Methods, devices and apparatuses pertaining to U-turn assistance. The method may include obtaining, by a computing device, geographic obtaining of a location designated for an operation of a U-turn. The computing device may further obtain vehicle information of a vehicle performing the U-turn, and collect user information of an operator of the vehicle. Based on the geographic information, the vehicle information and the user information, the computing device may determine a level of difficulty of the U-turn and assist the operator with the operation of the U-turn based on the level of difficulty.

A vehicle control device includes a communication unit configured to receive location information of a vehicle, a sensing unit, a display unit, and at least one processor that is configured to determine, based on the location information received by the communication unit, that the vehicle has entered an area within a predetermined distance from an intersection at which the vehicle changes a travel direction according to a preset route information. The at least one processor is further configured to detect an object located around the intersection through the sensing unit, and to control the display unit to output a route to an entrance of the intersection based on information related to the object located around the intersection.

Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.

Disclosed subject matter relates to field of vehicle navigation system that performs a method of generating trajectory for navigating an autonomous vehicle. A trajectory generating system associated with autonomous vehicle detects Points of Interest (POIs) for a selected segment which is at predefined distance from current position of autonomous vehicle, in real-time. Further, features of each of the POIs are determined and first level trajectory is generated for selected segment based on features of POIs proximal to selected segment. Furthermore, the trajectory generating system generates second level trajectory for portions of first level trajectory from current position of autonomous vehicle by modifying each portion based on real-time environment data. First level trajectory in present disclosure enables trajectory generating system to effectively plan the second level trajectory such that, sudden change in velocity or direction of autonomous vehicle is eliminated, when autonomous vehicle encounters infrastructure conditions present in the selected segment.

A vehicle control device includes a recognizer configured to recognize a surrounding environment of a vehicle and a driving controller configured to perform driving control according to speed control and steering control of the vehicle on the basis of a recognition result of the recognizer, wherein the recognizer is configured to recognize a depression on a road where the vehicle travels, and wherein the driving controller is configured to cause the vehicle to travel while riding over the depression in a case where a width of the depression is less than or equal to a predetermined width.

A driving assistance apparatus in a vehicle includes a regulation determiner section, an assistance operator section, and a presentation operator section. The regulation determiner section determines a present traffic regulation in a running environment of the vehicle. The assistance operator section operates a driving assistance to a driver of the vehicle so as to comply with the present traffic regulation determined by the regulation determiner section. The presentation operator section operates a presentation of behavior reason information. When the assistance operator section operates the driving assistance to comply with the present traffic regulation corresponding to an attention traffic regulation stored in a regulation storage, the presentation operator section operates the presentation of behavior reason information on a reason of a behavior resulting from the operated driving assistance to comply with the present traffic regulation corresponding to the attention traffic regulation.

An automatic driving system includes an electronic control unit. The electronic control unit is configured: to create a first travel plan of a vehicle based on a position of the vehicle, an environment surrounding the vehicle, and a state of the vehicle; to calculate a first reliability of the first travel plan; to create a second travel plan of the vehicle based on one or two of the position of the vehicle, the environment surrounding the vehicle, and the state of the vehicle; to calculate a second reliability of the second travel plan; and to start the automatic driving control such that the vehicle travels based on the first travel plan when the first reliability of the first travel plan is equal to or higher than the second reliability of the second travel plan.

A vehicle driving control apparatus includes an object detection unit configured to detect an object located outside a vehicle; and at least one processor configured to provide a first control signal and a second control signal based on information regarding the object detected by the object detection unit. The at least one processor provides the first control signal and the second control signal by: based on the information regarding the object, providing the first control signal to cause one of an increase or a decrease in a speed of the vehicle during a first time period; and based on the information regarding the object and based on the first control signal provided during the first time period, providing the second control signal to cause the other of the increase or the decrease in the speed of the vehicle during a second time period.

A vehicle monitor and a method for monitoring a vehicle.

A vehicle control apparatus includes: a road recognizer that recognizes a road form around a vehicle; a second-vehicle recognizer that recognizes a state of another vehicle around the vehicle; and a driving controller that allows the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle and that prevents, upon passing of the vehicle through an intersection, passing of the vehicle through the intersection based on a presence of the other vehicle recognized by the second-vehicle recognizer, wherein in a case where the driving controller recognizes, by the road recognizer, that a plurality of lanes are present in a road of a right/left turn destination of the vehicle and recognizes, by the second-vehicle recognizer, that the other vehicle, which was an opposing vehicle approaching from a direction opposing the vehicle, has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, the driving controller continues an entry control to the road of the right/left turn destination of the vehicle.