Vehicle control device

Abstract

An object of the present invention is to provide a vehicle control device capable of ensuring safety without giving a sense of discomfort to a passenger, by appropriately decreasing a target vehicle speed when a vehicle deviates from a target trajectory in order to prompt the vehicle to return to the target trajectory, and quickly resuming the target vehicle speed to an original speed when the possibility of re-deviation is low. A vehicle control device of the present invention is a vehicle control device that performs control for causing a vehicle to travel along a target trajectory at a target vehicle speed, the vehicle control device including: determining whether or not a vehicle 501 is in a deviated state in which the vehicle deviates from a target trajectory 502; calculating, when the vehicle is determined to be in the deviated state, a suppression amount by which the target vehicle speed is decreased based on a deviation amount indicating the deviated state; holding a maximum value of the suppression amount and suppressing the target vehicle speed using a hold value that has been held; and decreasing the hold value of the suppression amount at a predetermined speed when the vehicle returns from the deviated state to the target trajectory and a preset release condition is satisfied.

Dependencies are inferred from the claim text.