Control device for vehicle travelling

A control device for vehicle travelling that executes following control that controls a vehicle speed in accordance with a following distance from a preceding vehicle, wherein the following control includes

• LK following control that is executed so that a following distance from a preceding vehicle on a travel lane becomes an LK target following distance, under a situation of lane keep, and
• LC following control that is executed so that a following distance from a vehicle to be a preceding vehicle on a target lane becomes an LC target following distance, under a situation of autonomous lane change,
• in the LC following control, an upper limit of an acceleration or a jerk of the vehicle is set as a first limit that is greater than a second limit of the acceleration or the jerk of the vehicle under the LK following control, and
• change the upper limit of acceleration of the vehicle from the second limit to the first limit and acceleration under the LC following control is initiated while the vehicle is on the travel lane upon a start of the autonomous lane change being instructed on the travel lane,
• wherein the first limit is calculated based on a type of a lane change by the vehicle,
• wherein the type of the lane change includes at least one of merging into a main road, changing lanes in the main road, or branching from the main road, and
• wherein the upper limit of the acceleration or the jerk of the vehicle when the vehicle merges into the main road is greater than the upper limit of the acceleration or the jerk of the vehicle when the vehicle changes lanes in the main road.