Patent ID: 11891118
Assignee: HONDA MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. The vehicle control device according to claim 1, wherein
the lateral upper limit adjustment part acquires information indicating a gripping state of the operator by the occupant of the vehicle;
in response to the occupant not gripping the operator and the control part stopping the in-lane travel control, the lateral upper limit adjustment part causes the reduction speed of the lateral upper limit during a period before a timing at which the operator starts to be displaced regardless of the in-lane travel control to be greater than the reduction speed of the lateral upper limit during a period after the timing;
in response to the occupant gripping the operator and the control part stopping the in-lane travel control, the lateral upper limit adjustment part causes the reduction speed of the lateral upper limit during the period after the timing to be greater than that when the occupant is not gripping the operator and the control part stops the in-lane travel control.