Vehicle control device
A surroundings recognition unit recognizes the road environment and traffic participants around the host vehicle. A condition satisfaction determination unit determines whether or not first to fifth conditions are satisfied, on the basis of recognition results from the surroundings recognition unit. When causing the host vehicle to travel in a lane of a traveling road adjacent to the edge of the traveling road, a control unit changes travel control content and/or notification control content relating to automated driving, depending on whether or not the first to fifth conditions are satisfied.
1. A vehicle control device provided for a host vehicle that can travel by automated driving, comprising one or more processors that execute computer-executable instructions stored in a memory, wherein the one or more processors execute the computer-executable instructions to cause the vehicle control device to:
recognize a road environment and a traffic participant around the host vehicle;
control travel and/or control notification regarding the automated driving of the host vehicle; and
determine whether a predetermined condition is satisfied on a basis of a recognition result from an external environment recognition unit,
wherein the predetermined condition includes:
a width of a lane where the host vehicle travels is less than a first threshold; and
a width of a road shoulder of a road where the host vehicle travels is less than a second threshold, and
wherein if the host vehicle travels in a lane adjacent to an area outside a travel path, the one or more processors cause the vehicle control device to change a content of the control depending on whether the predetermined condition is satisfied,
if the width of the road shoulder of the road where the host vehicle travels is less than the second threshold and the width of the lane where the host vehicle travels is less than the first threshold, the one or more processors cause the vehicle control device to perform vehicle speed control and inter-vehicle distance control, and
if the width of the road shoulder of the road where the host vehicle travels is less than the second threshold and the width of the lane where the host vehicle travels is not less than the first threshold, the one or more processors cause the vehicle control device to perform travel position control for deviating from a center of the lane where the host vehicle travels by causing the host vehicle to move to a side opposite to a side of the road shoulder.
2. The vehicle control device according to claim 1 , wherein the control further includes:
a lane changing control for causing the host vehicle to change a lane to the side opposite to the side of the road shoulder;
warning control for warning a vehicle occupant; and
manual driving request control for prompting the vehicle occupant to drive manually.
3. The vehicle control device according to claim 1 , wherein the one or more processors cause the vehicle control device to set a criterion of the predetermined condition in accordance with at least one of a type of the traffic participant, a quantity of the traffic participant, and vehicle speed of the host vehicle.
4. The vehicle control device according to claim 2 , wherein if at least one of a vehicle speed control, a inter-vehicle distance control, a travel position control, and the lane changing control is performed, the one or more processors cause the vehicle control device to perform notification control to notify the vehicle occupant of a reason why the control is performed.