Abstract: A vehicle control apparatus includes a signal recognizing section that recognizes an output state of a traffic signal, a passage permission judging section that judges whether passage of a host vehicle through an intersection is allowed, and a driving control section that performs travel control of the host vehicle. The passage permission judging section changes a judgment standard for whether to allow passage of the host vehicle through the intersection in a transitional state, when the host vehicle is in the intersection and the output state of the traffic signal is the transitional state.

Abstract: An external environment recognition unit recognizes a peripheral state of a host vehicle. A control state setting unit sets a control state of automated driving. An action decision unit decides an action of the host vehicle on the basis of the peripheral state that is recognized by the external environment recognition unit and the control state that is set by the control state setting unit. If the external environment recognition unit recognizes a construction section in a road, the control state setting unit sets the control state in accordance with the construction section. A vehicle control unit performs travel control of the host vehicle on the basis of a decision result from the action decision unit.

Abstract: A vehicle control device that automatically performs travel control of a host vehicle includes: a construction area acquisition unit that acquires a construction area in an opposite lane ahead of the host vehicle; a target stop position setting unit that, if the construction area is present in the opposite lane ahead of the host vehicle, sets a target stop position where the host vehicle stops before the construction area, in accordance with at least one piece of information among an avoidance trajectory of an oncoming vehicle, the type of the oncoming vehicle, and the vehicle speed of the oncoming vehicle; and a travel control unit that controls acceleration and deceleration of the host vehicle so that the host vehicle stops at the set target stop position.

Abstract: When a host vehicle returns to a first travel path, an external environment recognition unit recognizes oncoming vehicle information including information of the presence or absence of an oncoming vehicle in an exit area, the position of the oncoming vehicle in the exit area, and behavior of the oncoming vehicle in the exit area. An action plan unit (or a passage action plan unit) sets a return start position and a return end position to cause the host vehicle to return to the first travel path, or a return travel trajectory to cause the host vehicle to return to the first travel path on the basis of the oncoming vehicle information.

Abstract: An external environment recognition unit recognizes a construction section ahead of a host vehicle and recognizes that one or more recognition objects express entry possible/impossible information as to whether the host vehicle can enter the construction section. If the external environment recognition unit recognizes a traffic control person who directs traffic in the construction section as the recognition object and recognizes the entry possible/impossible information that is expressed by the traffic control person, an action plan unit (or an entry determination unit) decides whether to cause the host vehicle to enter the construction section or to stop before the construction section by using preferentially the entry possible/impossible information that is expressed by the traffic control person.

Abstract: An action plan unit (or an avoidance action plan unit) determines whether a host vehicle needs to enter a second travel path in order to pass by an avoidance object (or a construction site) on the basis of a position of the avoidance object in a width direction and a position of a center line. If the host vehicle needs to enter the second travel path and the center line prohibits departure from a first travel path in compliance with traffic regulations, the action plan unit temporarily cancels the path departure suppression control of suppressing the departure from the first travel path among controls that comply with the traffic regulations.

Abstract: In the case of recognizing a traffic regulation which determines that the priority of a first lane is higher than the priority of a second lane, and in the case of determining a state in which another vehicle is in compliance with the traffic regulation, and then determining that the other vehicle is not complying with the traffic regulation, a vehicle control device carries out at least one of a travel control in which a travel position of a host vehicle is moved in a direction of a side opposite to the second lane, and a travel control in which acceleration is not performed.

Abstract: An action planning unit determines an amount of deceleration of a host vehicle corresponding to a traffic regulation on the basis of at least one item of information from among a situation of other vehicles traveling in a second travel path recognized by an external environment recognition unit, a number of the other vehicles traveling in the second travel path, a speed limit of the second travel path, and environmental information of the second travel path.

Abstract: An action planning unit predicts a first travel route, a first passage time, a second travel route, and a second passage time. In the case that an approach point exists at which a separation distance between the first travel route and the second travel route becomes less than or equal to a predetermined distance, then if the second passage time at the approach point occurs earlier than the first passage time, and a time difference therebetween lies within a predetermined time period, the action planning unit plans an action of the host vehicle in a manner so that the host vehicle does not hinder traveling of a hearse.

Abstract: When a host vehicle crosses a track of a streetcar, if an external environment recognition unit recognizes a stop line (or a section line) between the host vehicle and the track, a stop position setting unit sets the stop line as a target stop position. In addition, if the external environment recognition unit does not recognize the stop line between the host vehicle and the track, the stop position setting unit sets a predetermined position that is separated from the track toward the host vehicle as the target stop position.

Abstract: A vehicle control device is equipped with an external environment recognition unit, an action planning unit, and a vehicle control unit. The external environment recognition unit identifies a hearse that is traveling toward a host vehicle from among at least one other vehicle traveling in front of or behind the host vehicle, and in the case that the external environment recognition unit identifies the hearse, the action planning unit plans an action that keeps the host vehicle away from the hearse by causing the host vehicle to move in a direction of an edge of a travel lane or a host vehicle travel path.

Abstract: An external environment recognition unit identifies a hearse or a funeral attendant vehicle following the hearse, from among at least one other vehicle traveling in a same forward traveling direction as a host vehicle in front of or on a side of the host vehicle. In the case that the external environment recognition unit identifies the hearse or the funeral attendant vehicle, the action planning unit plans an action of positioning the host vehicle at a location more rearwardly than a vehicle at a trailing end (trailing end vehicle) from among the hearse and the funeral attendant vehicle.

Abstract: In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize lane types of a host vehicle lane and an adjacent lane, a control condition setting unit adapted to set first to third control conditions in order to make a lane change depending on the lane types that were recognized by the lane recognition unit, and a vehicle control unit adapted to carry out a lane change control with respect to a host vehicle on the basis of the first to third control conditions set by the control condition setting unit.

Abstract: If an external environment recognition unit recognizes another vehicle that is positioned along a travel lane, an offset setting unit sets an offset amount in a direction of separating a host vehicle from the other vehicle. The offset setting unit sets the offset amount (predetermined amount) to be smaller in a case where the external environment recognition unit identifies the other vehicle as a streetcar, than the offset amount (predetermined amount) in a case where the external environment recognition unit identifies the other vehicle as an vehicle other than the streetcar.

Abstract: In a vehicle control device and a vehicle control method, the vehicle control device comprises a lane recognition unit adapted to recognize a lane type of an adjacent lane adjacent to a host vehicle lane in which a host vehicle is traveling, a determination condition setting unit adapted to set a determination condition for permitting a lane change of the host vehicle from the host vehicle lane to the adjacent lane depending on the lane type of the adjacent lane that was recognized by the lane recognition unit, a lane change determining unit adapted to permit the lane change in the case that the determination condition is satisfied, and a vehicle control unit adapted to carry out a travel control or an assist control in relation to the lane change, in the case that the lane change determining unit has permitted the lane change.

Abstract: If an external environment recognition unit recognizes another vehicle traveling in a particular section ahead of an own vehicle toward the own vehicle, a prediction unit predicts a position where the other vehicle crosses a first travel path (crossing position PA to PD) on the basis of at least one piece of information regarding an entering position of the other vehicle to the particular section, a travel time of the other vehicle in the particular section, a travel distance of the other vehicle in the particular section, a travel state of the other vehicle, and a position of a ground object on a first travel path side.

Abstract: If an external environment recognition unit recognizes a particular section (yellow lane) where an own vehicle can travel between a first travel path and a second travel path, a vehicle controller causes the own vehicle to move from the first travel path to the particular section and enter a second road from the particular section after a travel along the first travel path in the particular section. On the other hand, if the external environment recognition unit does not recognize the particular section, the vehicle controller causes the own vehicle to enter the second road from the first travel path.

Abstract: If an external environment recognition unit recognizes a particular section adjacent to a first travel path, a trajectory generation unit generates a first travel trajectory that causes the own vehicle to enter the first travel path after a travel along the first travel path inside the particular section, and if the external environment recognition unit does not recognize the particular section, the trajectory generation unit generates a second travel trajectory that causes the own vehicle to directly enter the first travel path from outside the first travel path.