Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

Abstract: A vehicle control device includes a processor. The processor is configured to: detect a mobile body located in a region that is not a host vehicle lane in which a host vehicle is traveling, out of regions that are adjacent to an adjacent lane that is adjacent to the host vehicle lane; detect entry operation of the mobile body to enter the adjacent lane; and when the processor detects the entry operation, perform steering control for the host vehicle such that a travel position of the host vehicle within the host vehicle lane in a width direction of the host vehicle lane is moved in a direction away from the adjacent lane before the entry operation is completed.

Abstract: An autonomous driving system according to the present disclosure is an autonomous driving system that causes a vehicle to autonomously travel along a path plan, and includes a memory and a processor. The processor is configured to execute a determination process of determining whether offset processing is necessary, the offset processing offsetting the path plan in a lane width direction with respect to a reference traveling position in a changed lane after a lane change when the lane change is performed in response to that a preceding vehicle is present, and a process of generating the path plan related to the lane change so as to connect to the path plan that is offset in the changed lane after the lane change when the offset processing is necessary.

Abstract: A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.