US 12,472,950 B2
Control device for vehicle and control method for vehicle
Takuya Kume, Kariya (JP); and Kazuki Izumi, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on Aug. 29, 2023, as Appl. No. 18/457,832.
Application 18/457,832 is a continuation of application No. PCT/JP2022/005893, filed on Feb. 15, 2022.
Claims priority of application No. 2021-050374 (JP), filed on Mar. 24, 2021.
Prior Publication US 2023/0406316 A1, Dec. 21, 2023
Int. Cl. B60W 30/18 (2012.01); B60K 35/10 (2024.01); B60K 35/22 (2024.01); B60K 35/23 (2024.01); B60K 35/29 (2024.01); B60K 35/81 (2024.01); B60W 30/12 (2020.01); B60W 50/08 (2020.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G08G 1/16 (2006.01)
CPC B60W 30/18163 (2013.01) [B60K 35/10 (2024.01); B60K 35/22 (2024.01); B60K 35/23 (2024.01); B60K 35/81 (2024.01); B60W 30/12 (2013.01); B60W 50/087 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); G08G 1/16 (2013.01); B60K 35/29 (2024.01); B60K 2360/175 (2024.01); B60K 2360/1868 (2024.01); B60W 2050/146 (2013.01); B60W 2554/406 (2020.02); B60W 2554/801 (2020.02); B60Y 2300/12 (2013.01); B60Y 2300/18166 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A control device for a vehicle, the vehicle capable of performing automated driving including a lane keep control, which is to automatically perform lane keep of a vehicle, and an offset control, which is to automatically offset a travel position of the vehicle in a width direction of the vehicle by increasing a distance from an other vehicle, which travels side-by-side with the vehicle, the control device comprising:
a controller configured to automatically perform lane change; and
when the lane change is performed during the lane keep control and the offset control,
finish the offset control and move the vehicle to a center of a travel lane of the vehicle and
subsequently cause the performance of the lane change, wherein
the controller is configured to,
when the lane change is performed during the lane keep control and the offset control and
when the travel position of the vehicle has been offset by the offset control in a direction in which the lane change is to be performed,
cause the performance of the lane change from the travel position of the vehicle, which has been offset by the offset control, and
the controller is configured to,
when the lane change is performed during the lane keep control and the offset control and
when the travel position of the vehicle has been offset by the offset control in a direction that is opposite to a direction in which the lane change is to be performed,
finish the offset control and move the vehicle to the center of the travel lane of the vehicle and
subsequently cause the performance of the lane change.