To provide a vehicle control device capable of suppressing a possibility to give a psychologically uncomfortable feeling to a driver of a vehicle in curve traveling by an automatic operation.SOLUTION: A vehicle control device includes: a lane information acquisition section for acquiring lane information including curvature of a curve in front of a travel direction of a vehicle; an object vehicle information acquisition section for acquiring object vehicle information being the information of an object vehicle to be an object of overtaking, parallel-traveling, or passing; a trajectory generation section for generating a target trajectory to allow a vehicle to perform automatic traveling within a traveling possible area; and a travel control section for allowing a vehicle to perform automatic traveling along a target trajectory. When a vehicle approaches an object vehicle, the trajectory generation section performs target trajectory correction processing to off-set a target trajectory to be fixed by lane information in a separate direction from an object vehicle. When a vehicle approaches an object vehicle from an outer side of a curve, an off-set amount of a target trajectory is set according to curvature of the curve in target trajectory correction processing.SELECTED DRAWING: Figure 2

    【課題】自動運転によるカーブ走行において、車両のドライバに対して心理的な違和感を与える可能性を抑えることができる車両制御装置を提供する。【解決手段】車両制御装置は、車両の進行方向先のカーブの曲率を含む車線情報を取得する車線情報取得部と、追い抜き、並走又はすれ違いの対象となる対象車両の情報である対象車両情報を取得する対象車両情報取得部と、車両を走行可能領域内で自動走行させるための目標軌道を生成する軌道生成部と、目標軌道に沿って車両を自動走行させる走行制御部と、を備える。軌道生成部は、車両が対象車両に接近する場合、車線情報から定まる目標軌道を対象車両から離れる方向にオフセットする目標軌道修正処理を行うように構成される。そして、目標軌道修正処理では、カーブの外側から対象車両に接近する場合、カーブの曲率に応じて目標軌道のオフセット量を設定する。【選択図】図2


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    Title :

    VEHICLE CONTROL DEVICE


    Additional title:

    車両制御装置


    Contributors:

    Publication date :

    2020-04-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS




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