Vehicle controller, vehicle, and vehicle control method

A vehicle control method in a vehicle controller, the vehicle controller including a processor recognizinq a surrounding state of a subject vehicle which travels in a lane on a road, specifying a specific area in the lane in which the subject vehicle travels, and providing control on the subject vehicle with respect to a vehicle traveling ahead thereof based on the recognized surrounding state, the vehicle control method comprising the steps of:

• operating the subject vehicle, in at least one of a first support status, and a second support status which has an automated degree higher than that of the first support status or has tasks required to be done by a vehicle occupant less than that the tasks required to be done by the vehicle occupant in the first support status;
• determining a condition of shifting from the first support status to the second support status such that there is at least a vehicle traveling ahead of the subject vehicle in a same lane in which the subject vehicle is traveling;
• and,
• when the subject vehicle enters the specific area,
• when the subject vehicle enters the specific area at the first support status, allowing the subject vehicle to keep a support status thereof at the first support status, and,
• when the subject vehicle enters the specific area at the second support status, shifting from the second support status to the first support status,
• wherein the specific area includes:
• a first lane which leads to the specific area in which the number of lanes is increased or decreased;
• and a second lane which is adjacent to the first lane,
• the vehicle control method further comprising the steps of:
• determining a shift position which is a position situated at a predetermined distance short of the specific area and at which the support status of the subject vehicle is shifted from the second support status to the first support status;
• and
• setting, when the subject vehicle is traveling in the first lane, the predetermined distance larger than that when the subject vehicle is traveling in the second lane.