This invention provides a vehicle control device for controlling a vehicle, which comprises a first detection unit that detects an out-of-lane region outside a lane in which the vehicle is traveling; a second detection unit that detects an obstacle; a notification unit that issues a notification to prompt a driver to perform a steering operation toward the out-of-lane region in a case where the first detection unit detects the out-of-lane region, the second detection unit detects the obstacle, and the vehicle and the obstacle have a predetermined relationship; and a determination unit that determines that steering control in the out-of-lane region is approved in a case where, after the notification unit starts to issue the notification, the vehicle enters the out-of-lane region in response to a steering operation by the driver.
VEHICLE CONTROL DEVICE, VEHICLE, METHOD OF CONTROLLING VEHICLE CONTROL DEVICE, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
2022-10-06
Patent
Elektronische Ressource
Englisch
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