A vehicle control system including: a recognizer that is configured to recognize a surroundings status of a vehicle; and a driving controller that is configured to control an acceleration and steering of the vehicle on the basis of the surroundings status recognized by the recognizer, wherein, in a case in which a plurality of pedestrians are recognized in an advancement direction of the vehicle by the recognizer, the driving controller is configured to executes follow control for following the plurality of pedestrians and is configured to determines details of the follow control on the basis of a behavior of a nearest pedestrian who is closest to the vehicle among the plurality of pedestrians and a behavior of a second pedestrian who is a monitoring target other than the nearest pedestrian among the plurality of pedestrians.

Responsive to sensor data received from one or more sensors of an autonomous vehicle, one or more predicted trajectories are generated, with each of the predicted trajectories having an associated probability. One or more driving scenarios that trigger gesture recognition are identified. For each of the identified driving scenarios, one or more gestures from one or more vehicles are detected in accordance with a gesture detection protocol. One or more gestures from the autonomous vehicle are emitted for communication with the vehicles in accordance with a gesture emission protocol based on the detected gestures. The predicted trajectories are modified based on the detected gestures, the emitted gestures and the associated probabilities of the predicted trajectories. The autonomous vehicle is controlled based on the modified predicted trajectories.

An embodiment of an antenna includes first and second transmission lines, first antenna elements, and second antenna elements. The first transmission line is configured to guide a first signal such that the first signal has a characteristic of a first value, and the second transmission line is configured to guide a second signal such that the second signal has the same characteristic but of a second value that is different than the first value. The first antenna elements are each disposed adjacent to the first transmission line and are each configured to radiate the first signal in response to a respective first control signal, and the second antenna elements are each disposed adjacent to the second transmission line and are each configured to radiate the second signal in response to a respective second control signal. Such an antenna can have better main-beam and side-lobe characteristics, and a better SIR, than prior antennas.

A processing apparatus includes a distance image acquirer, a moving-object detector, and a danger-level determining unit. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The danger-level determining unit determines a danger level of the moving object by use of the distance image, and outputs the danger level to a controller that controls a controlled unit in accordance with the danger level.

A target pathway generating device is provided with a map information acquisition unit, a curved path determination unit, an obstacle determination unit and a target pathway generating unit. The map information acquisition unit acquires map information. The curved path determination unit determines whether or not a curved path is present on a driving pathway of a vehicle based on the map information. Upon determining that a curved path is present, the obstacle determination unit determines whether or not there is an object to be avoided in the vicinity of the curved path. Upon determining that there is an object to be avoided, the target path generating unit generates a target pathway of the vehicle in order to avoid a predetermined region including the object to be avoided.

A travel control apparatus includes: a transformation unit configured to project the lane and object on a lane coordinate system in which a center line of the lane is a first coordinate axis and an axis orthogonal to the first coordinate axis is a second coordinate axis by performing a coordinate transformation based on the shape of the lane and the position of the object in a plane coordinate system; an area calculation unit configured to calculate a travelable area in which the vehicle can travel in the lane coordinate system; a travel trajectory generation unit configured to perform an inverse transformation of the coordinate transformation by the transformation unit based on the travelable area, and to generate a travel trajectory of the vehicle in the plane coordinate system; and a control unit configured to perform a steering control on the vehicle.

Methods and systems for communicating between autonomous vehicles are described herein. Such communication may be performed for signaling, collision avoidance, path coordination, and/or autonomous control. A first autonomous vehicle may receive a communication from a second autonomous vehicle travelling on the same road as the first autonomous vehicle, where the communication includes an indication of a maneuver which will be performed by the second autonomous vehicle. The first autonomous vehicle may then analyze the communication to identify a first maneuver for the first autonomous vehicle in response to the second maneuver performed by the second autonomous vehicle. Thus, the first autonomous vehicle may move in accordance with the first maneuver.

Methods and systems for autonomous and semi-autonomous vehicle routing are disclosed. Roadway suitability for autonomous operation is scored to facilitate use in route determination. Maps of roadways suitable for various levels of autonomous operation may be generated. Such map data may be used by autonomous vehicles or other computer devices in determining routes based upon criteria for vehicle trips. Such routes may be automatically updated based upon changes in road conditions, vehicle conditions, operator conditions, or environmental conditions. Emergency routing using such map data is described, such as automatic routing and travel when a passenger is experiencing a medical emergency.

Methods and systems autonomously parking and retrieving vehicles are disclosed. Available parking spaces or parking facilities may be identified, and the vehicle may be navigated to an available space from a drop-off location without passengers. Special-purpose sensors, GPS data, or wireless signal triangulation may be used to identify vehicles and available parking spots. Upon a user request or a prediction of upcoming user demand, the vehicle may be retrieved autonomously from a parking space. Other vehicles may be autonomously moved to facilitate parking or retrieval.

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes obtaining, from an autonomy system, data indicative of a planned trajectory of the autonomous vehicle through a surrounding environment. The method includes determining a region of interest in the surrounding environment based at least in part on the planned trajectory. The method includes controlling one or more first sensors to obtain data indicative of the region of interest. The method includes identifying one or more objects in the region of interest, based at least in part on the data obtained by the one or more first sensors. The method includes controlling the autonomous vehicle based at least in part on the one or more objects identified in the region of interest.