Control device for automated driving of vehicle

A control device adapted to generate a predetermined target trajectory of a vehicle for automated driving of the vehicle, wherein the vehicle includes a first sensor and a second sensor adapted to detect an object around the vehicle, and a first detection area of the first sensor is different from a second detection area of the second sensor, the control device comprising:

• a processor configured to function as:
• a data receiving part, receiving sensor data from the first sensor;
• an occlusion detection part, detecting a presence of an occlusion around the vehicle based on the sensor data received;
• a target trajectory generating part, generating the predetermined target trajectory of the vehicle for automated driving of the vehicle, the predetermined target trajectory is set such that the vehicle is configured to enter a roadway from an outside of the roadway via a rear direction of the vehicle;
• wherein in a case when the occlusion detection part detects the presence of the occlusion, the predetermined target trajectory is generated such that, when the vehicle enters the roadway from the outside of the roadway via the rear direction of the vehicle, the rear direction of the vehicle relative to the roadway is set such that the occlusion is reduced,
• wherein in a case when a side of the vehicle at which the occlusion is detected and a side of the vehicle from which an oncoming traffic is approaching the vehicle are the same, the predetermined target trajectory sets the rear direction of the vehicle relative to the roadway to be rotated toward the oncoming traffic when the vehicle enters the roadway from the outside of the roadway via the rear direction of the vehicle, wherein the oncoming traffic is oncoming traffic approaching the vehicle from a lane of the roadway closest to the vehicle when the vehicle is located outside of the roadway.