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

Claim 0:
1. A vehicle control device comprising:
an acquisition part, acquiring a positional relationship between a vehicle and a lane;
a control part, performing in-lane travel control that causes an actuator comprised in a steering device of the vehicle to output a force for causing the vehicle to travel in the lane within a range not exceeding a lateral upper limit based on the positional relationship; and
a lateral upper limit adjustment part, adjusting the lateral upper limit in a predetermined case, wherein the lateral upper limit adjustment part switches a change rate of the lateral upper limit in response to a change of state of an operator that accepts a steering operation performed by an occupant of the vehicle,
the lateral upper limit adjustment part reduces the lateral upper limit from a specified value toward zero in response to the control part stopping the in-lane travel control, and
in response to the control part stopping the in-lane travel control, the lateral upper limit adjustment part causes a 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.