Among other things, techniques are described for checking the safety of proposed trajectories of a vehicle. In one aspect, at least one processor of a vehicle identifies a proposed trajectory of the vehicle. The processor determines a predicted trajectory of an object external to the vehicle. The processor obtains a velocity of the vehicle and predicts, based on the proposed trajectory and velocity of the vehicle and the predicted trajectory of the object, a likelihood of collision between the vehicle and the object. In response to predicting the likelihood of collision, the processor determines a change to a parameter of the proposed trajectory of the vehicle, and adjusts the proposed trajectory based on the change to the parameter.

A vehicle control device includes a peripheral object recognition unit configured to recognize an object that is present around a vehicle to be controlled, an object state recognition unit configured to recognize, in a situation where a first object and a second object are recognized by the peripheral object recognition unit, states of the first object and the second object including distance between the vehicle to be controlled and the first object, distance between the vehicle to be controlled and the second object, moving direction of the first object, and moving direction of the second object, and a display control unit configured to cause the display device to execute external notification processing for displaying a notification to the first object or the second object based on the states of the first object and the second object recognized by the object state recognition unit.

A control apparatus includes a control unit configured to execute control for presenting, in a vehicle, a first route along which a vehicle moves to a parking space in a parking lot, predict a second route along which a pedestrian moves in the parking lot, and execute control for presenting, in the vehicle, a third route that replaces the first route when the first route intersects the second route.

A method for preventing collisions with static or moving objects in the blind area of a vehicle being driven, applied in an electronic device, includes: obtaining images captured by camera installed on the driven vehicle by implementing a 5G communication method. The images are analyzed for the presence of obstacles. When the images show obstacles, recognizing contours of each obstacle and determining whether the contours of each obstacle is humanoid. When the contours of any obstacle have a human shape, analyzing an extent of the range of the blind area of the vehicle from the images and determining whether an obstacle is within the blind area range of the driven vehicle. If any obstacle is determined to be in the blind area, generating an alarm to the driver of the vehicle by implementing the 5G communication method to activate the alarm device.

A driving assistance device includes a recognizer and a notifier. The recognizer, based on an image of a front in a vehicle, recognizes an advancing feasibility indication by a traffic signal and reference objects present between the traffic signal and the vehicle. The notifier, in a case where there is a predetermined type of reference object among the reference objects recognized by the recognizer, uses a rear end of the predetermined type of reference object as a reference, and controls a notification device such that a notification is provided to an occupant of the vehicle according to a distance from the reference to the vehicle and a recognition result of the advancing feasibility indication.

A mobile object control system includes: a storage device configured to store a instructions; and one or more processors, wherein the one or more processors execute the instructions stored in the storage device to: determining whether a roadway is a pedestrian road in which passage of vehicles is restricted; expanding a movable area in which the mobile object can move in a width direction of the roadway when it is determined that the roadway is the pedestrian road; and controlling the mobile object based on the movable area.

A driving support device includes a detector configured to detect an obstacle in front of a host vehicle, and a processor configured to calculate the likelihood of collision between the obstacle and the host vehicle and to perform at least one of alarm control and travel control when the likelihood is equal to or higher than a predetermined value. When the obstacle has been detected between the host vehicle and an oncoming vehicle with respect to the host vehicle, the processor brings forward the timing to start at least one of the alarm control and the travel control as compared to a case where the obstacle has not been detected between the host vehicle and the oncoming vehicle.

This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit configured to detect an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit configured to detect an obstacle; and a determination unit configured to determine that performing steering control in the out-of-lane region is approved by a driver when the vehicle enters the out-of-lane region in response to a steering operation by the driver in a case where the second detection unit detects the obstacle, the first detection unit detects the out-of-lane region, and the vehicle and the obstacle have a predetermined relationship.

An embodiment method for controlling driving of a vehicle includes collecting driving environment information including drive lanes and positions of a host vehicle and an object on a periphery of the host vehicle, generating virtual integrated lines based on a lane link, a lane side or a control path included in the driving environment information, extracting a target candidate group by determining a position of the object based on the virtual integrated lines, selecting a control target based on position relations between the virtual integrated lines and contour points of the target candidate group, calculating a control point to be tracked, and controlling driving of the host vehicle based on the control point.

A vehicle control device that is provided in a vehicle that runs autonomously includes a detection unit for detecting a rescue target person requiring rescue based on surrounding information of the vehicle acquired by the vehicle, and a vehicle control unit for controlling the vehicle. When the rescue target person is detected by the detection unit, the vehicle control unit performs evacuation control to stop the vehicle such that the rescue target person is able to evacuate from an outside of the vehicle into the vehicle.