Abstract: A vehicle control system includes a controller for generating a target path for the vehicle to change a lane from a main lane to a diverging lane in a diverging zone from a diverging start point to a diverging end point, and causing the vehicle to travel so as to follow the target path. Here, the diverging lane include a plurality of lanes divided into a first diverging lane farthest from the main lane and a second target diverging lane closer to the main lane than the first diverging lane. The controller is configured to generate the target path based on a diverging partition line that partitions the main lane and the diverging lane in the diverging zone when traveling from the main lane through the second diverging lane of the diverging lane toward a destination.

Abstract: An apparatus for setting a planned trajectory includes a processor configured to identify a travel lane on which a vehicle is traveling, detect, as a specific section, a section lacking at least one of left and right lane lines of the travel lane of the vehicle in a planned travel section, set at least one candidate of a planned trajectory to be traveled by the vehicle in the specific section, the at least one candidate including a candidate based on an existing one of the lane lines or a road edge, and set, of the set candidate, a candidate having a minimum variation in curvature or a minimum offset distance in a direction perpendicular to a travel direction of the vehicle at parts connected to the planned trajectory in sections ahead of and behind the specific section as the planned trajectory of the specific section.

Abstract: A vehicle control system includes a controller for generating a target path for the vehicle to change a lane from a main lane to a diverging lane in a diverging zone from a diverging start point to a diverging end point, and causing the vehicle to travel so as to follow the target path. Here, the diverging lane include a plurality of lanes divided into a first diverging lane farthest from the main lane and a second target diverging lane closer to the main lane than the first diverging lane. The controller is configured to generate the target path based on a diverging partition line that partitions the main lane and the diverging lane in the diverging zone when traveling from the main lane through the second diverging lane of the diverging lane toward a destination.