A position and attitude estimation apparatus includes sub-sensor input accepters, a speed sensor state determiner, a scale estimator, and a position and attitude information corrector. The sub-sensor input accepter accepts an output of a sub-sensor which acquires information regarding a movement amount based on information other than an output value of a speed sensor. The speed sensor state determiner determines whether the output value of the speed sensor is reliable. The scale estimator estimates a size of the movement amount based on at least one of the output value of the speed sensor and an output value of the sub-sensor. The position and attitude information corrector corrects position and attitude information based on the size of the movement amount estimated by the scale estimator.

The present disclosure relates to a vehicle and control method thereof, to a vehicle having a driver assistance system for assisting a driver. When a lane change is requested even though it does not meet the predetermined lane change condition, present disclosure provides a vehicle driver assistance system (ADAS) that can actively indicate a lane change intention to an adjacent vehicle through ‘deflected driving in a lane’ and perform lane change safely after confirming the yield/overtake intention of the adjacent vehicle. It is an aspect of the present disclosure to provide a control method of a vehicle, including: confirming whether the surrounding situation of the vehicle satisfies a lane change condition when a lane change command occurs while the vehicle is driving autonomously; performing deflected driving in the lane of the vehicle to indicate a lane change intention when the surrounding situation of the vehicle does not satisfy the lane change condition; and performing a lane change corresponding to the lane change command when the yield intention for the lane change intention is confirmed from another vehicle around the traveling lane after indicating the lane change intention through the deflected driving.

A control apparatus is provided, including: an other-vehicle emotion acquiring unit configured to acquire an other-vehicle emotion indicating an emotion of an occupant of a second vehicle different from a first vehicle; a determination unit configured to determine whether to perform notification to an occupant of the first vehicle based on the other-vehicle emotion; and a notification control unit configured to perform control to notify the occupant of the first vehicle of notification information based on the other-vehicle emotion when the determination unit determines to perform the notification.

A moving body control apparatus includes a travel control section that controls travel of a moving body based on vicinity information, and a lane change control section that performs a lane change of the moving body from a first lane to a second lane, if the lane change of the moving body from the first lane to the second lane is approved. The travel control section performs first acceleration/deceleration control to accelerate or decelerate the moving body according to a velocity of another moving body travelling in the second lane, if the lane change of the moving body from the first lane to the second lane is denied.

A driving limitation system includes the steps of: identifying a driver by a driver authentication means; extracting information on the identified driver; extracting data relating to vehicle speed limitation according to the driver; extracting data relating to limitation in a vehicle traveling area according to the driver; performing selection or generation of map data regarding a traveling area; generating, on the basis of the extracted data relating to the vehicle speed limitation, vehicle traveling area limitation and the driver, a traveling speed control command within the limitation in the vehicle traveling area in accordance with the physical ability and/or cognitive ability of the driver; transmitting the traveling speed control command to a vehicle speed control means; generating a control command for controlling the vehicle speed on the basis of the safety speed indicated by the vehicle speed control means; and sending the control command to an engine and to a braking system to set the traveling speed of the vehicle to be equal to or lower than the safety speed according to the driver.

A driving limitation system includes the steps of: identifying a driver by a driver authentication means; extracting information on the identified driver; extracting data relating to vehicle speed limitation according to the driver; extracting data relating to limitation in a vehicle traveling area according to the driver; performing selection or generation of map data regarding a traveling area; generating, on the basis of the extracted data relating to the vehicle speed limitation, vehicle traveling area limitation and the driver, a traveling speed control command within the limitation in the vehicle traveling area in accordance with the physical ability and/or cognitive ability of the driver; transmitting the traveling speed control command to a vehicle speed control means; generating a control command for controlling the vehicle speed on the basis of the safety speed indicated by the vehicle speed control means; and sending the control command to an engine and to a braking system to set the traveling speed of the vehicle to be equal to or lower than the safety speed according to the driver.

In a simulation apparatus for a cockpit system of a vehicle, a driving environment simulation unit performs simulation of a driving environment of the vehicle involving a driving behavior to acquire driving behavior data and generate a travel image as an image simulating scenery visible from the vehicle during travelling. A travel image display unit displays the travel image. A component display unit displays an image of a component generated based on the driving behavior data. A processing load calculation unit calculates a processing load of the simulation apparatus based on at least one of a time difference between acquisition of the driving behavior data and display of the image of the component corresponding to the driving behavior data and a time difference between acquisition of the driving behavior data and display of the travel image generated in response to the driving behavior data.

In a simulation apparatus for a cockpit system of a vehicle, a driving environment simulation unit performs simulation of a driving environment of the vehicle involving a driving behavior to acquire driving behavior data and generate a travel image as an image simulating scenery visible from the vehicle during travelling. A travel image display unit displays the travel image. A component display unit displays an image of a component generated based on the driving behavior data. A processing load calculation unit calculates a processing load of the simulation apparatus based on at least one of a time difference between acquisition of the driving behavior data and display of the image of the component corresponding to the driving behavior data and a time difference between acquisition of the driving behavior data and display of the travel image generated in response to the driving behavior data.

A computer-implemented method comprises: generating first output using a first sensor of a vehicle comprising an infrared camera or an event-based sensor, the first output indicating a portion of surroundings of the vehicle; providing the first output to a LiDAR of the vehicle having a field of view (FOV); configuring a resolution of the LiDAR based at least in part on the first output; generating a representation of at least part of the surroundings of the vehicle using the LiDAR; providing, to a perception component of the vehicle, second output of a second sensor of the vehicle and third output of the LiDAR, the perception component configured to perform object detection, sensor fusion, and object tracking regarding the second and third outputs, wherein the first output bypasses at least part of the perception component; and performing motion control of the vehicle using a fourth output of the perception component.

A computer-implemented method comprises: generating first output using a first sensor of a vehicle comprising an infrared camera or an event-based sensor, the first output indicating a portion of surroundings of the vehicle; providing the first output to a LiDAR of the vehicle having a field of view (FOV); configuring a resolution of the LiDAR based at least in part on the first output; generating a representation of at least part of the surroundings of the vehicle using the LiDAR; providing, to a perception component of the vehicle, second output of a second sensor of the vehicle and third output of the LiDAR, the perception component configured to perform object detection, sensor fusion, and object tracking regarding the second and third outputs, wherein the first output bypasses at least part of the perception component; and performing motion control of the vehicle using a fourth output of the perception component.