To actualize safer automatic driving by performing adaptive control nearby a confluence point.SOLUTION: There is provided a control device which controls a travel of an own vehicle, and comprises an acquisition part for acquiring peripheral information on the own vehicle and a control part for controlling lane change of the own vehicle based upon the peripheral information. The control part performs first lane change control to enable the own vehicle to be put back to a first travel lane if a degree of excess by which the own vehicle exceeds a sectioning line sectioning off the first travel lane and a second travel lane is equal to or less than a first threshold when the own vehicle traveling on the first travel lane changes the lane to the second travel lane adjoining the first travel lane, and performs second lane change control to enable the own vehicle to be put back to the first travel lane if the degree of excess is equal to or less than a second threshold larger than the first threshold when the own vehicle traveling on the first travel lane changes the lane to the second travel lane adjoining a confluence lane.SELECTED DRAWING: Figure 3

    【課題】合流地点付近において適応的な制御を行うことで、より安全な自動運転を実現する。【解決手段】自車両の走行を制御する制御装置であって、自車両の周辺情報を取得する取得部と、周辺情報に基づいて自車両の車線変更を制御する制御部とを備え、制御部は、第1の走行車線を走行している自車両が第1の走行車線に隣接する第2の走行車線へ車線変更する際、自車両が第1の走行車線と第2の走行車線とを区分する区分線を超える超過度が第1の閾値以下である場合に自車両を第1の走行車線に戻すことが可能な第1の車線変更制御を行い、第1の走行車線を走行している自車両が、合流車線と隣接する第2の走行車線へ車線変更する際、超過度が第1の閾値よりも大きい第2の閾値以下である場合に自車両を第1の走行車線に戻すことが可能な第2の車線変更制御を行う。【選択図】図3


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    Title :

    CONTROL DEVICE, VEHICLE, AND OPERATING METHOD AND PROGRAM FOR CONTROL DEVICE


    Additional title:

    制御装置、車両、制御装置の動作方法およびプログラム


    Contributors:

    Publication date :

    2020-10-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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