed hardware system as plug and play modules; and determine when at least one of the modules is removed/inserted from the distributed hardware system and transition to a corresponding state. The system also includes a power management system which includes capacity monitoring and hot-swap capabilities.

Abstract: A driven vehicle receives position data of a subject vehicle nearby the driven vehicle, and associates the position data of the subject vehicle with a driving model. The driving model is updated by incorporating latest position data of the subject vehicle, and a future position of the subject vehicle is predicted using the updated driving model. The predicted future position of the subject vehicle can be transmitted to other processing systems of the driven vehicle, including a collision avoidance or warning system, which provides a driver notification, and an autonomous driving system, which provides vehicle actuation. A determination is made as to whether the position data of the subject vehicle fits a currently stored and available driving model, and generates a new driving model no model fits. The new model is a multi-mode predictive state representation (MMPSR) which marginalizes unknown modes of history.

Abstract: A computer implemented method for unattended detection of a current terrain to be traversed by a mobile device is disclosed. Visual input of the current terrain is received for a plurality of positions. Audio input corresponding to the current terrain is received for the plurality of positions. The video input is fused with the audio input using a classifier. The type of the current terrain is classified with the classifier. The classifier may also be employed to predict the type of terrain proximal to the current terrain. The classifier is constructed using an expectation-maximization (EM) method.

Abstract: Each respective vehicle of a plurality of vehicles transports a vehicle navigation system. A position determining system determines a position and a velocity of the respective vehicle and an information acquisition system is operable to determine a displacement and velocity between the respective vehicle and a vehicle adjacent to the respective vehicle. An information communication system of a respective vehicle is operable to transmit first information (that vehicle's velocity and position) to other vehicles and to receive information from other vehicles regarding their velocities and positions. A vehicle routing system can determine a target routing and target velocity for moving the respective vehicle over a path including the roadway. Based on the received or determined information, the velocity of the respective vehicle can be controlled.

Abstract: A protective device for an electronic unit on a space exploration vehicle. A Laplace transform calculation unit generates a Laplace transform of an electronic unit state. A system parameter identification unit identifies system parameters based on the Laplace transform of electronic unit states. A Fourier transform calculation unit generates a ratio of the ground contacting mechanism state to a highest dominant frequency of the measured electronic unit state. A critical travel speed calculation unit generates a critical travel speed based on the identified system parameters. A calculation unit for threshold of travel speed generates a threshold of a travel speed based on the critical travel speed. An autonomous motion controller generates a control signal that drives the space exploration vehicle based on the threshold of the travel speed.

Abstract: A method of navigating a mobile robotic device may include receiving, by a mobile robotic device, a wireless transmission from a transponder associated with an object, where the object is within a range of the mobile robotic device and in response to receiving the notification, altering a navigation course by the mobile robotic device to allow the object to pass the mobile robotic device. The mobile robotic device may be preprogrammed with at least a portion of the navigation course. The method may include resuming the navigation course by the mobile robotic device.

Abstract: A predictive geofence system predicts a geofence crossing for a distance-horizon and/or a time-horizon. The predictive geofence system includes a predictive geofence platform that predicts future positions of objects, and generates an alert if the predicted future positions of the objects result in a geofence crossing or the predicted future positions cross a geofence in less than a set time.

Abstract: A cleaning robot cleaning a specific region and including a movement module, a sound wave module, a cleaning module and a controlling module is disclosed. The movement module includes a plurality of wheels. The sound wave module emits a sound wave and receives a plurality of reflected waves. The cleaning module performs a cleaning function. The controlling module generates a contour according to the reflected waves and controls at least one of the movement module and the cleaning module according to the contour.

Abstract: A method for assisting a user to displace a vehicle to a target position is disclosed. The method may include activating an assistance mode, detecting an external force applied to the vehicle by the user, determining a displacement torque based on the external force, and displacing the vehicle toward the target position by applying the displacement torque using a vehicle propulsion system. A system for assisting a user to displace a vehicle to a target position is also disclosed.

Abstract: The invention relates to a humanoid robot endowed with particular capabilities for managing falls. The risks of falling limit the development of the mass-market use of humanoid robots. In the prior art, the modalities for detecting falls are not well suited to the case of very dynamic robots since the center of mass is very often outside their support polygons. The modalities for managing falls are also poorly suited to robots which must be economical in their computation resources. According to the invention, the conventional support polygon is supplemented with effectors for which it is determined that they are sufficiently close to the ground. Protection strategies are implemented, chosen from a set of strategies defined by a classification of the angles of fall.

Abstract: A method for determining a direction of travel for a following vehicle ensures that the following vehicle follows a path indicative of that of a target vehicle. The target vehicle extends in longitudinal (X) and lateral (Y) directions, the longitudinal direction (X) corresponding to an intended direction of travel of the following vehicle. The method may include determining a measured lateral offset (?Ymeasure) between the following and target vehicles. The method may also include measuring a lateral position change parameter corresponding to an actual performed, ongoing and/or impending lateral position change of the following vehicle, an actual performed, ongoing and/or impending lateral position change of the target vehicle, or a combination thereof.

Abstract: Disclosed herein are methods and apparatus for generating accurate maps for autonomous vehicles. A map is stored at a computing device associated with a vehicle. The vehicle can be operated in a partially-autonomous mode, where the computing device can generate driving directions for manual execution along a route based on the map. The computing device can be configured to receive and store information related to features and a quality of driving along the route. The map can be updated and quality control statistics can be determined based on the stored information. The updated map can be promoted based on the quality control statistics. In response to promoting the updated map, the computing device can store the promoted map and enable the vehicle to operate in the autonomous-operation mode using the promoted map.

Abstract: A vehicle control apparatus includes a first section that recognizes a lane boundary line of a lane in which a vehicle is traveling. A second section recognizes a present position of a predetermined reference point of the vehicle. A third section calculates a predicted position of the reference point, wherein the predicted position is a predetermined interval ahead of the present position. A fourth calculates an imaginary lane boundary line, wherein the imaginary lane boundary line is tangent to the lane boundary line at a point close to the predicted position. A fifth section performs a control of preventing the vehicle from deviating from the lane by controlling the vehicle depending on positional relationship between the vehicle and the lane boundary line. A sixth section selectively permits and suppresses the control depending on positional relationship among the imaginary lane boundary line, the present position, and the predicted position.

Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

Abstract: A traveling vehicle includes an obstacle sensor; a controller which causes the traveling vehicle to perform a first avoidance operation so as to avoid an obstacle according to a result of the detection of the obstacle; a memory unit configured to store position information indicating a position of the obstacle in a traveling path and avoidance amount information indicating an amount of avoidance in a lateral direction performed by the traveling vehicle in the first avoidance operation; wherein, when the obstacle sensor detects an obstacle at the position indicated by the position information at a point when the obstacle is within a first distance from the traveling vehicle, the controller causes the traveling vehicle to start a second avoidance operation, before the distance from the traveling vehicle to the obstacle reaches a second distance, so as to avoid the obstacle based on the avoidance amount information stored in the memory unit.

Abstract: Disclosed are an autonomous mobile cleaner, and a method for moving the same. A user's intention may be estimated based on a size and a direction of a tensile strength applied to the air pipe, and a cleaner body may move according to the user's intention. This can allow the cleaner to autonomously move. Besides, the autonomous mobile cleaner can always and precisely detect a user's operation without having interference with obstacles, using a displacement of the air pipe. Further, the fabrication costs can be reduced and displacements in all directions can be calculated, by using a hall sensor and a magnet member. Further, a user's efforts to operate the cleaner can be minimized, and can be prevented damages of the air pipe, a connection part between the air pipe and the cleaner body, etc. due to an excessive force.

Abstract: Disclosed are a mobile apparatus and a method for controlling the same. More particularly, disclosed are an autonomous mobile apparatus and a method for controlling the same. The method for controlling an autonomous mobile apparatus disclosed in the specification includes: recognizing a direction of a call signal based on the call signal; receiving and analyzing video information regarding the direction; estimating a position of a signal source of the call signal using the sound source localization and the detected person's shape; generating a moving command to the position of the signal source; and recognizing the subject of the signal source after movement according to the moving command.

Abstract: A method and system may determine, in a vehicle, a desired path around an object based on a location of the object relative to the vehicle, relative speed, road parameters and one or more vehicle parameters. The method and system may calculate one or more vehicle control parameter values which minimize a predicted deviation from the desired vehicle path. The method and system may determine whether the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints. If the one or more vehicle control parameter values would cause the vehicle to exceed one or more vehicle stability constraints, the one or more vehicle control parameter values may be reduced to one or more vehicle control parameter values not causing the vehicle to exceed the one or more vehicle stability constraints. The method and system may output the one or more vehicle control parameter values to a vehicle automated control device.

Abstract: A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

Abstract: Two architectures for unmanned aerial vehicles (UAVs) and a method for executing a mission plan are provided. One architecture for a UAV includes a flight command and mission execution (FCME) component making strategic decisions, a flight technical control manager (FTCM) making tactical decisions and a vehicle management system (VMS) providing navigational support. The FCME and FTCM execute on one processor and the VMS executes on a separate processor. The second architecture includes redundant processors for executing the FCME and FTCM as well as redundant processors for executing the VMS. The UAV executes a mission plan, which may include flight plan(s), communication plan(s), weapons plan(s), sensor plan(s), and/or contingent flight plan(s). The UAV may control various optical sensors, training sensors, and lights as well.

Abstract: The present invention relates to a system and method for determining vehicle attitude and position from image data detected by sensors in a vehicle. The invention uses calculated differences between the locations of selected features in an image plane and the location of corresponding features in a terrain map to determine the attitude of the vehicle carrying the sensors with respect to a ground frame of reference.

Abstract: An environmental map correction device that acquires an environmental map that matches an actual ambient environment includes a conversion unit arranged to convert object existence probability information of respective grids configuring a global map into image information (shading information of a black and white image), a display unit arranged to display a global map image based on the converted image information, an operation input unit arranged to receive a correcting operation from a user, a correction unit arranged to correct the global map image displayed by the display unit according to the correcting operation by the user, and an inversion unit arranged to acquire a corrected global map by inverting the corrected global map image (shading information) into the object existence probability information.

Abstract: An automatic driving system includes: a reference driving information database for storing reference driving information including reference driving lines, reference driving speeds, and lane change information; and a navigation apparatus for searching a driving route from a starting point to a destination by using a position value of a vehicle and generating driving route information by reflecting the reference driving information in the searched driving route. The automatic driving system further includes a vehicle controller for determining a driving line and a driving speed by using the generated driving route information and performing unmanned automatic driving along the determined driving line at the determined driving speed.

Abstract: A docking station for an automated guided vehicle includes a station base unit and a shift unit adapted to move relative to the station base unit between an extended position and a retracted position, where movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction. The docking station further includes an actuator coupled to the station base unit and the shift unit, where the actuator is adapted to move the shift unit between the extended position and the retracted position and at least one locator block coupled to the shift unit. The docking station stops an automated guided vehicle travelling in the shift unit movement direction when a portion of the automated guided vehicle contacts the at least one locator block with the shift unit in the extended position.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: An autonomous mobile robot apparatus and a method for avoiding collision due to rush-out, being applicable under the circumstances where persons and robots come and go each other, comprises an obstacle detector unit 3, which detects an obstacle, a route producer unit 7, which determines a route for reaching to a destination while avoiding the obstacle detected by the obstacle detector unit upon basis of a predetermined avoiding method, as well as, a velocity thereof, and a moving unit 2, which loads the obstacle detector unit and the route producer unit thereon and moves, thereby operating under circumstances mixing with a human being(s), wherein the obstacle detector unit, further, detects a terminal point of an article lying in an advancing direction of the autonomous mobile robot apparatus, and a distance between the terminal point and the autonomous mobile robot apparatus, and the route producer unit, when the obstacle detector unit detects the terminal end of said article, controls at least either one of

Abstract: Methods and devices for controlling a vehicle in an autonomous mode are disclosed. In one aspect, an example method is disclosed that includes obtaining, by a computer system, lane information that provides an estimated location of a lane of a road on which a vehicle is traveling, where the computer system is configured to control the vehicle in an autonomous mode. The example method further includes determining, by the computer system, that the lane information has become unavailable or unreliable and, in response to determining that the lane information has become unavailable or unreliable, the computer system using at least one sensor to monitor at least one neighboring vehicle and controlling the vehicle to maintain a distance between the vehicle and the at least one neighboring vehicle to be at least a predetermined minimum distance.

Abstract: A facility-around-route retrieval device includes a map disk 3 for storing map data and facility data, a route calculation unit 13 for calculating a route to a destination by using the map data stored in the map disk, a facility retrieval condition setting unit 16 for setting a facility retrieval condition, and a facility-around-route retrieval unit 17 for retrieving, in a case where a facility around the route calculated in the route calculation unit is retrieved in accordance with the condition set in the facility retrieval condition setting unit, the facility present only on a side of a traveling lane of a vehicle of a divided road from the facility data stored in the map disk when the route includes the divided road.