It is an object of the present invention to provide a driving support information generation device, a driving support information generation method, a driving support device, and a driving support method which make it possible to present effective caution information to drivers. The driving support information generation device of the present invention includes a processor to execute a program; and a memory to store the program which, when executed by the processor, performs processes of collecting vehicle information including traveling locus information indicating a traveling locus of at least one vehicle which travels a predetermined road section and generating cautionary information which is information to require a driver of the at least one vehicle to exercise caution when the at least one vehicle travels the section, on the basis of the collected vehicle information. The cautionary information is generated on the basis of variation in traveling of the vehicle.

Provided is a method for use by a driving assistance apparatus that assists a transition from an autonomous driving mode in which a vehicle is driven under autonomous control to a manual driving mode in which the vehicle is driven by a driver. The method includes: detecting an activity by the driver; detecting conditions of the driver; and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, the determining being based on at least the detected activity by the driver and the detected conditions.

Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.

Various systems and methods for controlling a vehicle using driving policies are described herein. A system for controlling a vehicle using driving policies includes a memory device; and a processor subsystem to access instructions on the memory device that cause the processor subsystem to: operate a host vehicle using a driving policy from a policy repository, the host vehicle operating in a lane on a first road, the driving policy governed by a safety model; detect a second vehicle, the second vehicle operating in a second lane; determine whether the second vehicle is an oncoming vehicle or an intersecting vehicle, the oncoming vehicle operating on the first road with the first and second lanes in adjacent bidirectional arrangement, and the intersecting vehicle operating on a second road that intersects the first road; and initiate a vehicle maneuver of the host vehicle to reduce or avoid a collision with the second vehicle, based on the safety model, the vehicle maneuver performed based on whether the second vehicle is an oncoming vehicle or an intersecting vehicle.

A method for detecting and processing the carriageway condition of a carriageway on which a vehicle is driven, by means of at least one noise sensor provided on the vehicle, in particular by means of at least one mechanical vibration sensor, wherein noise signals travelling through the vehicle are sensed by a noise sensor and conclusions as to the carriageway condition are drawn from the sensed noise signals. According to said method, the section of route on which the vehicle is currently being driven is determined, the determined carriageway condition is assigned to the section of route, said section of route and the carriageway condition that has been determined and assigned to the section of route are transmitted to a computer network, in particular to a cloud-based computing service, and the information relating to the carriageway condition assigned to a section of route is made available via the computer network.

An autonomous driving control apparatus for a vehicle includes: a processor that demands a user of a vehicle to take a control authority of the vehicle during an autonomous driving control when a current driving condition is in a limit situation during the autonomous driving control, and starts a minimum risk maneuver to disable reactivation of the autonomous driving control when the control authority is not transferred to the user; and a storage to store a set of instructions to be executed by the processor and data for determination and performance by the processor. In particular, the processor automatically flashes an emergency light when the minimum risk maneuver is started, and controls automatic flashing of the emergency light to not be released by the user when the vehicle is not in a stopped state.

Disclosed are an autonomous driving apparatus and method for an ego vehicle that autonomously travels. The autonomous driving apparatus includes a first sensor to detect a nearby vehicle nearby an ego vehicle, a memory to store map information, and a processor including a driving trajectory generator to generate a first driving trajectory of the ego vehicle and a second driving trajectory of the nearby vehicle based on the map information stored in the memory and a control processor configured to control autonomous driving of the ego vehicle based on the first and second driving trajectories generated by the driving trajectory generator.

A method for detecting boundaries of lanes on a road is presented. The method comprises receiving, by one or more processors from an imaging system, a set of pixels associated with lane markings. The method further includes partitioning, by the one or more processors, the set of pixels into a plurality of groups. Each of the plurality of groups is associated with one or more control points. The method further includes generating, by the one or more processors, a spline that traverses the control points of the plurality of groups. The spline traversing the control points describes a boundary of a lane.

A vehicle control device includes a recognizer configured to recognize a surrounding environment including a structure of a road near a vehicle and another vehicle, a deriver configured to derive a predicted probability that the other vehicle will travel in the future along each of routes which are assumed when a plurality of routes along which the other vehicle is able to travel are assumed on a road on which the other vehicle recognized by the recognizer travels, and a travel controller configured to control behavior of the vehicle based on the predicted probability derived by the deriver.

Embodiments disclose systems and methods to generate a lane-based reference line for an autonomous driving vehicle. In one embodiment, a system receives a request to route an autonomous driving vehicle (ADV) from a source location to a target location. In response to the request, the system identifies a set of road segments between the source location and the target location navigable by the ADV, where each of the road segments in the set includes one or more lane segments. The system identifies one or more lane paths corresponding to the set of road segments. The system determines an effective distance for each of the one or more lane paths. The system selects a lane path based on the determined effective distance. The system generates a lane-based reference line based on the selected lane path.