To provide a vehicle control device capable of improving a possibility for a lane change to be completed by automatic driving.SOLUTION: A vehicle control device automatically performs a lane change from a first lane on which a vehicle travels, to a second lane adjacent to the first lane. In this case, the vehicle control device recognizes a rear-side vehicle which exists in a range at a rear side of the vehicle, among peripheral vehicles traveling on the second lane. The vehicle control device acquires a remaining distance from a present position of the vehicle to a position where the lane change should be completed. The vehicle control device determines whether the lane change is possible on the basis of information such as the presence/absence of the rear-side vehicle and the remaining distance. In the case where the lane change is determined impossible and the remaining distance is shorter than a predetermined first determination distance, the vehicle control device controls steering of the vehicle in such a manner that the position of the vehicle in a vehicle width direction becomes closer to the side of the second lane than a case where the remaining distance is equal to or longer than the first determination distance.SELECTED DRAWING: Figure 2
【課題】自動運転によって車線変更を完了させる可能性を高め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、車両が走行する第一車線から当該第一車線に隣接する第二車線への車線変更を自動で行う。この際、車両制御装置は、第二車線を走行する周辺車両のうち、車両よりも後方の範囲に存在する後側方車両を認識する。また、車両制御装置は、車両の現在位置から車線変更を完了すべき位置までの残り距離を取得する。車両制御装置は、後側方車両の有無及び残り距離等の情報に基づいて、車線変更の可否を判定する。そして、車線変更が不可能と判定され、且つ、残り距離が所定の第一判定距離よりも小さい場合、車両制御装置は、残り距離が第一判定距離以上の場合よりも車両の車幅方向の位置を第二車線の側に接近させるように車両の操舵を制御する。【選択図】図2
VEHICLE CONTROL DEVICE
車両制御装置
2020-04-02
Patent
Electronic Resource
Japanese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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