To execute more appropriate operation control.SOLUTION: A vehicle control device includes: a recognition part which recognizes a peripheral state of an own vehicle; and an operation control part which controls one or both of steering and a speed of the own vehicle on the basis of the peripheral state, which is recognized by the recognition part, or map information. The operation control part includes a lane change control part which changes a lane from an own vehicle travelling lane, in which the own vehicle travels, to an adjacent lane adjacent to the own vehicle travelling lane. The lane change control part includes first operation for changing a lane according to a request of an occupant of the own vehicle, and second operation for changing a lane on the basis of a recognition result by the recognition part. When the lane change is cancelled during execution of the first operation, travelling in the own vehicle traveling lane is continued, and the lane change, which is performed by the second operation within a first period including a distance or time from a first time point of cancelling the lane change, is inhibited.SELECTED DRAWING: Figure 2

    【課題】より適切な運転制御を実行すること。【解決手段】実施形態の車両制御装置は、自車両の周辺状況を認識する認識部と、前記認識部により認識された周辺状況または地図情報に基づいて、前記自車両の操舵または速度のうち一方または双方を制御する運転制御部と、を備え、前記運転制御部は、前記自車両が走行する自車走行車線から前記自車走行車線に隣接する隣接車線に車線変更させる車線変更制御部を備え、前記車線変更制御部は、前記自車両の乗員の要求によって車線変更させる第1動作と、前記認識部による認識結果に基づいて車線変更させる第2動作とを有し、前記第1動作の実行時に車線変更させることを中止した場合、前記自車走行車線の走行を継続させると共に、車線変更させることを中止した第1時点から距離または時間を含む第1期間内の前記第2動作による車線変更を禁止する。【選択図】図2


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    Title :

    VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM


    Additional title:

    車両制御装置、車両制御方法、およびプログラム


    Contributors:

    Publication date :

    2021-04-22


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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