Abstract: A vehicle control apparatus includes a microprocessor configured to perform: recognizing a surrounding situation of a subject vehicle; controlling a traveling actuator so that the subject vehicle travels along a target path generated based on a recognition result; and predicting, when an object is recognized in a current lane or in an adjacent lane, whether a passing run is occur based on a relative speed with the object. The generating includes, when the passing run is predicted to occur, generating the target path so that the subject vehicle executes an offset driving in which the subject vehicle is offset in a vehicle width direction relative to the object, and so that an acceleration of the subject vehicle in the vehicle width direction while shifting to or returning from the offset driving is equal to or less than a predetermined value.

Abstract: A traveling control apparatus includes a microprocessor configured to perform: determining whether a second other vehicle is located within a predetermined range from a subject vehicle when the subject vehicle and a first other vehicle are closer than a predetermined degree in a traveling direction, when the first other vehicle traveling in a first adjacent lane adjacent to a current lane, which has a same traveling direction as the current lane, and the second other vehicle traveling in a second adjacent lane adjacent to the current lane are recognized; and when it is determined in the determining that the second other vehicle is located within the predetermined range, controlling a actuator so that a distance in the traveling direction from the subject vehicle to the first other vehicle becomes not less than a predetermined distance.

Abstract: A driving control apparatus includes: an in-vehicle detector configured to detecting a situation around a vehicle; and a microprocessor and a memory coupled to the microprocessor. The microprocessor is configured to perform: recognizing an object in a predetermined area set in front of the vehicle base on the situation detected by the in-vehicle detector; calculating a reliability of a recognition result of the object in the recognizing; and controlling an actuator for traveling based the recognition result.

Abstract: A travel control apparatus includes a microprocessor configured to perform: recognizing a surrounding situation of a subject vehicle; generating a target path of the subject vehicle according to the surrounding situation; calculating a correction amount for correcting the target path in a direction away from a first other vehicle traveling in a first adjacent lane in the vehicle width direction, when the subject vehicle is predicted to pass a side of the first other vehicle or the first other vehicle is predicted to pass a side of the subject vehicle; when a second other vehicle traveling in a second adjacent lane is recognized, determining whether to correct the target path based on a traveling situation of the second other vehicle; and correcting the target path based on the correction amount when the target path is determined to be corrected in the determining.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration/deceleration and steering of the vehicle on the basis of the surrounding situation recognized by the recognizer, wherein the driving controller determines a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change when the driving controller causes the vehicle to make the lane change.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller determines a target speed of the host vehicle by reflecting a first target speed based on a relationship between a first vehicle that travels in front of the host vehicle in a first lane and the host vehicle and a second target speed based on a relationship between a second vehicle that travels in front of a target position to which the host vehicle makes a lane change in a second lane and the host vehicle in a prescribed ratio according to progress of the lane change when the lane change from the first lane to the second lane is made.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller holds a target position selected from one or more target position candidates from a start time point according to a type of lane change to a point in time at which a prescribed condition is satisfied when the driving controller causes the host vehicle to make the lane change.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller determines a target speed of the host vehicle by reflecting a first target speed based on a relationship between a first vehicle that travels in front of the host vehicle in a first lane and the host vehicle and a second target speed based on a relationship between a second vehicle that travels in front of a target position to which the host vehicle makes a lane change in a second lane and the host vehicle in a prescribed ratio according to progress of the lane change when the lane change from the first lane to the second lane is made.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of the surrounding situation recognized by the recognizer, wherein the driving controller evaluates one or more target position candidates on the basis of a plurality of evaluation values given to the one or more target position candidates when the driving controller causes the host vehicle to make a lane change and selects a target position from the one or more target position candidates on the basis of evaluation results, and wherein the driving controller changes an evaluation rule when the one or more target position candidates are evaluated on the basis of an environment in which the host vehicle is placed.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of the surrounding situation recognized by the recognizer, wherein, the driving controller sets one or more target position candidates when the driving controller causes the host vehicle to make a lane change, evaluates some or all of the one or more target position candidates by performing calculation according to a positional relationship and a speed relationship between each of the one or more target position candidates and the host vehicle, and determines a target position on the basis of evaluation results.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control acceleration/deceleration and steering of the vehicle on the basis of the surrounding situation recognized by the recognizer, wherein the driving controller determines a search range or a setting range of a target position candidate when a lane change is made in accordance with a type of lane change when the driving controller causes the vehicle to make the lane change.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a host vehicle and a driving controller configured to control acceleration/deceleration and steering of the host vehicle on the basis of a recognition result of the recognizer, wherein the driving controller holds a target position selected from one or more target position candidates from a start time point according to a type of lane change to a point in time at which a prescribed condition is satisfied when the driving controller causes the host vehicle to make the lane change.