US 12,214,823 B2
Vehicle control device, vehicle control method, and non-transitory storage medium
Kentaro Takahashi, Susono (JP); and Naoyuki Muramatsu, Susono (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Nov. 1, 2022, as Appl. No. 17/978,510.
Claims priority of application No. 2021-208800 (JP), filed on Dec. 22, 2021.
Prior Publication US 2023/0192190 A1, Jun. 22, 2023
Int. Cl. B62D 15/02 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC B62D 15/0255 (2013.01) 15 Claims
OG exemplary drawing
 
1. A vehicle control device comprising a processor configured to:
detect a mobile body located in a region that is not a host vehicle lane in which a host vehicle is traveling, out of regions that are adjacent to an adjacent lane that is adjacent to the host vehicle lane;
detect entry operation of the mobile body to enter the adjacent lane; and
when the processor detects the entry operation, perform steering control for the host vehicle such that a travel position of the host vehicle within the host vehicle lane in a width direction of the host vehicle lane is moved in a direction away from the adjacent lane before the entry operation is completed.