| CPC B60W 30/18163 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 60/001 (2020.02); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02)] | 7 Claims |
|
1. A vehicle control device comprising:
a processor that executes instructions to:
recognize, as a recognition result, a surroundings situation of a host vehicle on the basis of information obtained from at least one of a detection device and map information; and
generate a target trajectory for the host vehicle on the basis of the recognition result, and control one or both of speed and steering of the host vehicle so that the host vehicle travels along the generated target trajectory,
wherein the processor searches for, in a branch section in which a main lane and a plurality of branch lanes are connected, a number-of-lanes increase start position satisfying a predetermined condition in a direction towards a start point of the branch section from a maximum width position of the branch section, and
the processor generates the target trajectory passing through the number-of-lanes increase start position and traveling in the branch lane,
wherein the processor generates a target trajectory for traveling in the outermost branch lane among the plurality of branch lanes on the basis of an outermost demarcation line shape of the branch section, and
the predetermined condition is that a distance between the target trajectory and a demarcation line demarcating the main lane side and the branch lane side in the branch section is equal to or smaller than a predetermined value.
|