J-QuAD DYNAMICS Inc.

A collision determination apparatus calculates an estimated first movement route of an own vehicle in a three-dimensional coordinate system. The three-dimensional coordinate system is defined to have a first axis representing distance in a width direction of the own vehicle, a second axis representing distance in a direction of travel of the own vehicle, and a third axis representing elapsed time from a current time. In response to determination that (i) the own vehicle is turning around a turning center point while following the detected object and (ii) the detected object is a preceding vehicle in front of the own vehicle, the collision determination apparatus calculates, as the estimated second movement route of the detected object, a turning trajectory of the detected object around the turning center point of the own vehicle in the three-dimensional coordinate system.

A driving assistance system, a driving assistance method, or a non-transitory computer-readable storage medium storing a driving assistance program for assisting driving of a host vehicle plans a lane change in the host vehicle traveling on a curved traveling road including a plurality of traveling lanes in parallel, and control the host vehicle to have a specific turning posture that keeps a different road user predicted to interact with the host vehicle within a sensing area behind the host vehicle before lane change.

A driving assistance system, a driving assistance method, a non-transitory computer-readable storage medium storing a driving assistance program for assisting driving of a host vehicle plans a behavior change that is a change in a driving behavior controlled in the host vehicle, and projects a notification image that provides notification of a transition state of the behavior change onto a traveling road to cause a different road user to recognize the notification image, the different road user being expected to interact with the host vehicle.

An acoustic sensor is configured to be attached to a cover member covering an outer circumferential portion of a tire of a vehicle and measure information related to sound vibrations. The acoustic sensor includes a sensor support, a facing surface, and a vibration detector. The sensor support is attached to a cover outer surface of the cover member. The cover member has a curved plate portion extending in a circumferential direction of the tire. The cover outer surface is one surface of the curved plate portion that faces away from the tire. The facing surface faces the cover outer surface to receive the sound vibrations of the cover outer surface when the sensor support is attached to the cover outer surface. The vibration detector is configured to detect the sound vibrations that are received by the facing surface.

A vehicle controller includes a water level estimating unit and an upper limit setting unit. The water level estimating unit is configured to estimate a water level on a road surface on which a vehicle is traveling based on audio data related to sound vibration measured at the vehicle. The upper limit setting unit is configured to set a maximum speed based on the water level estimated by the water level estimating unit, the maximum speed being an upper limit of a driving speed of the vehicle.

A motion control device includes a request value acquisition unit that obtains a motion amount request value, a limit value setting unit that sets first to third motion amount limit values, a first command unit that sends a first motion amount command value based on the motion amount request value and a first motion amount limit value to a front wheel steering controller, a second command unit that sends a second motion amount command value based on a first remaining request value and a second motion amount limit value to a rear wheel steering controller, and a third command unit that sends a command corresponding to a third motion amount command value based on a second remaining request value and a third motion amount limit value to a driving controller and a braking controller.

In a control apparatus, an acquisition unit receives, from a mobile object, a malfunction occurrence trigger indicative of an occurrence of at least one malfunction in driving assistance of the mobile object, and acquires, from the mobile object, in response to reception of the malfunction occurrence trigger, traveling-related information related to traveling of the mobile object. A control unit is configured to transmit, to an external device, malfunction information upon determination that a predetermined non-transmission requirement is not satisfied based on the traveling-related information, the malfunction information including positional information on the mobile object as malfunction positional information. The control unit is configured not to transmit, to the external device, the malfunction information upon determination that the predetermined non-transmission requirement is satisfied based on the traveling-related information.

A reverse control device starts reversing a combination vehicle by autonomous driving only when conditions for appropriately performing the autonomous driving are satisfied, and stably reverses the combination vehicle by the autonomous driving. The autonomous driving functions as a reverse control device and is installed in a towing vehicle of a combination vehicle in which a towed vehicle is connected to the towing vehicle, and controls the towing vehicle during autonomous reverse driving for reversing the combination vehicle by autonomous driving. The autonomous driving starts the autonomous reverse driving when towing reverse start conditions are satisfied, the towing reverse start conditions including that the speed of the towing vehicle is equal to or less than a predetermined value, and that steering torque of the towing vehicle is equal to or less than a predetermined value.

A control device is applied to a combination vehicle including a tractor and a trailer that is towed by the tractor. The control device is configured to perform a state quantity acquisition process, a predicted trajectory information calculation process, and a display process. The state quantity acquisition process is a process of acquiring a state quantity of the combination vehicle. The predicted trajectory information calculation process is a process of calculating predicted trajectory information of the trailer according to the state quantity. The display process is a process of displaying the predicted trajectory information by operating a display device.

A control device includes an image acquisition unit configured to acquire surrounding images that are images of surroundings of a host vehicle, a parking space candidate detection unit configured to detect, from the surrounding images, a parking space candidate that is an area likely to be a parking space, and a parking space determination unit configured to determine whether the parking space candidate is a parking space and a likelihood of the parking space candidate being a parking space, based on the surrounding images and predefined criteria. The criteria include at least one criterion with respect to a shape or position of the parking space candidate detected in the surrounding images, and at least one criterion with respect to an indicator or object present around the parking space candidate.