Vehicle control device and control method for vehicle
A vehicle control device includes an external sensor configured to acquire environmental information around a host vehicle, and an electronic control unit. The electronic control unit is configured to control the host vehicle so that the host vehicle travels along a target travel trajectory; detect an adjacent preceding vehicle that is traveling in a lane adjacent to a lane in which the host vehicle is traveling; acquire environmental information on a road side or a lane on an opposite side of the lane in which the adjacent traveling vehicle is traveling from the lane in which the host vehicle is traveling; and generate the target travel trajectory of the host vehicle so as to move away from the adjacent preceding vehicle in a width direction of the lane in which the host vehicle is traveling, within a lane width of the lane in which the host vehicle is traveling.
1. A vehicle control device comprising:
an external sensor configured to acquire environmental information around a host vehicle; and
an electronic control unit configured to:
control the host vehicle so that the host vehicle travels along a target travel trajectory;
detect an adjacent preceding vehicle that is traveling in a first adjacent lane which is a lane adjacent to a lane in which the host vehicle is traveling, based on detected information provided by the external sensor;
acquire environmental information on at least one of a road side and a second adjacent lane, which is another lane, different from the lane in which the host vehicle is traveling and the first adjacent lane, the second adjacent lane being disposed on an opposite side of the first adjacent lane than the lane in which the host vehicle is traveling in a width direction, and being further away from the host vehicle than the first adjacent lane; and
generate the target travel trajectory of the host vehicle so as to move the host vehicle away from the adjacent preceding vehicle in the width direction, within the lane in which the host vehicle is traveling, based on the environmental information on the at least one of the road side and the second adjacent lane,
wherein the environmental information includes information on whether there is another preceding vehicle in the second adjacent lane,
wherein the electronic control unit is further configured to determine whether the second adjacent lane has the another preceding vehicle therein,
wherein the electronic control unit is further configured to, upon a determination that the another preceding vehicle is in the second adjacent lane, generate the target travel trajectory of the host vehicle such that the target travel trajectory of the host vehicle is disposed a first distance away from the adjacent preceding vehicle in the width direction, and upon a determination that the second adjacent lane does not have the another preceding vehicle therein, generate the target travel trajectory of the host vehicle such that the target travel trajectory of the host vehicle is disposed a second distance away from the adjacent preceding vehicle in the width direction, the first distance being greater than the second distance.
2. The vehicle control device according to claim 1 , wherein:
the electronic control unit is configured to acquire a center trajectory along a center in the width direction of the lane in which the host vehicle is traveling; and
the electronic control unit is configured to generate the target travel trajectory of the host vehicle by correcting the center trajectory based on the environmental information.
3. The vehicle control device according to claim 1 , wherein:
the electronic control unit is configured to predict a lateral position of the adjacent preceding vehicle when the adjacent preceding vehicle passes the host vehicle based on the environmental information; and
the electronic control unit is configured to generate the target travel trajectory of the host vehicle based on the predicted lateral position of the adjacent preceding vehicle.
4. The vehicle control device according to claim 3 , wherein:
the electronic control unit is configured to determine a type of the environmental information; and
the electronic control unit is configured to predict the lateral position based on the type.
5. The vehicle control device according to claim 3 , wherein the electronic control unit is configured to: upon a determination that a width interval between the predicted lateral position of the adjacent preceding vehicle and the target travel trajectory is equal to or less than a predetermined value, determine that the target travel trajectory needs to be corrected; and correct the target travel trajectory in a direction away from the adjacent preceding vehicle in the width direction.
6. The vehicle control device according to claim 3 , wherein the electronic control unit is configured to correct the target travel trajectory so that an inflection point of the target travel trajectory is at a position closer to a current position of the host vehicle than a reference position, upon a determination that a width interval between the predicted lateral position of the adjacent preceding vehicle and the target travel trajectory is equal to or less than a predetermined value.
7. A control method for a vehicle including an external sensor and an electronic control unit, the control method comprising:
controlling, by the electronic control unit, a host vehicle so that the host vehicle travels along a target travel trajectory;
detecting, by the electronic control unit, an adjacent preceding vehicle that is traveling in a first adjacent lane which is a lane adjacent to a lane in which the host vehicle is traveling, based on detected information provided by the external sensor;
acquiring, by the electronic control unit, environmental information on at least one of a road side and a second adjacent lane, which is another lane, different from the lane in which the host vehicle is traveling and the first adjacent lane, the second adjacent lane being disposed on an opposite side of the first adjacent lane than the lane in which the host vehicle is traveling in a width direction, and being further away from the host vehicle than the first adjacent lane; and
generating, by the electronic control unit, the target travel trajectory of the host vehicle so as to move the host vehicle away from the adjacent preceding vehicle in the width direction, within the lane in which the host vehicle is traveling, based on the environmental information,
wherein the environmental information includes information on whether there is another preceding vehicle in the second adjacent lane, wherein the electronic control unit is further configured to determine whether the second adjacent lane has the another preceding vehicle therein,
wherein the electronic control unit is further configured to, upon a determination that the another preceding vehicle is in the second adjacent lane, generate the target travel trajectory of the host vehicle such that the target travel trajectory of the host vehicle is disposed a first distance away from the adjacent preceding vehicle in the width direction, and upon a determination that the second adjacent lane does not have the another preceding vehicle therein, generate the target travel trajectory of the host vehicle such that the target travel trajectory of the host vehicle is disposed a second distance away from the adjacent preceding vehicle in the width direction, the first distance being greater than the second distance.