Autonomous driving control device and computer readable medium

An autonomous driving control device configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the autonomous driving control device comprising:

• a departure determination unit configured to determine departure of surrounding vehicles traveling in front of and behind the subject vehicle in a subject vehicle lane in which the subject vehicle travels;
• and
• a control continuation unit configured to
• change a position of the subject vehicle in a left-right direction inside the subject vehicle lane between
• a position in a case where both surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are the same and
• a position in a case where both the surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are different from each other, and
• continue the autonomous travel control.

A non-transitory computer readable medium storing a computer program configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the computer program comprising instructions configured to, when executed by at least one processor, to cause the at least one processor to:

• recognize left and right lane markings of a subject vehicle lane in which the subject vehicle travels;
• determine departure of a surrounding vehicle traveling in the subject vehicle lane;
• determine whether continuation of the autonomous travel control based on information on the lane markings is possible, when the surrounding vehicle departs in a state where the subject vehicle travels with the autonomous travel control;
• continue the autonomous travel control based on the information on the lane markings, when continuation of the autonomous travel control based on the information on the lane markings is possible;
• control the subject vehicle to increase a space between the subject vehicle and the surrounding vehicle that departs, when continuation of the autonomous travel control based on the information on the lane markings is impossible;
• and
• redetermine whether continuation of the autonomous travel control based on information on the lane markings becomes possible by the control to increase the space between the subject vehicle and the surrounding vehicle that departs.

A non-transitory computer readable medium storing a computer program configured to allow a subject vehicle to travel with autonomous travel control in which a driver has no surroundings monitoring obligation, the computer program comprising instructions configured to, when executed by at least one processor, to cause the at least one processor to:

• determine departure of surrounding vehicles traveling in front of and behind the subject vehicle in a subject vehicle lane in which the subject vehicle travels;
• and
• change a position of the subject vehicle in a left-right direction inside the subject vehicle lane between
• a position in a case where both surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are the same, and
• a position in a case where both the surrounding vehicles traveling in front of and behind the subject vehicle depart and where departure directions of left and right of the surrounding vehicles are different from each other;
• and
• continue the autonomous travel control.