Control device for vehicle and control method for vehicle

A control device for a vehicle, the vehicle capable of performing automated driving including a lane keep control, which is to automatically perform lane keep of a vehicle, and an offset control, which is to automatically offset a travel position of the vehicle in a width direction of the vehicle by increasing a distance from an other vehicle, which travels side-by-side with the vehicle, the control device comprising:

• a controller configured to automatically perform lane change;
• and
• when the lane change is performed during the lane keep control and the offset control,
• cause the performance of the lane change from the travel position of the vehicle, which has been offset by the offset control, wherein
• the controller is configured to,
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction in which the lane change is to be performed,
• cause the performance of the lane change from the travel position of the vehicle, which has been offset by the offset control, and
• the controller is configured to,
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction that is opposite to a direction in which the lane change is to be performed,
• finish the offset control and move the vehicle to the center of the travel lane of the vehicle and
• subsequently cause the performance of the lane change.

A control method for a vehicle, the vehicle capable of performing automated driving including a lane keep control, which is to automatically perform lane keep of a vehicle, and an offset control, which is to automatically offset a travel position of the vehicle in a width direction of the vehicle by increasing a distance from an other vehicle, which travels side-by-side with the vehicle, the control method to be executed by at least one processor and comprising:

• automatically performing a lane change in a lane change control process;
• and
• finishing the offset control and moving the vehicle to a center of a travel lane of the vehicle, in response to the lane change control process caused to perform the lane change during the lane keep control and the offset control, and subsequently causing the lane change control process to perform the lane change, in an adjusting process, wherein
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction in which the lane change is to be performed,
• cause the performance of the lane change from the travel position of the vehicle, which has been offset by the offset control, and
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction that is opposite to a direction in which the lane change is to be performed,
• finish the offset control and move the vehicle to the center of the travel lane of the vehicle and
• subsequently cause the performance of the lane change.

A control method for a vehicle, the vehicle capable of performing automated driving including a lane keep control, which is to automatically perform lane keep of a vehicle, and an offset control, which is to automatically offset a travel position of the vehicle in a width direction of the vehicle by increasing a distance from an other vehicle, which travels side-by-side with the vehicle, the control method to be executed by at least one processor and comprising:

• automatically performing a lane change in a lane change control process;
• and
• causing the lane change control process to perform the lane change from the travel position of the vehicle, which has been offset by the offset control, in an adjusting process, in response to the lane change control process caused to perform the lane change during the lane keep control and the offset control, wherein
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction in which the lane change is to be performed,
• cause the performance of the lane change from the travel position of the vehicle, which has been offset by the offset control, and
• when the lane change is performed during the lane keep control and the offset control and
• when the travel position of the vehicle has been offset by the offset control in a direction that is opposite to a direction in which the lane change is to be performed,
• finish the offset control and move the vehicle to the center of the travel lane of the vehicle and
• subsequently cause the performance of the lane change.