A vehicle control system includes: a recognizer configured to recognize a surrounding environment of a vehicle; a driving controller configured to perform at least one of speed control and steering control of the vehicle based on a recognition result of the recognizer; an acquirer configured to acquire a feature of an outer appearance of a person near the vehicle and store the feature of the outer appearance in a memory; a gesture recognizer configured to recognize a gesture of the person; and a determiner configured to determine whether features of the outer appearance of the person acquired at different timings by the acquirer match. The determiner is configured to determine whether a feature of an outer appearance of the person acquired by the acquirer at a first timing at which the person boards the vehicle matches a feature of the outer appearance of the person acquired by the acquirer at a second timing which is a timing later than the first timing and at which the gesture recognizer recognizes that the person is performing a predetermined gesture. The driving controller is configured to cause the vehicle to stop near the person of which the features are determined to match when the determiner determines that the features match.

A vehicle control device includes a detector configured to detect a vicinity situation of a vehicle, a first controller configured to cause the vehicle to move to a position at which a user of the vehicle gets on or gets off the vehicle by controlling a speed and steering of the vehicle on the basis of the vicinity situation detected by the detector, and a second controller configured to reduce a detection load of the detector when the vehicle moves to the position as compared to when the vehicle does not move to the position.

A vehicle control device includes an acquirer configured to acquire a recognition result of a surroundings situation of a vehicle from a recognition device, and a driving controller configured to control steering and a speed of the vehicle on the basis of the recognition result to move the vehicle so that a user located in a boarding area is able to board the vehicle, and the driving controller is configured to stop the vehicle at a first stop position in a case in which the user has been recognized in the boarding area when the vehicle is moved to the boarding area, and is configured to stop the vehicle at a second stop position in a case in which the user has not been recognized in the boarding area when the vehicle is moved to the boarding area.

A vehicle control system includes a recognizer configured to recognize a surrounding environment of a vehicle, a driving controller configured to automatically perform at least one of speed control and steering control of the vehicle on the basis of a recognition result of the recognizer, a communicator configured to communicate with a terminal device, and a notificator configured to notify the terminal device of information according to a parking environment recognized by the recognizer using the communicator when the driving controller causes the vehicle to travel and stop at a vehicle stop position after the occupant has got off the vehicle.

A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense an environment through which a vehicle is moving. The point cloud frame includes scan lines arranged according to a particular spatial distribution. The method also includes either generating an enhanced point cloud frame with a larger number of points than the received point cloud frame, or constructing, by one or more processors and based on points of the received point cloud frame, a three-dimensional mesh. The method also includes generating, by performing an interpolation function on the enhanced point cloud frame or a virtual surface provided by the three-dimensional mesh, a normalized point cloud frame, and generating, using the normalized point cloud frame, signals descriptive of a current state of the environment through which the vehicle is moving.

A device for a vehicle for providing information about an expected driving intention, a device for a vehicle for determining a driving recommendation, a method for a vehicle for providing information about an expected driving intention, a method for a vehicle for determining a driving recommendation, and a computer program. The device includes a driving analysis module to determine information about an expected trajectory of the vehicle, a control module to determine information about an expected driving intention of the vehicle based on the information about the expected trajectory of the vehicle, and an interface to make available the information about the expected driving intention for one or more vehicle-external entities.

A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud portion corresponding to an object in a vehicle environment, the point cloud portion including scan lines arranged according to a particular spatial distribution. The method also includes constructing a voxel grid corresponding to the received point cloud portion. The voxel grid includes a plurality of volumes in a stacked, three-dimensional arrangement, and constructing the voxel grid includes (i) determining an initial classification of the object, (ii) setting one or more parameters of the voxel grid based on the initial classification, and (iii) associating each volume of the plurality of volumes with an attribute specifying how many points, from the point cloud portion, fall within that volume. The method also includes generating, using the constructed voxel grid, signals descriptive of a current state of the environment through which the vehicle is moving.

A control system of a vehicle determines whether to require a shift from a first travel state in which an operation by a driver is not required to a second travel state in which the operation by the driver is required; makes an operation request to the driver when the shift is required; determines whether the driver has performed an operation in response to the request; and stops the vehicle in a predetermined position when the driver has not performed the operation, wherein in a case in which a lane change operation is required to stop the vehicle in the predetermined position, a speed of movement in a lateral direction at the time of the lane change operation is suppressed more than the speed of movement in the lateral direction at the time of a lane change operation performed in the first travel state.

A vehicle running control method includes: calculating, by a controller, a lateral velocity of an adjacent vehicle that travels in a lane adjacent to a traveling lane in which an autonomous vehicle travels in the road-width direction, and a longitudinal velocity of the adjacent vehicle in the direction in which the adjacent lane extends; specifying, by the controller, a predetermined road section based on the longitudinal velocity and calculating a first path on the assumption that an offset distance of the adjacent vehicle in the adjacent lane in the road-width direction is maintained within the road section; and applying, by the controller, the lateral velocity to the first path to calculate a second path corresponding to a predicted traveling path of the adjacent vehicle.

Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a reference trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment. Portions of the reference trajectory can be identified as corresponding to actions to navigate around a double-parked vehicle or to change lanes, for example. In some cases, a portion of the reference trajectory can be identified based on a proximity to an object in the environment. A weight can be associated with the portions of the reference trajectory, and the techniques can include evaluating a reference cost function at points of the reference trajectory based on the associated weights to generate a target trajectory. Further, the techniques can include controlling the autonomous vehicle to traverse the environment based at least in part on the target trajectory.