Abstract: A travel controller detects a non-lane zone within a predetermined distance ahead of a current position of a vehicle. The non-lane zone lacks lanes. The travel controller controls travel of the vehicle in the non-lane zone so as to keep the position of the vehicle relative to the width of a whole road. When an expected position of the vehicle at the end of the non-lane zone straddles a lane line, the travel controller controls travel of the vehicle so as to move to a lane having a larger overlap with the vehicle, prior to control of travel of the vehicle to keep the position of the vehicle relative to the width of the whole road.

Abstract: A route selection device includes a processor configured to identify a position of a lane on which a vehicle is traveling; search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination; determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching. The score is weighted depending on the position of the determined lane change location or whether a lane change at the lane change location can be controlled by a travel controller.

Abstract: A vehicle speed controller includes a processor configured to detect a current lane in which a vehicle is traveling, detect a start point at which a curved road section starts within a predetermined distance ahead of the vehicle, estimate the curvature of the current lane in the road section, determine whether the current lane is a fast lane or a slow lane, set a reference speed of the vehicle so that the reference speed decreases as the curvature of the current lane increases and that the reference speed is greater when the current lane is the fast lane than when the current lane is the slow lane, and control the speed of the vehicle so that the speed of the vehicle at the start point of the road section will not be greater than the reference speed.

Abstract: An apparatus for assigning priorities to traffic lanes detects a plurality of lanes reachable by a vehicle from a travel lane of the vehicle without straddling a lane line, and assigns a higher priority to at least one of the plurality of lanes than to the plurality of lanes except the at least one lane in the case that the plurality of lanes is included in the same road, that the at least one of the plurality of lanes adjoins a lane included in the road other than the plurality of lanes with a lane line in between, and that the plurality of lanes except the at least one lane does not adjoin any lane included in the road other than the plurality of lanes with a lane line in between.

Abstract: A travel controller detects a non-lane zone within a predetermined distance ahead of a current position of a vehicle. The non-lane zone lacks lanes. The travel controller controls travel of the vehicle in the non-lane zone so as to keep the position of the vehicle relative to the width of a whole road. When an expected position of the vehicle at the end of the non-lane zone straddles a lane line, the travel controller controls travel of the vehicle so as to move to a lane having a larger overlap with the vehicle, prior to control of travel of the vehicle to keep the position of the vehicle relative to the width of the whole road.

Abstract: A travel controller identifies a current lane on which a vehicle is traveling in a first lane zone traveled by the vehicle and including lanes, and detects a non-lane zone within a predetermined distance ahead of a current position of the vehicle. The non-lane zone lacks lanes and lies between the first lane zone and a second lane zone including fewer lanes than the first lane zone. Of the lanes included in the second lane zone, the travel controller identifies a lane having a start point whose distance from an end point of the current lane is the shortest, and preferentially selects, as a route in the non-lane zone, a route connecting the end point of the current lane and the start point of the lane identified in the second lane zone.

Abstract: A route selection device includes a processor configured to identify a position of a lane on which a vehicle is traveling; search for candidate partial routes leading from a current position of the vehicle to a waypoint on a route leading from a start point to a destination, the waypoint being located between the current position and the destination; determine a lane change location where a lane change will be made for each of the candidate partial routes found by searching; and select, as a partial route, a candidate partial route having a minimum total score regarding the lane change location from the candidate partial routes found by searching. The score is weighted depending on the position of the determined lane change location or whether a lane change at the lane change location can be controlled by a travel controller.