Control device for vehicle and control method of vehicle

1. A control device for a vehicle, the control device comprising

an electronic control unit configured to:

execute steering control for avoiding a collision of a host vehicle with an object that has a possibility of colliding with the host vehicle;

set an end timing of the steering control to occur when the host vehicle is predicted to completely pass the object, to allow the driver to perform steering control;

determine, at the end timing, whether or not a deviation possibility is present, the deviation possibility being a possibility of the host vehicle deviating from a current traveling lane at the end timing of the steering control; and

based upon the determination that the deviation possibility is present, perform reduction processing that reduces the deviation possibility, and

based upon the determination that the deviation possibility is not present, do not perform reduction processing, end the steering control by the control device, so that the driver performs steering control.

2. The control device according to claim 1 , wherein the reduction processing includes processing of postponing the end timing, processing of setting a control amount of steered wheels of the host vehicle during postponement of the end timing, and processing of setting a control amount for causing the host vehicle to travel along a trajectory that maintains a distance from a boundary line on a deviation side of the current traveling lane to the host vehicle to be equal to or larger than a predetermined distance.

3. The control device according to claim 2 , wherein:

the electronic control unit is configured to notify a driver of end notice of the steering control through an interface of the host vehicle during a period from a timing before the end timing by a predetermined time to the end timing; and

the reduction processing includes processing of notifying the driver of the end notice during a period from the timing before the predetermined time to a timing after the postponement of the end timing.

4. The control device according to claim 1 , wherein:

the electronic control unit is configured to notify a driver of end notice of the steering control through an interface of the host vehicle during a period from a timing before the end timing by a predetermined time to the end timing; and

the reduction processing includes processing of notifying the driver of the end notice during a period from a timing further earlier than the timing before the predetermined time to the end timing.

5. A control method of a vehicle including an electronic control unit, the method comprising:

executing, by the electronic control unit, steering control for avoiding a collision of a host vehicle with an object that has a possibility of colliding with the host vehicle;

setting, by the electronic control unit, an end timing of the steering control to occur; when the host vehicle is predicted to completely pass the object to allow the driver to perform steering control;

at the end timing, determining, by the electronic control unit, whether or not a deviation possibility is present, the deviation possibility being a possibility of the host vehicle deviating from a current traveling lane at the end timing of the steering control;

performing, by the electronic control unit, reduction processing that reduces the deviation possibility when the electronic control unit determines that the deviation possibility is present; and

not performing, by the electronic control unit, reduction processing that reduces deviation possibility when the electronic control unit determines that the deviation possibility is not present and ending steering control by the electronic control unit so that the driver performs steering control.