Abstract: If it is determined that, at a target exit of a roundabout that exists in a target route, a travel restricting event that restricts passing of a vehicle through the target exit has occurred on the basis of a peripheral travel environment detected by a peripheral environment detection unit, a route calculation device of the vehicle adds one circulation or a part of the circulation in the roundabout to the target route.

Abstract: A vehicle control device includes a restricted section setting unit configured to set a restricted section where manual driving is restricted on a scheduled travel route of a host vehicle, and a takeover process unit configured to perform a takeover process regarding handover of automated driving to the manual driving in accordance with a request from a driver of the host vehicle. In a case where the request for the handover is received in the set restricted section, the takeover process unit performs the takeover process that differs depending on at least one of the type of the restricted section, and a distance and a time it takes for the host vehicle to pass through the restricted section.

Abstract: A vehicle control device includes a space estimation unit that, in a case where it is recognized that a travel position of a host vehicle is inside a railroad crossing, which is a stop prohibited area, and it is recognized that a side road vehicle intends to enter in front of the host vehicle, on the assumption that the side road vehicle has entered in front of the host vehicle, estimates whether a space enough for the host vehicle is formed between the side road vehicle and the stop prohibited area, and a vehicle controller that, if it is estimated that the space is not formed, causes the host vehicle to perform entry prevention action to prevent the side road vehicle from entering in front of the host vehicle.

Abstract: A forward movement limit determination unit determines to execute a forward movement limit in the case it is recognized that there is an intersecting road or an entering vehicle, and further, it is recognized that an event that limits traveling of a host vehicle is occurring on a more forward side of the travel direction of the host vehicle than an intersecting position or an entry position. In the case it is determined that the forward movement limit is to be executed, a vehicle control unit performs the forward movement limit, on a more opposite direction side of the travel direction than the intersecting position or the entry position.