A driving support apparatus according to the invention estimates the position of a moving body by controlling a position estimation unit when the tracking-target moving body leaves a first area or a second area to enter a blind spot area and detects the position of the moving body by controlling a position detection unit when the moving body leaves the blind spot area to enter the first area or the second area. In this manner, the trajectory of the tracking-target moving body is calculated so that the trajectory of the moving body detected in the first area or the second area and the trajectory of the moving body estimated in the blind spot area are continuous to each other and driving support is executed based on the calculated trajectory of the tracking-target moving body.

An image processing apparatus 10 includes an output unit 14 and a processor 16. The output unit 14 outputs to a movable object 12 information indicating an action to be performed by the movable object 12. The processor 16 determines a first action of the movable object 12 based on a state of a target, the state being sensed in imagery of a region around the movable object 12. The processor 16 causes the output unit 14 to output information indicating the first action. The processor 16 determines a second action of the movable object 12 based on a state of the target, the state being sensed in imagery of the region around the movable object 12, the imagery being captured after the first action of the movable object 12. The processor 16 causes the output unit 14 to output information indicating the second action at a time depending on a speed of a predetermined motion of the target. The predetermined motion of the target is a motion that the target makes before the first action is determined or after the first action of the movable object 12.

A vehicle configured to alert pedestrians. The vehicle includes a driver-assist system including a memory device, a processor, and at least one camera. The memory device includes instructions which, when executed by the processor, cause the processor to detect, utilizing the at least one camera, at least one pedestrian near the vehicle, determine a proximity of the at least one pedestrian to the vehicle, compare the proximity to a threshold proximity, and automatically emit an audible alert from the vehicle in response to the proximity being less than the threshold proximity.

A method for transmitting, by a user equipment, a message for a vulnerable road user (VRU) in a wireless communication system is disclosed. The method may comprise: receiving a first message including an expected time to pass (TTP) of a vehicle regarding a predetermined location on an expected route of the VRU; on the basis of i) the first message and ii) the TTP of the VRU regarding the predetermined location, generating a virtual VRU at the predetermined location; and transmitting a second message including the virtual VRU.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent behavior prediction using keypoint data. One of the methods includes obtaining data characterizing a scene in an environment, the data comprising: (i) context data comprising data characterizing historical trajectories of a plurality of agents up to the current time point; and (ii) keypoint data for a target agent; processing the context data using a context data encoder neural network to generate a context embedding for the target agent; processing the keypoint data using a keypoint encoder neural network to generate a keypoint embedding for the target agent; generating a combined embedding for the target agent from the context embedding and the keypoint embedding; and processing the combined embedding using a decoder neural network to generate a behavior prediction output for the target agent that characterizes predicted behavior of the target agent after the current time point.

A driving assisting device includes a vicinity information acquiring unit for acquiring vicinity information regarding an object in the vicinity of a vehicle; an image generating unit for using the vicinity information to generate an overhead image that shows the vehicle together with the vicinity thereof; a communicating unit for acquiring, through wireless communication, target person information able to identify at least a location of a target person outside of the vehicle; a vehicle location identifying unit for identifying a vehicle location and direction; a location identifying unit for identifying a location of the target person in an overhead image and identifying, in the overhead image, a stopping location that is suitable for boarding of the target person, based on the location and direction of the vehicle, identified by the vehicle location identifying unit; and an output image generating unit for generating an output image.

A prediction device is described for predicting a location of a pedestrian moving in an environment. The prediction device may have a memory configured to store a probability distribution for multiple latent variables indicating one or more states of the one or more pedestrians. The prediction device may be configured to predict a position of a pedestrian for which no position information is currently available from the probability distribution of the multiple latent variables.

The present invention improves the accuracy of predicting rarely occurring behavior of moving bodies, without reducing the accuracy of predicting commonly occurring behavior of moving bodies. A vehicle 101 is provided with a moving body behavior prediction device 10. The moving body behavior prediction device 10 is provided with a first behavior prediction unit 203 and a second behavior prediction unit 207. The first behavior prediction unit 203 learns first predicted behavior 204 so as to minimize the error between behavior prediction results for moving bodies and behavior recognition results for the moving bodies after a prediction time has elapsed. The second behavior prediction unit 207 learns future second predicted behavior 208 of the moving bodies around the vehicle 101 so that the vehicle 101 does not drive in an unsafe manner.

An apparatus and method for forward collision avoidance through sensor angle adjustment includes a position provider configured to provide information on a position of a host vehicle, a sensor configured to sense a presence of an object in vicinity of the host vehicle, and a vehicle controller configured to detect a dangerous area in a driving caution area, increase a sensitivity of the sensor toward the dangerous area, in response to detecting the dangerous area, and increase a forward collision avoidance performance of the host vehicle, in response to determining that the host vehicle enters the driving caution area through the position provider.

A pedestrian protection system includes a plurality of autonomous driving vehicles and a server configured to be able to communicate with each of the autonomous driving vehicles. The server is configured to select at least one vehicle to be moved to the location of a pedestrian from among the autonomous driving vehicles as a pedestrian protection vehicle when a particular situation occurrence notification is received and is configured to send an instruction notification to the pedestrian protection vehicle. The particular situation occurrence notification indicates that the pedestrian is placed in a particular situation. The instruction notification instructs the pedestrian protection vehicle to move to the location of the pedestrian for protecting the pedestrian. Each of the autonomous driving vehicles is configured to move to the location of the pedestrian for protecting the pedestrian when the instruction notification is received.