| CPC B60W 30/18163 (2013.01) [B60Q 1/34 (2013.01); B60W 30/12 (2013.01); B60W 30/182 (2013.01); B60W 40/04 (2013.01); B60W 50/10 (2013.01); B60W 50/12 (2013.01); B60W 50/14 (2013.01); B60W 2050/0083 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2540/20 (2013.01)] | 6 Claims |
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1. A control device for performing a travel control of a vehicle, the control device comprising:
a lane change intention detection unit configured to detect an intention of a driver to change a lane when a predetermined operation on an operation device by the driver is performed for a first predetermined time or more; and
a travel control unit configured to determine whether a lane change of the vehicle is possible based on a surrounding situation recognized by a recognition unit configured to recognize the surrounding situation of the vehicle, and to control the lane change of the vehicle based on a detection result of the lane change intention detection unit and a determination result of whether the lane change of the vehicle is possible,
wherein the travel control unit is configured to determine a start timing of a lateral movement in the lane change of the vehicle based on an end of the predetermined operation on the operation device by the driver received when the lane change of the vehicle is possible after the intention of the driver to change the lane is detected,
wherein the travel control unit is configured to perform a control to start notification by a turn signal when the intention of the driver to change the lane is detected, and to start the lateral movement after a second predetermined time elapses from start of the notification by the turn signal,
wherein the travel control unit is configured, after the intention of the driver to change the lane is detected, to perform the control to start the lateral movement after the second predetermined time elapses in a case of the predetermined operation being over, and to defer the lane change of the vehicle in a case of the predetermined operation being continued,
wherein the travel control unit is configured to perform the control to start the lateral movement before the predetermined operation ends in a case where the predetermined operation is continued for a third predetermined time or more from a detection of the intention of the driver to change the lane,
wherein the third predetermined time is longer than the second predetermined time, and
wherein the lane change intention detection unit and the travel control unit are each implemented via at least one processor.
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