A mobile object control device according to an embodiment includes a recognizer configured to recognize a surroundings situation of a mobile object, a trajectory predictor configured to predict future trajectories of the mobile object and an object likely to come into contact with the mobile object when there is the object around the mobile object, and an unavoidable contact determiner configured to determine whether contact between the mobile object and the object is unavoidable on the basis of the predicted trajectories of the mobile object and the object predicted by the trajectory predictor, and the trajectory predictor predicts the future trajectory of the object on the basis of a recognition state of a travel wheel of the object in the recognizer.

A vehicle driving assist device includes a traveling environment recognizer, an obstacle recognizer, an emergency collision, an oncoming moving body recognizer, a lateral position calculator, a risk degree calculator, and a preliminary collision avoidance controller. The obstacle recognizer recognizes, based on information recognized by a traveling environment recognizer, an obstacle on a vehicle's traveling path. An emergency collision avoidance controller performs emergency collision avoidance control for avoiding a collision with the obstacle. An oncoming moving body recognizer recognizes, an oncoming moving body in an oncoming lane. A lateral position calculator calculates a distance from a lane marker defining the oncoming lane to a reference position of the oncoming moving body. A risk degree calculator calculates a risk degree for the oncoming moving body. A preliminary collision avoidance controller recognizes the oncoming moving body as the obstacle, and performs preliminary control before the emergency collision avoidance control.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.

A lane change control unit restricts an automatic lane change in the case of predicting that a user's own vehicle after having made the automatic lane change will be adjacent to another vehicle that exists inside of a third lane or on a third lane dividing line, and executes the automatic lane change without restriction in the case of predicting that the user's own vehicle after having made the automatic lane change will be adjacent to another vehicle that exists inside a fourth lane or inside of a road shoulder.

A mobile object control method including: recognizing physical objects near a mobile object and a route shape; generating a target trajectory based on a result of the recognition and cause the mobile object to travel autonomously along the target trajectory; and determining that an abnormality has occurred in a control system for causing the mobile object to travel autonomously by performing the recognition when a time period from a timing when a degree of deviation between a reference target trajectory determined by the route shape and serving as a reference for generating the target trajectory and a position of the mobile object is greater than or equal to a predetermined degree to a timing when the degree of deviation is less than the predetermined degree is greater than or equal to a first predetermined time period and output a determination result.

A method for semantic annotation of sensor data may include obtaining sensor data representing an image of a geographic area. The boundary points defining a first polygon in the image of the geographic area may be determined based on the sensor data. An overlap between the first polygon and a second polygon in the image of the geographic area may be detected based at least on the boundary points defining the first polygon. At least one of the first polygon or the second polygon may be modified to remove the overlap between the first polygon and the second polygon. An annotation corresponding to the first polygon may be generated based on the modifying of at least one of the first polygon or the second polygon. The annotation may identify a physical feature within the geographic area. Related systems and computer program products are also provided.

A vehicle display control device includes a memory and a processor coupled to the memory. The vehicle display control device is configured such that the processor controls a vehicle display device for displaying an image on a display region so as to be superimposed on a portion of a view ahead of a vehicle. The processor is configured so as to detect a preceding vehicle traveling at a vehicle front side of a host vehicle, and in cases in which the preceding vehicle has been detected, causes an image that includes a plurality of inter-vehicle marker objects from the host vehicle side toward the preceding vehicle side to be displayed in the display region, and causes sequential emphasis display of the plurality of inter-vehicle marker objects in sequence from the host vehicle side toward the preceding vehicle side.

An apparatus includes at least one camera configured to capture an image of a traffic lane in front of a vehicle. The apparatus also includes a path tracking controller configured to detect lane boundaries and a path curvature for the traffic lane from the image, determine a lateral offset of the vehicle from a reference path for the traffic lane and a heading offset for the vehicle from the path curvature, determine a yaw rate maintaining the vehicle within the traffic lane using a kinematics control, determine a steering angle maintaining the vehicle within the traffic lane using a dynamics control and the yaw rate determined by the kinematics control, and activate a steering control based on the determined steering angle.

Provided are systems and methods for auto calibrating a vehicle using a calibration target that is generated from the vehicle's sensor data. In one example, the method may include receiving sensor data associated with a road captured by one or more sensors of a vehicle, identifying lane line data points within the sensor data, generating a representation which includes positions of a plurality of lane lines of the road based on the identified lane line data points, and adjusting a calibration parameter of a sensor from among the one or more sensors of the vehicle based on the representation of the plurality of lane lines.

Provided are systems and methods for detecting a vehicle with sensors that are not calibrated properly and calibrating such sensor in real-time. In one example, a method may include iteratively capturing sensor data of a road while the vehicle is travelling on the road; monitoring a calibration of the sensors of the vehicle based on the sensor data, determining that the sensors of the vehicle are not calibrated properly based on the monitoring, generating a calibration target of an object on the road based on the sensor data, and adjusting a calibration parameter of the one or more sensors of the vehicle based on the generated calibration target.