| CPC B60W 60/0053 (2020.02) [B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02)] | 11 Claims |
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1. A vehicle controller comprising:
a processor configured to:
detect, when a first lane on which a host vehicle is traveling merges with a second lane, a relative position and a relative speed between the host vehicle and another vehicle traveling on the second lane,
execute merging control of the host vehicle to make the host vehicle enter the second lane,
execute, when the merging control is interrupted, stop control to stop the host vehicle in the first lane or continuation control to continue entry of the host vehicle into the second lane and to transfer driving control to a driver of the host vehicle,
determine whether at least one of the detected relative position and the detected relative speed satisfies an interruption condition during execution of the merging control,
interrupt the merging control and execute set control out of the stop control and the continuation control, when the interruption condition is satisfied,
change the set control to the continuation control, depending on continuation operation performed by the driver during execution of the stop control to continue entry of the host vehicle into the second lane, and
change the set control to the stop control, depending on stop operation performed by the driver during execution of the continuation control to stop the host vehicle.
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