To achieve an information processing apparatus and a mobile apparatus that individually calculate an inclination of the mobile apparatus itself and an inclination of a traveling surface. A measurement value of an air pressure sensor that measures an air pressure of a tire of the mobile apparatus is received, and the inclination of the mobile apparatus is calculated on the basis of the tire air pressure. Furthermore, a measurement value of an absolute pressure sensor attached to the mobile apparatus is received, and an angle of the traveling surface on which the mobile apparatus travels and a position of the mobile apparatus are calculated on the basis of a horizontal movement amount of the mobile apparatus and a vertical movement amount that is calculated on the basis of the measurement value of the absolute pressure sensor. Furthermore, a plurality of different state values such as inclination information of the traveling surface that changes with time transition is input to a Kalman filter, and state values that have already been acquired are updated on the basis of the newly input state values to generate and output the latest state values.

An in-vehicle device includes a travel planning portion configured to plan, as a travel plan, at least positioning of a vehicle during traveling according to a driving policy; and a verification portion that is configured to: evaluate the travel plan set by the travel planning portion based on driving rule determination information in conformity with a traffic rule; and determine whether to permit the travel plan based on an evaluation result. The travel planning portion is configured to plan positioning of the vehicle according to the driving policy that is set to reduce a frequency of occurrence of a blind area entry situation under which a different vehicle other than the vehicle causes a moving object other than the different vehicle to be positioned within a blind area of a detection range for a periphery monitoring sensor that is configured to monitor surroundings of the vehicle.

An in-vehicle device includes a travel planning portion configured to plan, as a travel plan, at least positioning of a vehicle during traveling according to a driving policy; and a verification portion that is configured to: evaluate the travel plan set by the travel planning portion based on driving rule determination information in conformity with a traffic rule; and determine whether to permit the travel plan based on an evaluation result. The travel planning portion is configured to plan positioning of the vehicle according to the driving policy that is set to reduce a frequency of occurrence of a blind area entry situation under which a different vehicle other than the vehicle causes a moving object other than the different vehicle to be positioned within a blind area of a detection range for a periphery monitoring sensor that is configured to monitor surroundings of the vehicle.

An apparatus for controlling a vehicle includes: a sensor that obtains vehicle surrounding environment information and vehicle driving information; and a controller that determines whether an engagement of an Electronic Parking Brake (EPB) is possible based on the vehicle driving information, performs control for preventing a slip based on the vehicle surrounding environment information upon determining that the engagement of the EPB is impossible, calculates a steering angle for preventing the slip, transmits the steering angle to a portable terminal, receives a steering control command from the portable terminal, and controls steering based on the received steering control command.

An apparatus for controlling a vehicle includes: a sensor that obtains vehicle surrounding environment information and vehicle driving information; and a controller that determines whether an engagement of an Electronic Parking Brake (EPB) is possible based on the vehicle driving information, performs control for preventing a slip based on the vehicle surrounding environment information upon determining that the engagement of the EPB is impossible, calculates a steering angle for preventing the slip, transmits the steering angle to a portable terminal, receives a steering control command from the portable terminal, and controls steering based on the received steering control command.

A road surface inclination angle calculation device includes a storage device configured to store mapping data that prescribes mapping, and an execution device. The mapping includes a front-rear acceleration variable and a drive wheel torque variable as input variables, and includes, as an output variable, an inclination angle variable that is a variable indicating the inclination angle of a road surface, on which a vehicle is traveling, for the travel direction of the vehicle. The execution device is configured to acquire the values of the input variables, and configured to calculate the value of the output variable by inputting the acquired values of the input variables to the mapping.

A road surface inclination angle calculation device includes a storage device configured to store mapping data that prescribes mapping, and an execution device. The mapping includes a front-rear acceleration variable and a drive wheel torque variable as input variables, and includes, as an output variable, an inclination angle variable that is a variable indicating the inclination angle of a road surface, on which a vehicle is traveling, for the travel direction of the vehicle. The execution device is configured to acquire the values of the input variables, and configured to calculate the value of the output variable by inputting the acquired values of the input variables to the mapping.

A platooning control method includes: determining whether a preceding vehicle, which is located in front of a host vehicle, has entered a slope section when a plurality of vehicles are moving on a road, acquiring longitudinal distance information between the host vehicle and the preceding vehicle using a Dead-Reckoning (DR) sensor of the host vehicle upon determining that the preceding vehicle has entered the slope section, and performing platooning control by the host vehicle with the plurality of vehicles in the slope section using the longitudinal distance information acquired by the DR sensor and speed information.

A higher throughput is an increasingly necessary requirement for driverless transport systems with a plurality of driverless transport vehicles. In arrangements with inclined roadways, resuming a movement is problematic in that doing so has hitherto only been possible with a limited arrangement of the roadways and/or with highly dimensioned drives. The novel method provides for moving a driverless transport vehicle on an inclined transport roadway, wherein the steering drives are actuated on the basis of the detected inclination direction in order to move the vehicle such that the transport vehicle is moved transversely to the inclination direction. After a specified minimum speed of the transport vehicle transversely to the inclination direction is reached, the steering drives are adjusted such that the transport vehicle continues to move in the inclination direction.

A higher throughput is an increasingly necessary requirement for driverless transport systems with a plurality of driverless transport vehicles. In arrangements with inclined roadways, resuming a movement is problematic in that doing so has hitherto only been possible with a limited arrangement of the roadways and/or with highly dimensioned drives. The novel method provides for moving a driverless transport vehicle on an inclined transport roadway, wherein the steering drives are actuated on the basis of the detected inclination direction in order to move the vehicle such that the transport vehicle is moved transversely to the inclination direction. After a specified minimum speed of the transport vehicle transversely to the inclination direction is reached, the steering drives are adjusted such that the transport vehicle continues to move in the inclination direction.