Abstract: An online verification method includes performing a flight suitability verification on an unmanned aerial vehicle (UAV) system and determining a handling measure of the UAV system according to a verification result. The UAV system includes a UAV and a ground station. The flight suitability verification is performed on at least one of a plurality of verification items. The verification items includes a setting of the UAV system and a setting of data associated with safe operations.

Abstract: Autonomous vehicles use accurate maps for navigation. Manually controlling such an autonomous vehicle in certain areas may expand regions the vehicle may service. Such manual control may also be more efficient, safer, and/or reliable, in some instances. Aspects of this disclosure describe techniques for manual control of an autonomous vehicle in unmapped regions. For example, a vehicle may determine and autonomously travel to a mapped location proximate an unmapped destination, and may then be manually controlled from the mapped location to the unmapped destination. In addition, during manual control through the unmapped region, data may be collected using sensors on the autonomous vehicle to map the region.

Abstract: Embodiments of the present disclosure disclose a method and apparatus for exporting a driving property index of an autonomous vehicle. A specific implementation of the method comprises: constructing a driving scenario of an autonomous vehicle by using a preset driving parameter; acquiring a driving state information set of the autonomous vehicle under the driving scenario; fitting a driving curve by using the driving state information set; and acquiring and exporting a driving property index of the autonomous vehicle by analyzing the driving curve. The implementation improves the accuracy of the acquired driving property index of the autonomous vehicle, controls the autonomous vehicle on the basis of the driving property index of high accuracy, and is helpful to realize safe driving of the autonomous vehicle.

Abstract: A method for accurately determining a positioning of an automated guided vehicle relative to a substrate includes scanning a substrate surface of the substrate to produce two or more two-dimensional images, with each respective one of the produced two-dimensional images is associated with a known portion of the substrate surface. The method further includes storing each one of the produced images. The method further includes positioning the automated guided vehicle relative to the substrate surface, and scanning the substrate surface corresponding to the positioned automated guide vehicle to produce a supplemental two-dimensional image. The supplemental image is compared to each of the stored two or more images to accurately determine the position of the vehicle relative to the substrate surface at the position. This information can also be used to drive the automated guided vehicle from the determined position to another known position relative to the substrate surface.

Abstract: A cleaning apparatus of an object detection sensor may include: an environment information acquisition unit configured to acquire surrounding environment information of a vehicle; and a cleaning unit configured to create a cleaning solution mixture based on the surrounding environment information acquired by the environment information acquisition unit, and clean a cover installed on the object detection sensor to protect the object detection sensor from foreign matter by spraying the created cleaning solution mixture onto the cover, in order to prevent a reduction in sensing performance of the object detection sensor due to contamination by the foreign matter. The object detection sensor may sense a target object by transmitting a scan signal to the target object and receiving a sensing signal reflected from the target object, and the scan signal and the sensing signal may be transmitted and received through the cover.

Abstract: An intelligent mowing system includes a base station to receive at least one kind of satellite positioning signal sent by a satellite system at a fixed location and an intelligent lawn mower. A mobile station group is mounted on the intelligent lawn mower and communicated with the base station to receive at least one kind of satellite positioning signal sent by the satellite system during a walking process of the intelligent lawn mower. The mobile station group includes at least a first mobile station and a second mobile station arranged at intervals that determines the position of the intelligent lawn mower. A controller is configured to control the intelligent lawn mower to generally walk within a predetermined line width.

Abstract: A method is described for determining a pose of a vehicle that is driving in an at least partially automated manner, with the aid of different landmark types, and in order to determine the pose of the vehicle, a vehicle control system processes landmark data of the detected landmark types with the aid of at least one detector algorithm. At least one detection algorithms is selected and used for processing the landmark data of certain landmark types as a function of environmental influences.

Abstract: A vehicle may include a localization and/or mapping component to understand what surrounds the autonomous vehicle and where it is in relation to the surroundings. The localization and/or mapping component may receive sensor data from sensor(s) of the vehicle and generate a map and/or position and/or orientation from the sensor data according to parameters that configure the way the localization and/or mapping component generates the map and/or position/orientation. A computing device may dynamically adjust these parameters, thereby changing the way the map and/or position/orientation are generated. This adjustment may be based on a condition detected from the sensor data and may increase a clarity (e.g., degree of distinctness/clarity) of the generated map and/or position/orientation.

Abstract: A cooperation method between agents includes allowing a first agent installed on a first vehicle and a second agent installed on a second vehicle to cooperate with each other, specifying first information regarding future driving of a first driver aboard the first vehicle, by the first agent, acquiring the first information, by the second agent, and notifying a second driver aboard the second vehicle of first driving assistance information derived based on the first information.

Abstract: A vehicle safety support apparatus includes: a driver monitoring sensor configured to monitor a driver; an external environment monitoring sensor configured to monitor an external environment of a vehicle; and at least one processor configured to: determine whether the vehicle is in an immediate hazard situation based on data acquired from the driver monitoring sensor and the external environment monitoring sensor; determine, in response to determining that the vehicle is in the immediate hazard situation, whether to perform a recovery maneuver or a rescue maneuver based on the data acquired from the driver monitoring sensor and the external environment monitoring sensor to get out of the immediate hazard situation; and perform, in response to determining to perform the rescue maneuver, autonomous driving to move the vehicle to a safe area by taking over a driving control from the driver.

Abstract: A computer-implemented method executed by a processor for training a neural network to recognize driving scenes from sensor data received from vehicle radar is presented. The computer-implemented method includes extracting substructures from the sensor data received from the vehicle radar to define a graph having a plurality of nodes and a plurality of edges, constructing a neural network for each extracted substructure, combining the outputs of each of the constructed neural networks for each of the plurality of edges into a single vector describing a driving scene of a vehicle, and classifying the single vector into a set of one or more dangerous situations involving the vehicle.

Abstract: When the subject vehicle reaches the position PNO in the middle of the interflow zone, it is judged whether the conditions for automatic interflow are satisfied. When it is judged that the condition for automatic interflow are not satisfied at the position PNO, the notification for urging manual interflow by the driver is started. Otherwise, the notification for manual interflow is not started. In the case where the notification for manual interflow was not started, when the subject vehicle reaches the position PGU between the distal end of the interflow zone and the position PNO, the notification for manual interflow is started.

Abstract: Methods and apparatus for assessing coordinate data are disclosed. An example apparatus includes a processor to receive coordinate data relating to a desired path and task of a vehicle. The processor of the example apparatus to determine if the coordinate data satisfies a threshold. The processor of the example apparatus to determine if the coordinate data is compatible with a positioning system of the vehicle. The processor of the example apparatus to authorize operation of the vehicle to traverse the desired path based on the coordinate data.

Abstract: A lawn mowing robot includes a body, a driving unit driven such that the body moves within an operation region, and a controller setting first information related to at least one reference line using coordinate information corresponding to vertices included in a polygon forming an operation region and setting second information related to a plurality of regions such that the operation region is divided into the plurality of regions using the first information, wherein the controller controls the driving unit such that the body moves according to a preset movement pattern by the plurality of divided regions using the second information.

Abstract: The present invention includes a system for use in a vehicle for determining the terrain type in proximity to a vehicle. The system comprises a processor configured to receive primary output data from at least one vehicle-mounted sensor, and secondary output data from a secondary data source; and a data memory configured to store pre-determined primary data relating primary output data for the at least one vehicle-mounted sensor to a particular terrain type, and store at least one data set relating to one or more terrain types. The processor is configured to compare the primary output data with the pre-determined data to determine an indication of the particular terrain type corresponding to the primary output data, and compare the secondary output data with a data set corresponding to the indication of the particular terrain type.

Abstract: A first and second work vehicle may be configured to perform agricultural operations within a working area of a field. A controller may be configured to divide a plurality of swath lines extending between opposed ends of the working area into first and second work route segments, which are separated by a transition region positioned between the opposed ends and respectively assigned by the controller to the first and second work vehicles. The controller may instruct the work vehicles to perform the agricultural operations based on the respective first and second work route segments of the swath lines. For example, the instructions may include that the work vehicles transition between adjacent swath lines at the respective transition regions, that the work vehicles begin working simultaneously or sequentially, and/or that the work vehicles work one or more of the swath lines simultaneously for at least a period of time.

Abstract: A method includes: determining, by a computer device, conditions along a predefined driving route of a vehicle; determining, by the computer device and based on the conditions, risk factors of segments of the driving route; determining, by the computer device, an optimal one of the segments for switching the vehicle from autonomous driving mode to manual driving mode; and outputting, by the computer device, data defining the determined optimal one of the segments.

Abstract: Various embodiments relate generally to autonomous vehicles and associated mechanical, electrical and electronic hardware, computer software and systems, and wired and wireless network communications to provide an autonomous vehicle fleet as a service. In particular, a method may include receiving an indication of a sensor anomaly, determining one or more sensor recovery strategies based on the sensor anomaly, and executing a course of action that ensures the autonomous vehicle system operates within accepted parameters. Alternative sensors may be relied upon to cover for the sensor anomaly, which may include a failed sensor while the autonomous vehicle is in operation.

Abstract: A method is provided for gathering probe data and using the gathered data to establish traffic speeds for various paths through an intersection. Methods may include receiving probe data from a plurality of probes approaching an intersection along a common road segment; receiving probe data from the plurality of probes exiting the intersection along two or more different road segments; determining traffic speed for each path through the intersection from the common road segment based on the received probe data from the plurality of probes approaching the intersection along the common road segment and the received probe data from the plurality of probes exiting the intersection along two or more different road segments; and generating an indication of the traffic speed for each path through the intersection to be provided for display on a graphical representation of the intersection.

Abstract: A vehicle control apparatus for performing automatic driving control of a vehicle carrying the apparatus based on a travel path to a destination, which path is set using map information, and detection information about surroundings of the vehicle detected by sensors mounted in the vehicle. In the vehicle control apparatus, a mismatch determiner is configured to, during automatic driving control, determine whether or not there is a match between the map information and the detection information acquired from the sensors. A control aspect changer is configured to, if it is determined by the mismatch determiner that there is a mismatch between the map information and the detection information, change a control aspect of automatic driving control in response to a situation of mismatch.

Abstract: A method is provided for managing and tracking scouting tasks to obtain map information using a fleet of autonomous vehicles. For instance, the method includes defining a scouting quest to obtain the map information. The scouting quest includes a plurality of objectives. Each objective is associated with a geographic location from which sensor data is to be captured. The method also includes receiving a first update message from an autonomous vehicle of the fleet. The update message identifies a location of the autonomous vehicle. The method also includes assigning at least one of the objectives to the autonomous vehicle based on the location of the autonomous vehicle. The method also includes, sending instructions to the autonomous vehicle in order to cause the autonomous vehicle to complete the at least one objective and after sending, tracking a status of the scouting quest.

Abstract: A vehicular illumination device provided to a vehicle capable of travelling in an automatic driving mode includes an illumination unit configured to display advance-notice information for giving advance-notice of automatic traveling control of the vehicle so that a passenger in the vehicle can visually recognize the advance-notice information, and an illumination controller configured to control the illumination unit so that the passenger in the vehicle can visually recognize the advance-notice information before the automatic traveling control of the vehicle is executed.

Abstract: The disclosure discloses a method of calibrating a moving region of a guide robot, including: detecting and receiving a movement instruction, and sending the received movement instruction to a controller; determining region calibration parameters corresponding to the received movement instruction according to a predetermined mapping relation between the movement instruction and the region calibration parameters, wherein the region calibration parameters include a pending moving region of the guide robot, a light display parameter in the pending moving region, and a driving parameter corresponding to the pending moving region and the light display parameter; driving the light emitting module to carry out light display calibration in the pending moving region according to the determined region calibration parameters. The disclosure further provides the guide robot and a computer storage medium. The technical solution of the disclosure enables the guide robot to display a marked region to be passed.

Abstract: The present invention provides specific systems, methods and algorithms based on artificial intelligence expert system technology for determination of preferred routes of travel for electric vehicles (EVs). The systems, methods and algorithms provide such route guidance for battery-operated EVs in-route to a desired destination, but lacking sufficient battery energy to reach the destination from the current location of the EV. The systems and methods of the present invention disclose use of one or more specifically programmed computer machines with artificial intelligence expert system battery energy management and navigation route control. Such specifically programmed computer machines may be located in the EV and/or cloud-based or remote computer/data processing systems for the determination of preferred routes of travel, including intermediate stops at designated battery charging or replenishing stations.

Abstract: A method is provided for vehicle identification, which method includes the steps of: an ego vehicle detecting a communicating vehicle by wireless vehicle to vehicle communication; the ego vehicle detecting a nearby vehicle by a sensor onboard the ego vehicle; the ego vehicle sending an identification request to the communicating vehicle by wireless vehicle to vehicle communication, wherein the identification request instructs the communicating vehicle to perform an action; the ego vehicle determining whether or not the nearby vehicle performed the action based at least on data from the sensor; and if the ego vehicle determines that the nearby vehicle performed the action, the ego vehicle determining that the communicating vehicle and the nearby vehicle are the same vehicle.

Abstract: The invention relates to a method for determining a real position (X, Y, Z) of a trailer tow ball (6) of a tow hitch (4) of a motor vehicle (1) by means of an assistance system (9) of the motor vehicle (1) by: capturing the trailer tow ball (6) and determining a characterizing property (11) of the trailer tow ball (6), determining a relative position (x, y) of the characterizing property (11), determining a first real space coordinate (X) and a second real space coordinate (Y), presetting a third real space coordinate (Z) for the third real space coordinate (Z) within a predetermined coordinate interval, generating a comparative position of the trailer tow ball (6) at least depending on the preset third real space coordinate (Z) by means of the electronic computing device (12), determining the real position (X, Y, Z) with the preset third real space coordinate (Z) upon coincidence of the relative position (x, y) with the comparative position.

Abstract: Embodiments of the disclosure provide systems and methods for updating an HD map. The system may include a communication interface configured to receive sensor data acquired of a target region by at least one sensor equipped on a vehicle as the vehicle travels along a trajectory via a network. The system may further include a storage configured to store the HD map. The system may also include at least one processor. The at least one processor may be configured to identify a plurality of data frames associated with a landmark, each data frame corresponding to one of a plurality of local HD map on the trajectory. The at least one processor may be further configured to jointly optimize pose information of the plurality of local HD maps and pose information of the landmark. The at least one processor may be further configured to construct the HD map based on the based on the pose information of the plurality of local HD maps.

Abstract: Sensor information is collected from human driven vehicles which are driven in a given region. From the sensor information, a road condition is detected on a road segment, where the road condition has a sufficiently high likelihood of impairing autonomous vehicles in safely navigating through the one or more road segments. Information about the one or more road segments is communicated to the one or more autonomous vehicles.

Abstract: A method for controlling a computing device including registering a vehicle configured to provide a transportation service based on vehicle information received from a driver terminal; generating a regular route of the vehicle including first and second stops; transmitting information on the regular route to the driver terminal such that the regular route is displayed on a display of the driver terminal; and transmitting an autonomous driving command, in response to receiving an approval message to the regular route from the driver terminal, to the vehicle such that the vehicle performs an autonomous driving along the regular route.

Abstract: Systems and methods of unmanned vehicles having self-calibrating sensors and actuators are provided. The unmanned vehicle comprises a communication interface and a processor for controlling a propulsion system of the vehicle and receiving sensor data from one or more sensors of the vehicle. The processor is configured to operate in a guided calibration mode by controlling the propulsion system according to commands received from an external guided control system, while processing the sensor data to determine a degree of certainty on a calibration the sensor data and a position of the vehicle. The processor determines that the degree of certainty is above a threshold value associated with safe operation of the propulsion system in an autonomous calibration mode, and subsequently switch operation of the propulsion system to the autonomous calibration mode based on the determination that the degree of certainty is above the threshold value.

Abstract: This robot system includes a robot, and a controller which sets an operation limitation area for limiting operations of the robot, and the controller resets the operation limitation area by using at least one of information about a floor surface where an object person conducts tasks at a surrounding area of the robot, information about a structure with which the object person may come into contact, information about a non-target object who exists in a vicinity of the object person, and information about another robot which exists in a vicinity of the object person.

Abstract: A vehicle control device includes a traveling environment classification database configured to record traveling environment classification data in which at least one past traveling plan for autonomous driving and a traveling result of the past traveling plan are associated with each other for each preset traveling environment classification, a traveling environment classification determination unit configured to determine whether or not the traveling environment classification corresponding to a traveling environment of a host vehicle is present in the traveling environment classification database when the host vehicle travels in a map non-correspondence region during the autonomous driving, and a traveling plan generation unit configured to generate a mapless traveling plan as a traveling plan of the host vehicle in the map non-correspondence region when the traveling environment classification corresponding to the traveling environment of the host vehicle is present in the traveling environment classificat

Abstract: In an autonomous mobile apparatus, a processor acquires map information including positional information of an obstacle, plans, based on the acquired map information, a shape of the autonomous mobile apparatus and a traveling path of the autonomous mobile apparatus to avoid contact between the autonomous mobile apparatus and the obstacle when the autonomous mobile apparatus is traveling along the traveling path, and causes the autonomous mobile apparatus to autonomously travel along the planned traveling path while assuming the planned shape.

Abstract: The present application discloses systems and methods for performing location-based actions. The methods may include obtaining, by an electronic device, location information associated with the electronic device with respect to a reference location. The methods may further include determining, by the electronic device, whether the location information changes from a first status to a second status. The methods may further include performing, by the electronic device, a predetermined action upon determining that the location information changes from the first status to the second status. The location information may relate to a speed, a direction, an acceleration, a geographic location of the electronic device, and/or a distance between the electronic device and the reference location.

Abstract: Systems, methods, tangible non-transitory computer-readable media, and devices for operating an autonomous vehicle are provided. For example, the disclosed technology can include receiving state data that includes information associated with states of an autonomous vehicle and an environment external to the autonomous vehicle. Responsive to the state data satisfying vehicle stoppage criteria, vehicle stoppage conditions can be determined to have occurred. A severity level of the vehicle stoppage conditions can be selected from a plurality of available severity levels respectively associated with a plurality of different sets of constraints. A motion plan can be generated based on the state data. The motion plan can include information associated with locations for the autonomous vehicle to traverse at time intervals corresponding to the locations. Further, the locations can include a current location of the autonomous vehicle and a destination location at which the autonomous vehicle stops traveling.

Abstract: A vehicle system comprises a hitch ball mounted on a vehicle and a controller. The controller is configured to identify a coupler position of a trailer and control movement of the vehicle aligning the hitch ball with the coupler position. The controller is further configured to identify a change in the coupler position and stop the motion of the vehicle in response to the change in position of the trailer.

Abstract: An automated driving control device includes a registration unit configured to generate automated driving information used for driving a vehicle automatically based on a first image obtained by capturing an environment around the vehicle in a mode of driver driving; and a control unit configured to automatically drive the vehicle based on the automated driving information and a second image obtained by capturing the environment around the vehicle in a mode of automated driving. The registration unit includes an extraction unit configured to extract candidate feature points existing in the environment around the vehicle based on the first image; and a generation unit configured to select the candidate feature points that are determined to be structures fixed around a target position of the vehicle based on the first images captured while the vehicle moves, as feature points.

Abstract: A system for monitoring vehicle drive states and transitioning between human drive control and autonomous drive control based on the vehicle drive states. The system includes a human/autonomous drive status and transition module. The module is configured to: receive data from an autonomous drive module and determine a drive state of the autonomous drive module based on the data received from the autonomous drive module; receive data from a driver status monitor (DSM) to determine a drive state of a human driver; and transition between human drive control and autonomous drive control by the autonomous drive module, and vice-versa, based on the determined drive states of the human driver and the autonomous drive module.

Abstract: A scouting system can include an autonomous ground vehicle having a perception sensor and a motion sensor to construct an occupancy grid referenced to a coordinate system of the autonomous ground vehicle. The autonomous ground vehicle is configured to use information from the occupancy grid to detect crop rows in a crop field. The autonomous ground vehicle is configured to identify and classify one or more non-crop plant in-lier objects arranged within the crop rows and generate an output signal received by an external vehicle to cause the external vehicle to perform a task when the one or more non-crop plant in-lier objects are identified within the crop rows.

Abstract: A method for driving safety when vehicles are driving in convoy, in which a driver classification is performed during travel based on instantaneous sensor variables, and in which a recommendation for the vehicle order in the convoy is output.

Abstract: A mobile robot may include a controller configured to set a virtual boundary based on position information determined by a terminal or a position sensor in an area, and to set an area of any one side of the boundary as a traveling area. The controller may control a traveling unit so that a main body moves within the traveling area without moving outside the boundary. Accordingly, the controller may easily set the boundary using the position information, and may control traveling of the mobile robot by setting the traveling area formed by the boundary. The controller may correct a position error, may reflect information on obstacles in setting the traveling area to set a traveling area appropriate for a traveling environment of the mobile robot, and/or may easily change the set traveling area.

Abstract: A mobile robot including a motion actuator; at least one detection sensor configured to detect field information in a movement field of the mobile robot; a guidance generation unit configured to generate a motion guidance policy to a target position from a current position, the motion guidance policy being updated by the guidance generation unit when the field information has been received from the at least one detection sensor; a safety sensitization unit configured to generate a safety sensitized policy which is the motion guidance policy with a reduced velocity magnitude relative to an angle between the motion guidance policy and the current motion of the mobile robot; and a motion actuation unit configured to determine an actuation signal for instructing the motion actuator to project the current motion of the mobile robot in conformity with the safety sensitized policy provided by the safety sensitization unit.

Abstract: Techniques are disclosed for improving navigation accuracy for a mobile platform. In one example, a navigation system comprises an image sensor that generates a plurality of images, each image comprising one or more features. A computation engine executing on one or more processors of the navigation system processes each image of the plurality of images to determine a semantic class of each feature of the one or more features of the image. The computation engine determines, for each feature of the one or more features of each image and based on the semantic class of the feature, whether to include the feature as a constraint in a navigation inference engine. The computation engine generates, based at least on features of the one or more features included as constraints in the navigation inference engine, navigation information. The computation engine outputs the navigation information to improve navigation accuracy for the mobile platform.

Abstract: A fault-tolerant computer system (FTCS) for generating safe trajectories for a vehicle. The FTCS includes: a sensor part (SENSE), a primary part (PRIM), a secondary part (SEC), a tertiary part (TER), and a decide part (DECIDE). The PRIM and TER are configured to produce trajectories by interpreting information of the real world as perceived by the SENSE. The SEC is configured to produce a safe space estimate (FSE) by interpreting information of the real world as perceived by SENSE. The DECIDE and/or SEC are configured to execute correctness checks that take trajectories and FSE as inputs, and qualify a trajectory (TRJ) as safe when said TRJ is inside the FSE, and qualify a trajectory (UTRJ) as unsafe when said UTRJ is not inside the FSE.

Abstract: The present application generally relates to a method and apparatus for driving automation control of a motor vehicle. In particular, the system is operative to determine a vehicle maneuver, such as a lane change, and provide a first kinesthetic cue to a supervisory driver or vehicle occupant indicating the start of a vehicle maneuver. The system and method are then operative to complete the vehicle maneuver and provide a second kinesthetic cue indicating the completion of the vehicle maneuver.

Abstract: An information processing apparatus provides information indicating a traveling route according to a designated search type. The information processing apparatus includes a reception unit configured to receive a search request of the traveling route including the search type, a generation unit configured to generate a link cost corresponding to the search type using a traffic information database including information of a road related to the search type, and a search unit configured to search for the traveling route using the link cost corresponding to the search type generated by the generation unit.

Abstract: The present invention extends to methods, systems, devices, and apparatus for optimized deployment of remotely operated aerial vehicle resources from a fleet to satisfy requests for remotely operated aerial vehicle resources. In some aspects, requests for remotely operated aerial vehicle resources have constraints specifying particular resources and/or specifying particular types of resources.

Abstract: A problem to be addressed by the present invention is to obtain a vehicle control device which, while alleviating an excessive computation load, is capable of appropriately ascertaining an external environment. This vehicle control device 01 comprises an other vehicle information acquisition unit 02 which acquires information of another vehicle by communication, and an exterior recognition unit 03 which carries out recognition of the exterior of a host vehicle by sensing. The exterior recognition unit 03 senses an other vehicle vicinity space in the vicinity of the other vehicle on the basis of the information of the other vehicle which is acquired by the other vehicle information acquisition unit 02.

Abstract: A method of providing prompt information includes obtaining sensitive area information and marking a sensitive area on a navigation map according to the sensitive area information. The sensitive area affects a flight of an unmanned aerial vehicle (UAV). The method further includes obtaining position information of the UAV, determining a positional relationship between the UAV and the sensitive area according to the sensitive area information and the position information of the UAV, and generating the prompt information according to the positional relationship.

Abstract: In order to address the problem of providing a high-safety vehicle control system and action plan system, the present invention provides a vehicle control system comprising a trajectory generation determination unit (603) having an emergency trajectory generating unit (6032) for calculating an emergency trajectory while driving is being switched from a system to a driver at the time of a fault, and a motion control unit (604) having a trajectory retaining unit (6042) for retaining the emergency trajectory and a trajectory switching unit (6041) for switching whether to travel in the emergency trajectory retained by the trajectory retaining unit on the basis of a fault state detected by a malfunction detection unit.