| CPC B60W 60/001 (2020.02) [B60W 30/18163 (2013.01); B60W 2552/10 (2020.02)] | 7 Claims |
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1. A vehicle control device comprising:
a processor that executes instructions to:
recognize 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 a 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 recognizes a branch section in which a main lane and a plurality of branch lanes are connected on the basis of information obtained from at least one of the detection device and the map information, and searches for a number-of-lanes increase end position between a start position and an end position of the branch section recognized, and
the processor generates the target trajectory so that course change to a branch lane of the plurality of branch lanes is completed until the host vehicle reaches the number-of-lanes increase end position, and
wherein, when an edge position of the branch lane is a position at which a road width in the branch section is maximized, and a search start position at which a search for the number-of-lanes increase end position starts is between the start position of the branch section and the edge position of the branch lane, the processor searches for a number-of-lanes increase end position toward the edge position of the branch lane from the search start position, and sets a position at which a road width is within a predetermined error range with respect to the road width as the number-of-lanes increase end position.
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