Vehicle control device and vehicle control method
To enable appropriate execution of a deceleration control, provided is a control device comprising a setting unit configured to set a first vehicle ahead of an own vehicle in an adjacent, as a target that has a sign of lane change, when a state of the first vehicle and a second vehicle ahead of the first vehicle satisfy a predetermined condition, a control unit configured to execute a deceleration control, when the setting unit set the first vehicle as the target, and an acquisition unit configured to acquire an information whether or not the first vehicle starts lane change. The control unit is configured to terminate the deceleration control when the acquisition unit acquires information that the first vehicle does not start lane change, while continues the deceleration control when the acquisition unit does not acquire information that the first vehicle does not start lane change.
1 . A vehicle control device comprising:
a processor, the processor configured to act as:
a tracking target vehicle setting unit configured to set a first preceding vehicle, which is traveling ahead of an own vehicle in an adjacent lane adjacent to an own lane in which the own vehicle is traveling, as a tracking target vehicle that has a sign of performing a lane change from the adjacent lane to the own lane, in response to determining that a traveling state of the first preceding vehicle and a traveling state of a second preceding vehicle traveling in the adjacent lane ahead of the first preceding vehicle satisfy a predetermined condition;
a deceleration control unit configured to execute a first deceleration control for decelerating the own vehicle at a predetermined first deceleration, in response to determining that the first preceding vehicle is set as the tracking target vehicle by the tracking target vehicle setting unit;
a lane change information acquisition unit configured to perform a vehicle-to-vehicle communication between the own vehicle and the first preceding vehicle during execution of the first deceleration control by the deceleration control unit, and configured to acquire a lane change information including information indicating whether the first preceding vehicle starts a lane change to the own lane through the vehicle-to-vehicle communication;
an approach information notification processing unit configured to execute, through the vehicle-to-vehicle communication, an approach information notification process for notifying an occupant of the first preceding vehicle of an approach information indicating that the own vehicle is approaching from the rear, in response to determining that the first preceding vehicle is set as the tracking target vehicle by the tracking target vehicle setting unit; and
a response information acquisition unit configured to acquire through the vehicle-to-vehicle communication, a response information indicating that the occupant of the first preceding vehicle has confirmed the approach information,
wherein the deceleration control unit is configured to terminate the first deceleration control upon determining that the lane change information indicating that the first preceding vehicle does not start a lane change to the own lane is acquired by the lane change information acquisition unit, and configured to continue the first deceleration control upon determining that the lane change information indicating that the first preceding vehicle does not start a lane change to the own lane is not acquired by the lane change information acquisition unit, and
wherein the deceleration control unit is configured to terminate the first deceleration control, in response to determining that the response information is acquired by the response information acquisition unit during execution of the first deceleration control.
2 . The vehicle control device according to claim 1 ,
wherein the deceleration control unit is configured to execute a second deceleration control for decelerating the own vehicle at a predetermined second deceleration greater than the first deceleration, upon determining that the lane change information indicating that the first preceding vehicle starts a lane change to the own lane is acquired by the lane change information acquisition unit.