Sony is still not revealing true numbers.
At the end of FY2014/15, Sony shipments were confirmed to be at 460m, with 370m being home console sales, 22.3m was PS4.
On August 9 2018, Sony confirmed 525.3m (+65.3m) Playstation sales. PS4 was at 81.2m. (+58.9m)
Now PS4 is at 96.8m, bringing Total Playstation sales to at least 540.9m. With those Sony sales in the graph added up we get 518m, leaving 22.9m for the Vita. And I must assure you the Vita did not sell close to that. I will also note that the PS1 sales for VGC are definitely wrong too.
The PSP number is as of March 31st 2012, so it's not up to date like all the other numbers that were provided. Previous maths from years ago that was based on other information have put the PSP at at least 82.0m, so there are only 17.3m unaccounted units that need to be split up between the Vita and PSP. There's no definitive answer to that question, but overall the numbers add up.