An object is to provide technology capable of appropriately recognizing a travel path. A travel path recognition apparatus includes a travel path recognizer. The travel path recognizer calculates a traveling distance traveled by a vehicle from acquisition time of lane marking information to current time based on a vehicle speed of vehicle behavior. Then, the travel path recognizer determines whether or not the lane marking information is information within a usable period in which the lane marking information is usable to recognize the travel path based on a predetermined lane marking acquirable distance and the traveling distance. The predetermined lane marking acquirable distance is a distance in front of a position of the vehicle, and is a distance in which a lane marking of the lane marking information is acquirable.

A vehicle control method includes: controlling a vehicle based on a lane position obtained from map information; detecting a lane boundary around the vehicle using a sensor mounted on the vehicle; and determining that the map information deviates from an actual state when a predetermined condition is met. The predetermined condition is met when a state in which a first distance is equal to or less than a first threshold continues for a first time or more or when a state in which a second distance is equal to or more than a second threshold continues for a second time or more. The first distance is a distance between a travel position of the vehicle and the detected lane boundary. The second distance is a distance between a lane boundary obtained from the map information and the detected lane boundary.

A system for associating a physical identity and a virtual identity of a target vehicle includes a data processor, including a wireless communication module, positioned within an ego vehicle, and a plurality of perception sensors, positioned within the ego vehicle and adapted to collect data related to a physical identity of the target vehicle and to communicate the data related to the physical identity of the target vehicle to the data processor via a communication bus, the data processor adapted to receive, via a wireless communication channel, data related to a virtual identity of the target vehicle and to associate the physical identity of the target vehicle with the virtual identity of the target vehicle.

A vehicle includes: camera monitoring apparatus including a side-view camera having a field of view facing a rear lateral side of the vehicle and a side-view display configured to display a side-view image captured by the side-view camera; and a driver assistance system including a corner radar having a field of view facing a side of the vehicle, and configured to process radar data of the corner radar. The driver assistance system is configured to provide the camera monitoring apparatus with a virtual side-view image based on processing of the radar data of the corner radar when a failure of the side-view camera is detected. The camera monitoring apparatus is configured to display the virtual side-view image of the driver assistance system on the side-view display based on the failure of the side-view camera.

A driving support apparatus includes a surrounding information acquisition device which acquires surrounding information, a steering information acquisition device which acquires steering information, a control unit which executes driving support control including at least one of pre-right/left-turn deceleration assist control or pre-right/left-turn warning control when a predetermined first execution condition is satisfied. When a precondition which is satisfied in a case in which an intersection is detected based on the surrounding information and steering operation is being performed by a driver based on the steering information is satisfied, the control unit determines whether or not the first execution condition is satisfied based on the steering operation being performed and traveling lane arrow information which is road arrow information of a traveling lane or adjacent lane arrow information which is road arrow information of an adjacent lane, both of which being stored in a storage device.

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.

Systems and methods are provided for intelligent driving monitoring systems, advanced driver assistance systems and autonomous driving systems, and providing alerts to the driver of a vehicle, based on anomalies detected between driver behavior and environment captured by the outward facing camera. Various aspects of the driver, which may include his direction of sight, point of focus, posture, gaze, is determined by image processing of the upper visible body of the driver, by a driver facing camera in the vehicle. Other aspects of environment around the vehicle captured by the multitude of cameras in the vehicle are used to correlate driver behavior and actions with what is happening outside to detect and warn on anomalies, prevent accidents, provide feedback to the driver, and in general provide a safer driver experience.

An information providing device includes an external environment recognition unit that recognizes an external environmental situation of a movable body, an information providing control unit that provides a notification of recommended stopping information based on a current indication of traffic signals recognized by the external environment recognition unit, and a determination unit which determines, in the case that a first intersection and a second intersection are positioned in a travel direction of the movable body, whether or not a degree of proximity of the first intersection and the second intersection satisfies a predetermined condition. In the case it is determined by the determination unit that the predetermined condition is satisfied, the information providing control unit prevents the recommended stopping information based on a current indication of the traffic signal belonging to the second intersection from being provided.

Autonomous vehicle operation with explicit occlusion reasoning may include traversing, by a vehicle, a vehicle transporation network. Traversing the vehicle transportation network can include receiving, from a sensor of the vehicle, sensor data for a portion of a vehicle operational environment, determining, using the sensor data, a visibility grid comprising coordinates forming an unobserved region within a defined distance from the vehicle, computing a probability of a presence of an external object within the unobserved region by comparing the visibility grid to a map (e.g., a high-definition map), and traversing a portion of the vehicle transportation network using the probability. An apparatus and a vehicle are also described.

Systems and methods for situational behavior of an autonomous vehicle are disclosed. In one aspect, an autonomous vehicle includes at least one perception sensor configured to generate perception data indicative of at least one other vehicle on a roadway, a non-transitory computer readable medium, and a processor. The processor is configured to determine that the other vehicle is violating one or more rules of the roadway based on the perception data, tag the other vehicle as a non-compliant driver, and modify control of the autonomous vehicle in response to tagging the other vehicle as a non-compliant driver.