A vehicle control apparatus comprises a radio receiver and a control unit. The radio receiver receives a terminal signal from a first terminal that a user located outside the vehicle carry. The control unit performs a remote operation control to move the vehicle in accordance with a remote operation to the first terminal. The control unit is configured to: perform the remote operation control in accordance with the remote operation, when a signal condition including a condition that the terminal signal is received is satisfied; and in a case in which the signal condition becomes unsatisfied while performing the remote operation control, continue performing the remote operation control when an unsatisfied state in which the signal condition is not satisfied has not yet continued for a predetermined extension time, and stop performing the remote operation control when the unsatisfied state has continued for the extension time.

A driving assistance device provides driving assistance to a vehicle including a sensor that collects peripheral information according an instruction from a terminal of a user of the vehicle, the device including: a route calculation unit that calculates a movement route of the vehicle to a target position based on the peripheral information; a detection unit that detects an obstacle at a periphery of the vehicle moving through the movement route based on the peripheral information; and a movement control unit that moves the vehicle along the movement route; where the movement control unit temporarily interrupts the driving assistance and waits until the obstacle moves from a position that hinders the movement when the obstacle is detected at a position hindering the movement of the vehicle on the movement route and a length of the movement route shortened by the obstacle is longer than or equal to a predetermined distance.

A parking assistance device is configured to assist parking of a vehicle. The parking assistance device includes: a communication interface; a processor; and a memory. The memory stores instructions that, when executed by the processor, cause the parking assistance device to perform operations. The operations include: obtaining an image of a parking frame through the communication interface, the image being captured by the image capturing device provided in the vehicle; and determining, based on a number of one or more occupants in the vehicle, a correction value of a position of each of at least one end point of the parking frame detected from the image.

According to certain aspects, a computer-implemented method for operating an autonomous or semi-autonomous vehicle may be provided. With the customer's permission, an identity of a vehicle operator may be identified and a vehicle operator profile may be retrieved. Operating data regarding autonomous operation features operating the vehicle may be received from vehicle-mounted sensors. When a request to disable an autonomous feature is received, a risk level for the autonomous feature is determined and compared with a driver behavior setting for the autonomous feature stored in the vehicle operator profile. Based upon the risk level comparison, the autonomous vehicle retains control of vehicle or the autonomous feature is disengaged depending upon which is the safer driver—the autonomous vehicle or the vehicle human occupant. As a result, unsafe disengagement of self-driving functionality for autonomous vehicles may be alleviated. Insurance discounts may be provided for autonomous vehicles having this safety functionality.

A driving assistance device that provides assistance to a vehicle including a sensor, collecting peripheral information, includes a detection unit that detects an obstacle and a parking area at a vehicle periphery; a road width calculation unit that calculates an area between first and second boundary lines as a road width; a route calculation unit that calculates a movement route through the area and the parking area to a target position; and a movement control unit that moves the vehicle along the movement route; where when a second obstacle is detected on the inside of the first and second boundary lines and on the second boundary line side with respect to the vehicle, and the second obstacle is continuously detected when the vehicle reaches a predetermined timing, an area between a third boundary line extending in the predetermined direction and the first boundary line is detected as new road width.

Whether a vehicle is parked inside parking lines in a parking lot is detected. When the vehicle is detected not parked inside the parking lines, either the vehicle or the parking lines are moved in such a manner that the vehicle is parked inside the parking lines.

In a remote travel system, a vehicle control device of a host vehicle and a terminal control device of an operation terminal perform wireless communication with each other, and the vehicle control device performs remote travel control of making the host vehicle travel autonomously to a designated stall in response to operation of the operation terminal. The remote travel system is configured such that a stall registered in the remote travel system is allowed to be designated as the designated stall during execution of the remote travel control. The remote travel system is configured such that, even when there is a movable obstacle on a travel route of the host vehicle to a stall to be reached by the host vehicle during execution of the remote travel control, that stall is allowed to be designated as the designated stall when that stall is one registered in the remote travel system.

A parking assistance control device detects a parkable area, where a host vehicle can be parked, based on target information, causes the vehicle to move from the initial position, which is the vehicle's position when the parkable area is detected, to the parkable area by controlling a driving device, braking device, and steering device and, when the target information indicates that a stopper is installed in the parkable area, causes the vehicle to stop with its position and direction with respect to the stopper matching a predetermined position and direction. The parking assistance control device causes the vehicle to stop with the distance between the vehicle's predetermined first reference point and the stopper matching a first predetermined value so that the vehicle is forward-parked in the state where the front end of a part, provided on the vehicle's front side and lower than the stopper, is separated from the stopper.

A parking assistance device includes: a traveling assistance control unit that causes a vehicle to automatically travel to a designated parking area and park the vehicle; a detection unit that detects whether or not a passenger carrying a terminal device enabling traveling control of the vehicle has performed a getting on and off action at a driver's seat of the vehicle; and an authority determination unit that determines whether a traveling control authority of the vehicle is to be attributed to the traveling assistance control unit or the passenger based on a detection result of the detection unit.

The disclosure relates to a vehicle positioning method and system for a fixed parking scenario. The method includes: a marker detection step of detecting markers and identifying a pair of markers; a pose matching step of performing pose matching based on vehicle position information and the pair of markers; a non-pose matching step of performing non-pose matching based on the pair of markers, to obtain latest vehicle position information; and a position update step of updating current vehicle position information based on the latest vehicle position information obtained in the pose matching step or the non-pose matching step.