Patent ID: 11932253
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. A vehicle control device comprising:
an actuator configured to control a speed of a host vehicle; and
a controller configured to:
detect a merging section in which a travel lane of the host vehicle merges with another lane on a planned travel route of the host vehicle;
determine, before starting merging assistance control for assisting the host vehicle to change lanes into the other lane in the merging section, whether or not to execute the merging assistance control;
when a determination is made that the merging assistance control is not to be executed in the merging section, determine whether or not a speed of the host vehicle is higher than the predetermined speed, the predetermined speed being set to be larger than 0 and lower than a speed limit of the travel lane of the host vehicle; and
when the determination is made that the merging assistance control is not to be executed in the merging section and the speed of the host vehicle is determined to be higher than the predetermined speed, control the actuator so that the host vehicle passes through a starting point of the merging section after decelerating the host vehicle down to the predetermined speed.