A control device for a hybrid vehicle is provided with a driving plan preparing part preparing a driving plan setting one or more via-points on a projected route from a starting point to a destination to divide the projected route into a plurality of driving routes and divide the driving routes further into pluralities of driving sections and setting which driving mode of an EV mode or HV mode to drive over in each driving section and with a driving mode switching part switching the driving modes according to a driving plan. The driving plan preparing part is configured to be able to prepare a driving plan setting the driving modes of all driving sections in at least one driving route to the EV mode.

A method used for deriving a control variable for lateral guidance of a motor vehicle by means of images of at least one camera of the motor vehicle, wherein the at least one camera captures images of a roadway. A more precise and/or resource-saving derivation of the control variable, and thus lateral guidance, of the motor vehicle is achieved by projecting a traffic lane to be followed as well as a travel trajectory of the motor vehicle onto the images, and by a control variable for lateral guidance of the motor vehicle being derived by comparing the traffic lane projected onto the images with the travel trajectory projected onto the images. A motor vehicle in which the method is performed is also described.

A method used for deriving a control variable for lateral guidance of a motor vehicle by means of images of at least one camera of the motor vehicle, wherein the at least one camera captures images of a roadway. A more precise and/or resource-saving derivation of the control variable, and thus lateral guidance, of the motor vehicle is achieved by projecting a traffic lane to be followed as well as a travel trajectory of the motor vehicle onto the images, and by a control variable for lateral guidance of the motor vehicle being derived by comparing the traffic lane projected onto the images with the travel trajectory projected onto the images. A motor vehicle in which the method is performed is also described.

A device for generating a trajectory outputs, from first data generated by a first sensor, first object information indicating the position of an object in an area around the vehicle at generation of the first data and first predictive object information indicating a predicted position of an object in the area around the vehicle at a predetermined period after generation of the first data; outputs second object information indicating the position of an object in an area around the vehicle from second data generated by a second sensor; and generates a trajectory along which the vehicle will travel, using the first object information until the predetermined period before a changing time at which an autonomous driving level will change, using the first predictive object information from the predetermined period before the changing time until the changing time, and using the second object information after the changing time.

An infrastructure is provided for improving the safety of autonomous systems. An autonomous vehicle management system (AVMS) controls one or more autonomous functions or operations performed by a vehicle or machine such that the autonomous operations are performed in a safe manner. The AVMS is capable of dynamically controlling the behavior of sensors associated with a vehicle. For example, for a sensor, the AVMS can dynamically change and control what sensor data is captured by the sensor and/or communicated from the sensor to the AVMS (e.g., granularity/resolution, field of view, control zoom), when the data is captured by the sensor and/or communicated by the sensor to the AVMS (e.g., on-demand, according to a schedule), and how the data is captured by the sensor and/or communicated from the sensor to the AVMS (e.g., communication format, communication protocol, rate of data communication).

An infrastructure is provided for improving the safety of autonomous systems. An autonomous vehicle management system (AVMS) controls one or more autonomous functions or operations performed by a vehicle or machine such that the autonomous operations are performed in a safe manner. The AVMS is capable of dynamically controlling the behavior of sensors associated with a vehicle. For example, for a sensor, the AVMS can dynamically change and control what sensor data is captured by the sensor and/or communicated from the sensor to the AVMS (e.g., granularity/resolution, field of view, control zoom), when the data is captured by the sensor and/or communicated by the sensor to the AVMS (e.g., on-demand, according to a schedule), and how the data is captured by the sensor and/or communicated from the sensor to the AVMS (e.g., communication format, communication protocol, rate of data communication).

A safety switch input diagnosis device includes a circuit formed from a series connection of an emergency stop switch and a line having a resistor. A connection state of the emergency stop switch and failure modes of the lines are diagnosed on the basis of a voltage value at one end of the circuit. Consequently, an operation of the switch and failure modes of a circuit relating to the switch can be diagnosed.

A vehicle control system includes a plurality of driving assistance devices configured to sequentially send request signals including requests to an actuator in the vehicle and identifiers of the driving assistance devices to an in-vehicle network, a movement manager device configured to acquire the request signals from the in-vehicle network, select one of the identifiers respectively included in the acquired request signals based on a predetermined rule, and sequentially send a control signal including at least the selected identifier to the in-vehicle network, and an actuator control device configured to sequentially acquire the request signal and the control signal from the in-vehicle network, when the control signal is acquired, select a latest request signal including the identifier included in the acquired latest control signal among the acquired request signals, and decide a control value of the actuator based on the request included in the selected request signal.

A driving assist device includes a driving assist controller. The driving assist controller is configured to perform driving assistance when the vehicle changes a course by crossing the oncoming lane. The driving assist controller sets a predicted travel region based on behavior of the oncoming vehicle when the oncoming vehicle is approaching the vehicle that enters an intersection. When the vehicle enters the predicted travel region in a travel path of the vehicle, the driving assist controller determines whether there is a possibility of contact between the vehicle and the oncoming vehicle based on the predicted travel region and the travel path of the vehicle. The driving assist controller causes the vehicle to stop outside of the predicted travel region when there is a possibility of the contact.

A surrounding environment recognition device recognizes a surrounding environment around a vehicle. A traveling control unit centrally controls a whole of the entire vehicle. An obstacle presumer presumes presence of an obstacle ahead of the vehicle based on a behavior distribution of preceding vehicles recognized by the surrounding environment recognition device, and estimates a position and an area where the obstacle is present when the presence of the obstacle is presumed. A traveling path calculator calculates candidates for traveling path areas along which the vehicle is expected to travel while avoiding collision with the presumed obstacle. A traveling path selector selects a traveling path area from among the calculated traveling path areas and sets the selected traveling path area. The traveling control unit controls the vehicle to travel along the set traveling path area.