To execute more smooth lane change.SOLUTION: A vehicle control device comprises: a recognition unit that recognizes the vicinity of a vehicle; a setting unit that sets, on the basis of a reference position of a first class of a first vehicle existing in a lane of destination of lane change recognized by the recognition unit and on the basis of a reference position of a first class of a second vehicle behind the first vehicle, a target region between the first vehicle and the second vehicle; and a control unit that causes the vehicle to enter the target region set by the setting unit, on the basis of the reference position of the second class of the first vehicle and the reference position of the second class of the second vehicle.SELECTED DRAWING: Figure 1

    【課題】より滑らかな車線変更を実行すること。【解決手段】車両制御装置は、車両の周辺を認識する認識部と、前記認識部により認識された車線変更先の車線に存在する第1車両の第1種別の基準位置と、前記第1車両の後方の第2車両の前記第1種別の基準位置とに基づいて、前記第1車両と前記第2車両との間にターゲット領域を設定する設定部と、前記第1車両の第2種別の基準位置と、前記第2車両の前記第2種別の基準位置とに基づいて、前記設定部により設定された前記ターゲット領域に前記車両を進入させる制御部とを備える。【選択図】図1


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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 :

    2021-10-07


    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



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