Vehicle control device
In a case where existence of a branch point in front of a vehicle is not recognized based on position information of the vehicle and map information, when a lane width variation is greater than or equal to a first threshold value larger than a second threshold value, a determination that the branch point exists is made by a determination unit of a vehicle control device. On the other hand, in a case where existence of the branch point is recognized based on the position information of the vehicle and the map information, when the lane width variation is greater than or equal to the second threshold value smaller than the first threshold value, a determination that the branch point exists is made by the determination unit.
1. A vehicle control device comprising:
a determination unit configured to recognize two lane lines which define a driving lane of a vehicle, based on a captured image of in front of the vehicle, and determine whether or not a branch point from the driving lane exists in front of the vehicle, based on a lane width variation which is the amount of change of a distance between the two lane lines; and
a lane keeping control unit configured to perform lane keeping control such that the vehicle travels along the driving lane, based on a result determined by the determination unit,
wherein the determination unit is configured to,
in a case where existence of the branch point in front of the vehicle is not recognized based on position information of the vehicle and map information, determine that the branch point exists, when the lane width variation is greater than or equal to a first threshold value, and,
in a case where existence of the branch point in front of the vehicle is recognized based on the position information of the vehicle and the map information, determine that the branch point exists, when the lane width variation is greater than or equal to a second threshold value smaller than the first threshold value.
2. The vehicle control device according to claim 1 , wherein the determination unit is configured to acquire a lane width reference value which is a reference value of the distance between the two lane lines, based on the position information of the vehicle and the map information, and calculate the lane width variation, based on the amount of change of the distance between the two lane lines recognized based on the captured image of in front of the vehicle with respect to the lane width reference value.