Vehicle configured to make lane change control, and server apparatus

A server apparatus configured to generate travel control information and allow a server communication device to transmit the travel control information to a vehicle traveling, the travel control information being available to the vehicle for a travel control, the server apparatus comprising:

• a server memory that holds map data including information regarding a travel lane of the vehicle and a branch lane coupled to the travel lane;
• a position obtainer device configured to acquire information regarding a current position of the vehicle;
• and
• a server travel control device configured to generate the travel control information available to the vehicle for the travel control, by using the information regarding the current position to be acquired by the position obtainer device and the map data in the memory, wherein
• the server travel control device is configured to,
• when generating the travel control information for a lane change control from the travel lane to the branch lane with respect to the vehicle traveling,
• acquire a gradient of increase in a lane width of the branch lane with respect to the travel lane, based on future position prediction of the vehicle, the future position prediction using the information regarding the current position of the vehicle traveling and the map data,
• set a lane change end point on the travel lane, by using the gradient of increase in the lane width of the branch lane, the lane change end point corresponding to a point at which the lane width of the branch lane reaches a secured lane width set for the vehicle,
• set a lane change starting point short of the lane change end point on the travel lane, and
• allow the server communication device to transmit, as the travel control information, information regarding the lane change starting point or information that allows the vehicle to carry out the lane change control from the travel lane to the branch lane with reference to the lane change starting point.

A vehicle configured to make a lane change control, the vehicle being configured to control travel involving the lane change control from a travel lane to a branch lane, with respect to the vehicle traveling, the vehicle comprising:

• a memory that holds map data including information regarding the travel lane and the branch lane;
• a position generator device including a GNSS receiver configured to generate information regarding a current position of the vehicle;
• and
• circuitry configured to control the travel of the vehicle by using the information regarding the current position in the position generator device and the map data in the memory, wherein
• the circuitry is configured to
• acquire a gradient of increase in a lane width of the branch lane with respect to the travel lane, based on future position prediction of the vehicle, the future position prediction using the information regarding the current position and the map data,
• set a lane change end point on the travel lane, by using the gradient of increase, the lane change end point corresponding to a point at which the lane width of the branch lane reaches a secured lane width set for the vehicle,
• set a lane change starting point short of the lane change end point on the travel lane, and
• carry out the lane change control from the travel lane to the branch lane with reference to the lane change starting point.