A travel assist apparatus includes a calculator that calculates rear lane shape information in a section from a current position of the own vehicle to a rear position, on the basis of a lane information group and a traveling trajectory of the own vehicle. The lane information group includes pieces of lane information detected on the basis of images captured by an imaging unit successively during a data acquisition period. The pieces of lane information each includes information regarding relative positions of lanes with respect to an own vehicle. The data acquisition period is a predetermined period from a current time to a certain time in past. The traveling trajectory of the own vehicle is that during the data acquisition period and is calculated on the basis of a result of detection of both a vehicle speed and a yaw rate of the own vehicle during the data acquisition period.

A vehicle control device includes a peripheral image acquisition unit adapted to acquire peripheral image data including a lane marking on a road in a travel direction of a host vehicle, a lane marking recognition unit adapted to recognize the lane marking from the image data, and a specified region determining unit adapted to determine, within the image data, the presence or absence of a specified region where continuity of the road is interrupted. In the case that the specified region exists, the lane marking recognition unit performs recognition of the lane marking on a side closer to the host vehicle than the specified region.

A multi layer learning based control system and method for an autonomous vehicle or mobile robot. A mission planning layer, behavior planning layer and motion planning layer each having one or more neural neworks are used to develop an optimal route for the autonomous vehicle or mobile robot, provide a series of functional tasks associated with at least one or more of the neural networks to follow the planned optimal route and develop commands to implement the functional tasks.

A vehicular vision system includes a side-viewing camera mounted within an exterior rearview mirror assembly attached at a side of a vehicle equipped with the vehicular vision system. The side-viewing camera has a field of view at least sideward of the side of the equipped vehicle at which the exterior rearview mirror assembly is attached. The side-viewing camera captures an image of a scene occurring exterior of the equipped vehicle. The captured image includes an image data set representative of the exterior scene. A control includes an image processor, and the image data set is provided to the control. The control processes a reduced image data set of the image data set provided to the control to detect edges present exterior of the equipped vehicle within an area of interest of the scene occurring exterior of the equipped vehicle that is within the field of view of the side-viewing camera.

A control device on an autonomous driving vehicle acquires information representing a type of a drive operation and a reason for an implementation of the drive operation being performed during an autonomous operation of the autonomous driving vehicle; and controls a notification device to notify information representing the implementation of the drive operation accompanying a horizontal movement and information representing a reason to move horizontally before the implementation of the drive operation when an acquired type of the drive operation at least corresponds to the drive operation accompanying horizontal movement.

A vehicle (2) comprising a working equipment (4), and further comprising: a sensor system (6) configured to capture environmental data reflecting the environment around the vehicle and to determine, based on said data, image data (8) representing an area at least partly surrounding the vehicle (2), and optionally ambient condition data (10), a vehicle data unit (12) configured to determine vehicle data (14) representing characteristics of the vehicle (2), a control unit (16) configured to receive said image data (8), and said vehicle data (14), and optionally said ambient condition data (10), and to determine and generate control signals (18) for controlling said vehicle (2), wherein said control signals (18) comprise driving instructions. The control unit (16) is configured to receive a working task to be performed by the vehicle, wherein said working task includes information of an object (20) for the vehicle (2) to reach when performing said working task. The control unit (16) is configured to: determine a target position (22), being a position based on the location of the object (20) to reach when performing said working task in said image data representation, in relation to said vehicle (2), calculate at least a first path (24) from the vehicle (2) to the target position (22) by applying a set of path calculation rules, and determine driving instructions such that said vehicle (2) is controlled to follow said at least first path (24), wherein said driving instructions are determined in dependence of said image data (8), and vehicle data (14), and optionally said ambient condition data (10), by applying a set of path following rules.

Provided is a vehicle driving support system that achieves a balance between accurately evaluating the path cost of a candidate path and reducing the load of calculating the path cost. A vehicle driving support system includes a controller that sets a target path on a travel road based on travel road information. The controller sets, in the vicinity of an obstacle, a warning area with an outer shape according to the obstacle, and sampling points at first intervals along a part of the candidate path that is included in the warning area, and sets the sampling points at second intervals, longer than the first interval, along the other part of the candidate path.

A vehicle controller includes: a recognition unit that recognizes a surrounding state of a subject vehicle traveling in a road lane; an area specification unit that specifies a specific area in the lane in which the subject vehicle travels; and a driving control part that controls the subject vehicle with respect to a vehicle traveling ahead thereof, based on a result recognized b the recognition unit. The driving control part determines a condition of shifting from a first support status to a second support status such that there is a vehicle traveling ahead of the subject vehicle in the lane; and, if the subject vehicle enters the specific area at the first support status, the subject vehicle keeps the first support status, and if the subject vehicle enters the specific area at the second support status, shifts the support status from the second to the first support status.

Disclosed embodiments provide a technical improvement for providing localization for a transportation vehicle by detecting road wear reference lines in a roadway on which the transportation vehicle is travelling and controlling, guiding or otherwise facilitating alignment of the transportation vehicle wheel centers with the detected centers of the road wear.

In a vehicle control system (1) configured for autonomous driving, a control unit (15) invokes an autonomous stopping mode when an intervention detection unit (10, 11, 13, 33) has failed to detect an acceptance of a driving intervention request by the driver when the driving intervention request is notified by a notification interface (31, 32), and the control unit restricts a functionality of the autonomous driving after the autonomous stopping mode has been invoked due to a driver's failure.