| CPC B60W 30/18163 (2013.01) [B60W 40/08 (2013.01); B60W 50/08 (2013.01); B60W 60/001 (2020.02); G06V 20/588 (2022.01); B60W 2552/53 (2020.02)] | 14 Claims |
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1. A vehicle system comprising:
a storage medium configured to store computer-readable instructions; and
one or more processors connected to the storage medium,
wherein the one or more processors execute the computer-readable instructions to:
recognize a situation of surroundings of a host vehicle,
automatically control at least steering of the host vehicle on the basis of the recognized situation of the surroundings,
specify a position of the host vehicle in map information including information on lanes on the basis of the map information and a position of the host vehicle,
restrict causing the host vehicle to perform lane change from a first lane to a third lane on a road without depending on an operation of a driver when it is determined that the host vehicle is traveling in the first lane on the road and that only a second lane on the road disappears at a first distance ahead from the position of the host vehicle on the basis of a result of the specifying, the road including at least the first lane, the second lane and the third lane, the first lane being adjacent to and between the second lane and the third lane on the road, and
permit causing the host vehicle to perform lane change to the third lane without depending on an operation of the driver when the host vehicle reaches a second distance set between the first distance and a position at which only the second lane disappears.
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