Abstract: A driving control with environmental condition estimating including surrounding recognition function for recognizing a vehicle's lane and neighboring lanes and other vehicles and a function for obtaining the vehicle's state, a path generating part for generating a path based on information from the environmental condition estimating, and a vehicle control for speed and steering control for causing the vehicle to follow the path. The environmental condition estimating obtains the vehicle's position near a toll plaza, having a vehicle ahead following function for targeting a vehicle ahead. The driving control alters override threshold values serving as a determination criterion of the operation intervention for stopping the vehicle ahead following function and a path following function to a value greater than during driving in a general section with lane markings when the vehicle's own position reaches a predetermined point before the toll plaza.

Abstract: A vehicle control device which controls acceleration/deceleration of a vehicle includes: a switch controller; a recognizer; an actual vehicle-to-vehicle distance calculator; and a target vehicle-to-vehicle distance calculator. Switching criteria for the switch controller's switching the control condition from the first control condition to the second control condition include a criterion that the absolute value of a difference between an actual vehicle-to-vehicle distance calculated by the actual vehicle-to-vehicle distance calculator and a target vehicle-to-vehicle distance calculated by the target vehicle-to-vehicle distance calculator is less than or equal to a predetermined threshold.

Abstract: A vehicle controller includes: a surrounding area recognition unit that detects a state surrounding a subject vehicle; a human detection unit that detects a specific target object in a specific area into which entry of the specific target object is restricted; an automated driving control part that provides control such that the subject vehicle follows a vehicle traveling ahead thereof, based on a result detected by the surrounding area recognition unit. The automated driving control part makes the subject vehicle operate at at least one of a first support status, and a second support status which has an automated degree higher than that of the first support status or has a task required to be done by a vehicle occupant of the subject vehicle less than that of the first support status.

Abstract: A vehicular vision system includes a side-viewing camera mounted within an exterior rearview mirror assembly attached at a side of a vehicle equipped with the vehicular vision system. The side-viewing camera has a field of view at least sideward of the side of the equipped vehicle at which the exterior rearview mirror assembly is attached. The side-viewing camera captures an image of a scene occurring exterior of the equipped vehicle. The captured image includes an image data set representative of the exterior scene. A control includes an image processor, and the image data set is provided to the control. The control processes a reduced image data set of the image data set provided to the control to detect edges present exterior of the equipped vehicle within an area of interest of the scene occurring exterior of the equipped vehicle that is within the field of view of the side-viewing camera.

Abstract: A method, autonomous vehicle and system for operating an autonomous vehicle. A sensor obtains data of an agent. A processor determines a measure of complexity of the environment in which the autonomous vehicle is operating from the sensor data, selects a control scheme for operating the autonomous vehicle based on the determined complexity, and operates the autonomous vehicle using the selected control scheme.

Abstract: A backward driving control method for a hybrid vehicle may include a condition determination operation of, when the driver performs a shifting to a reverse gear stage, determining whether the rotation speed of a motor in the forward direction exceeds a reference speed and whether the torque of the motor exceeds a reference torque, a first backward driving operation of, when the rotation speed of the motor exceeds the predetermined reference speed and when the torque of the motor exceeds the predetermined reference torque, implementing the reverse gear stage using a backward driving implementation device of the transmission, a zero-torque control operation of decreasing the torque of the motor to zero, a forward driving conversion operation of shifting the transmission to a forward gear stage, and a second backward driving operation of driving the motor in the reverse direction to implement the reverse gear stage.

Abstract: A vehicle includes a powerplant, a front axle having first and second wheels and a differential operably coupled to the powerplant. A power-takeoff unit (PTU) is connected to the differential. A rear axle has third and fourth wheels and a gearbox connected to the PTU without a center differential. The gearbox has a first clutch configured to selectively couple the third wheel to the PTU and a second clutch configured to selectively couple the fourth wheel to the PTU. A controller is programmed to determine, during a turn, which of the third and fourth wheels is an outer rear wheel, determine whether there is a positive or negative torque on the outer rear wheel, and disengage, or keep disengaged, the one of the first and second clutches that is associated with the outer rear wheel in response to a negative torque on the outer rear wheel.

Abstract: An autonomous vehicle automatically implements a lane change in dense traffic condition. A minimum distance gap between the vehicle and a vehicle in front of the present vehicle is calculated for an autonomous vehicle, along with a best trajectory for changing lanes into a left adjacent lane or changing lanes into a right adjacent lane. The left or right lane change is triggered by the driver or the global planner that navigates the vehicle. During the next cycle, pre-calculated information is utilized by a planning module to determine the final speed of the trajectory to complete the final planning trajectory for the lane change.

Abstract: Systems and methods for determining a planned trajectory of a host vehicle using line mirroring. A plurality of reported lines on a roadway surface are determined based on image data and analyzed to detect a highway exit. When a highway exit is not detected, a planned trajectory for the host vehicle is determined based on a lane defined between two of the reported lines. However, when a highway exit is detected based on an analysis of the reported lines, a planned trajectory of the host vehicle is determined based on a lane defined between one of the reported lines and a mirrored line. The shape of the mirrored line is determined based on the shape of another reported line detected along a first side the host vehicle and is positioned along the other side of the host vehicle opposite the first side.

Abstract: A vehicle control apparatus that controls a vehicle, comprising: an acquisition unit configured to acquire peripheral information of the vehicle; and a control unit configured to control traveling of the vehicle based on the peripheral information, wherein the control unit determines whether the vehicle is traveling on a main lane, if the vehicle is traveling on a main lane, executes control in which both first course change control and second course change control, in which an automation rate is lower than in the first course change control or a degree of involvement in vehicle operations required of a driver is increased, are executable, and if the vehicle is not traveling on the main lane, executes control in which the second course change control is executable but the first course change control is not executable.

Abstract: A vehicle control device includes: the driving controller is configured to accelerate the vehicle with first acceleration in a first situation when the vehicle travels from a first lane into a second lane, accelerate the vehicle with second acceleration which is higher than the first acceleration in a second situation, the first lane being a lane in which the vehicle travels, the second lane being a lane connected to the first lane, the first situation and the second situation being a situation in the second lane at a time point before acceleration for merging and for leading to traveling in the second lane is started, the second situation being a situation in which a prospect upstream from a merging place in the second lane is worse than the first situation.

Abstract: A vehicle control device includes a recognizer configured to recognize situations around a vehicle; a determiner configured to determine any of lanes included in a road on which the vehicle travels as a reference lane; and a driving controller configured to control at least one of a speed and steering of the vehicle according to the situations recognized by the recognizer and the reference lane determined by the determiner, wherein the determiner is configured to, when the vehicle moves from a first road to a second road different from the first road, among a plurality of lanes included in the first road, according to a relative position of a first reference lane determined at a time before the vehicle moves to the second road with respect to the plurality of lanes, determine a second reference lane on the second road.

Abstract: A vehicle control device includes a display configured to display information, an inputter to which a user's operation is input, a driving controller configured to control at least one of a speed and steering of a vehicle, a determiner configured to determine a lane in which the vehicle is present when a first operation that allows a lane change by the vehicle is input to the inputter as a reference lane, and a display controller that is configured to cause the display to display a first image depicting a road on which the vehicle is present and a second image depicting the reference lane which are superimposed.

Abstract: A vehicle control device includes a first inputter, a second inputter, a mode controller configured to, when the first inputter is operated by a user, determine a driving mode of a vehicle as a first mode, and when the second inputter is operated by the user in the first mode, switch the driving mode from the first mode to a second mode, and a driving controller configured to control at least one of a steering and speed of the vehicle, and the driving controller is configured to control a steering and speed of the vehicle and prohibit change of a path of the vehicle when the driving mode is the first mode, and control a steering and speed of the vehicle and change of the path of the vehicle is allowed when the driving mode is the second mode.

Abstract: A vehicle controller includes: a recognition unit that recognizes a surrounding state of a subject vehicle traveling in a road lane; an area specification unit that specifies a specific area in the lane in which the subject vehicle travels; and a driving control part that controls the subject vehicle with respect to a vehicle traveling ahead thereof, based on a result recognized b the recognition unit. The driving control part determines a condition of shifting from a first support status to a second support status such that there is a vehicle traveling ahead of the subject vehicle in the lane; and, if the subject vehicle enters the specific area at the first support status, the subject vehicle keeps the first support status, and if the subject vehicle enters the specific area at the second support status, shifts the support status from the second to the first support status.

Abstract: A first specifying unit specifies a first possible space, for which a lane change of a vehicle is possible, from an inter-vehicle distance between a first preceding other vehicle and the vehicle, a speed of the first preceding other vehicle, and a speed of the vehicle. A second specifying unit specifies a second possible space, for which the lane change of the vehicle is possible, from an inter-vehicle distance between a second preceding other vehicle and a following other vehicle, a speed of the second preceding other vehicle, and a speed of the following other vehicle. A judgment unit judges, based on the first possible space and the second possible space, whether the lane change of the vehicle is possible.

Abstract: An estimation unit, if an acquisition unit acquires, as information outside a vehicle, information of a following other vehicle that is a vehicle traveling on a lane different from a traveling lane of the vehicle and is traveling behind the vehicle and information of a preceding other vehicle that is traveling ahead the vehicle and the following other vehicle, estimates, based on a behavior of the following other vehicle to the preceding other vehicle and a behavior of the following other vehicle to the vehicle, whether the behavior of the following other vehicle allows a lane change of the vehicle to enter between the preceding other vehicle and the following other vehicle.

Abstract: A first possible space, for which a lane change of the vehicle is possible, is specified from an inter-vehicle distance between the preceding other vehicle and the nearby vehicle, a speed of the preceding other vehicle, and a speed of the nearby vehicle. A second possible space, for which the lane change of the vehicle is possible, is specified from an inter-vehicle distance between the nearby vehicle and the following other vehicle, the speed of the nearby vehicle, and a speed of the following other vehicle. The control unit controls the traveling of the vehicle to make the lane change to the adjacent lane based on a result of the evaluation of the first possible space and the second possible space.

Abstract: A driving control apparatus for a vehicle having a function for generating a target path to a predetermined range as a target and performing automated lane change to a neighboring lane when no other vehicle is recognized in the predetermined range of the neighboring lane by a surrounding recognition function and a merging support function for generating a target path using other vehicle information obtained by a communication function, performing acceleration/deceleration control and steering control, and automatically merging to a merged lane, wherein the driving control apparatus has a function for altering override threshold values serving as a determination criterion of operation intervention for stopping the acceleration/deceleration control and the steering control to a value greater than during normal operation of the communication function when failure occurs in the communication function during the automated merging.

Abstract: A shift control method of a vehicle with a dual clutch transmission (DCT) may include: a first preparing step of, by a controller, controlling a torque of an N-th stage clutch to a predetermined minimum torque and increasing a torque of an N?1-th stage clutch to a predetermined standby torque; a first handover step of releasing the torque of the N-th stage clutch and increasing the torque of the N?1-th stage clutch; a gear changing step of releasing an N-th stage gear and then initiating an engagement of an N?2-th stage gear; a synchronization maintaining step of maintaining a synchronized state by adjusting the torque of the N?1-th stage clutch; a second preparing step of increasing the torque of the N?2-th stage clutch to the standby torque; and a second handover step of releasing the torque of the N?1-th clutch and increasing the torque of the N?2-th stage clutch.

Abstract: A clutch control method for a hybrid vehicle with a DCT of the present invention is provided. The method includes checking whether a current shift range is a D-range and determining a gradient of a current driving road and driver's vehicle stop requirement. In response to determining that the current shift range is the D-range, the gradient of the road is not a gradient that requires uphill driving, and there is driver's vehicle stop requirement, a controller reduces an operation current supplied to a clutch actuator of a clutch for transmitting power to a first gear to a regulation current. The regulation current is set based on an operation of the vehicle by the driver when the vehicle is restarted after the current reduction.

Abstract: A road surface determination apparatus includes an acceleration detector and a road surface determination unit. The acceleration detector is configured to detect an acceleration of a vehicle body or a vibration transmission member configured to transmit vibration from a tire to the vehicle body. The road surface determination unit is configured to determine a condition of a surface of a road, using a determination value obtained by extracting a component of a predetermined frequency band from the acceleration detected by the acceleration detector and integrating the component.

Abstract: A vehicle control device includes an information acquisition unit that acquires road surface condition information indicative of a road surface condition determined on the basis of sound data obtained by performing sound source separation with respect to a sound acquired by a microphone array, a storage unit in which there is stored control content in accordance with the road surface condition, and a control unit which controls a drive unit provided on a vehicle, on the basis of the control content in accordance with the road surface condition indicated by the road surface condition information.

Abstract: A vehicle control device includes an information acquisition unit that acquires road surface condition information indicative of a road surface condition determined on the basis of a sound acquired by a microphone and a road surface image acquired by capturing an image of a road surface, a storage unit in which there is stored control content in accordance with the road surface condition, and a control unit which controls a drive unit provided on a vehicle, on the basis of the control content in accordance with the road surface condition indicated by the road surface condition information.

Abstract: A method for determining a friction coefficient for a contact between a tire of a vehicle and a roadway. The method includes processing sensor signals in order to generate processed sensor signals. The sensor signals represent state data that are read in at least by at least one detection device and that are correlatable with the friction coefficient. The processed sensor signals represent at least one preliminary friction coefficient. The method also includes ascertaining the friction coefficient using the processed sensor signals and a regression model.

Abstract: A road surface condition estimation device includes a control circuit, an acquisition circuit and an estimation circuit. The control circuit is configured to control a driving device that is able to independently drive a plurality of wheels. The acquisition circuit is configured to acquire detection results of a plurality of wheel speed sensors that detects rotation speeds of the plurality of wheels respectively. The estimation circuit is configured to calculate a slip ratio for each driving wheel, based on a detection result of a first wheel speed sensor and a detection result of a second wheel sensor. The estimation circuit is configured to estimate a friction coefficient for each region on a road surface that corresponds to the driving wheel, based on the slip ratio.

Abstract: In a vehicle control device of an embodiment, a recognizer that recognizes the presence or absence and type of article carried by a user who uses a vehicle and an instrument controller that controls a vehicle-mounted instrument are included, and the instrument controller determines a mode of control of the vehicle-mounted instrument on the basis of a recognition result of the recognizer.

Abstract: The present invention relates to a vehicle, which comprises a vehicle component for performing a vehicle function, at least one camera and a controller, the vehicle component being drivable with the aid of the controller, depending on the evaluation of the visual detection of a body part of a user with the aid of the camera, for the purpose of performing the vehicle function. To implement a vehicle function to be enabled with the aid of a camera for visually detecting a body part of a user of a vehicle with little complexity, it is proposed that the camera and the controller are designed and configured to carry out a further vehicle function, and the camera is drivable with the aid of the controller, depending on a triggering signal present at the controller for performing the visual detection of the body part of the user.

Abstract: The efficiency of commercial vehicle operations can be facilitated by using a blockchain. The blockchain can be used to track commercial operators and provide a logistical network for swapping operators. An operator identity for an initial operator of a vehicle and a route limitation indicating operator restrictions with respect to a route can be recorded in a blockchain database. Using a vehicle operation history retrieved from the blockchain database for the initial operator, a time frame for operation of the vehicle by the initial operator can be determined based on the route limitation and the vehicle operation history. An operator swap event at a swap location can be coordinated so that control of the vehicle can be transferred from the initial operator to a subsequent operator based on the time frame. The operator swap event and a subsequent operator identity can be recorded in the blockchain database.

Abstract: A vehicle control apparatus includes an interaction determination unit, an occupant emotion acquisition unit, and a vehicle controller. The interaction determination unit is configured to determine a second vehicle that interacts with a first vehicle during automated driving. The occupant emotion acquisition unit is configured to acquire an emotion of an occupant of the first vehicle. The vehicle controller is configured to perform vehicle control of the first vehicle, on the basis of the emotion of the occupant of the first vehicle and an emotion of an occupant of the second vehicle that has been determined to interact with the first vehicle by the interaction determination unit.

Abstract: A vehicle control device causing a vehicle to travel along a target route includes: a first calculation unit calculating a yaw angle control amount that reduces a yaw angle deviation between an actual yaw angle of the vehicle and a target yaw angle corresponding to the target route; a second calculation unit calculating a lateral control amount that reduces a lateral deviation of the vehicle with respect to the target route; and a setting unit setting a first gain of the yaw angle control amount and a second gain of the lateral control amount. The setting unit reduces the first gain and increases the second gain at a current position of the vehicle as a current curvature is larger. The current curvature is a curvature of the target route corresponding to the current position or a curvature of the target route ahead of the current position.

Abstract: A system includes a first sensor configured to detect a rotational position of a first wheel. The system includes a second sensor configured to detect a rotational position of a second wheel. The system includes a third sensor configured to detect a rotational speed of a driveline operatively coupled to the first wheel and the second wheel. The system includes a computer in communication with the first sensor, the second sensor, and the third sensor. The computer is programmed to detect a fault associated with the first wheel or the second wheel based on a correlation between an oscillation in the rotational speeds of the driveline and the rotational positions of the first wheel or the rotational positions of the second wheel.

Abstract: A data acquisition and recording system (DARS) for mobile assets that includes a data recorder and an automated signal monitoring and alerting system. The data recorder includes a data encoder, an onboard data manager, a vehicle event detector, at least one local memory component, and a queueing repository. DARS processes data from at least one input sensor and stores a compressed record of the data at least once per second in the local memory module. DARS is designed to run in near real-time mode, storing a full record comprising five minutes of data to a remote memory module every five minutes, and in real-time mode, streaming data to the remote memory module by uploading a record of data at least once per second and up to once every tenth of a second.

Abstract: A driving assistance device includes: a risk degree obtaining portion obtaining a degree of a risk of an event threatening a safety of a driver when an occurrence of the event is predicted; a risk handling control portion controlling an execution of a risk handling measure by a risk handling unit against the event that is predicted; a risk factor obtaining portion obtaining a factor which causes the risk as a risk factor; and a presentation control portion controlling a presentation of information about the risk factor. The presentation control portion presents information indicating a presence of the risk factor when the risk handling control portion controls the risk handling unit not to execute the risk handling measure and the degree of the risk is equal to or higher than a predetermined value.

Abstract: A driver assistance system includes a processor and a memory. The memory stores instructions that when executed by the processor cause the processor to receive global positioning system (GPS) data from a GPS receiver, and receive image data from at least one camera. The image data includes images of an environment external to the vehicle. The instructions further cause the processor to receive sensor data from a plurality of sensors, determine a visual alert to display to a driver of the vehicle based at least in part on one or more of the GPS data, the image data, and the sensor data, determine a display position for the visual alert; and output the visual alert and the display position to a driver-wearable see-through augmented reality device.

Abstract: Vehicle driving assistance systems, methods, and programs display an alert image superimposed on a real view on a display. The alert image is an image having a region indicating a call for attention based on a course of a dynamic obstacle, the dynamic obstacle being one or a plurality of moving obstacles. The region indicating the call for attention varies depending on a likelihood of the course of the dynamic obstacle changing due to presence of another obstacle.

Abstract: A control apparatus for a vehicle includes tire-force sensors, a tire-force estimator, and a notification unit. The tire-force sensors are provided on respective wheels of the vehicle. The tire-force estimator is configured to estimate tire forces of the respective wheels on the basis of sensor signals outputted from the respective tire-force sensors. The notification unit is configured to inform, on the basis of the estimated tire forces, a driver of the vehicle about a position of any of the wheels determined to be in a limit state.

Abstract: Disclosed is an encounter warning method, comprising: determining an approach direction and a threat level of an approaching target with respect to a host vehicle; and activating a plurality of indicators sequentially in the approach direction based on the threat level so as to indicate, to a driver, the approach direction. The method prompts a driver of an approach direction of a distant target in a manner of motion display (e.g., a flashing light strip or a moving marker), and displays the approach direction dynamically and differentially based on an emergency level of the distant target.

Abstract: An agent device includes a display controller configured to cause a first display to display an agent image when an agent providing a service including causing an output device to output response of voice in response to an utterance of an user is activated, and a controller configured to execute particular control for causing a second display to display the agent image according to loudness of a voice received by an external terminal receiving a vocal input.

Abstract: A vehicle such as a hybrid electric vehicle (HEV) and method of operation, which include controller(s) coupled to a communication unit, configured to respond to a trip signal, and in response, to generate a driver notification to adjust vehicle performance parameters, such as acceleration, speed, braking, and others. The driver notification is generated to reduce fuel and/or battery consumption, and according to a recommendation signal that is received from and generated by a remote fleet server, and in response to instantaneous vehicle operating conditions that are communicated in real-time from the vehicle to the remote server. The recommendation signal includes a fuel and/or a battery consumption estimate, among other data. The vehicle controller is also responsive to detecting the one or more adjusted vehicle performance parameters, and to generate and store one or more estimate errors, which are respective differences between the estimates and actual fuel and battery consumption.

Abstract: A method, a system, and computer readable medium for oncoming vehicle warning are provided. The method includes determining whether a vehicle is on an unpaved road; determining whether an oncoming vehicle is in a path of the vehicle based on communication data acquired from a communication system of the vehicle when the vehicle is on the unpaved road; and outputting an alert when the oncoming vehicle is in the path of the vehicle and the oncoming vehicle is out of a line-of-sight of the vehicle.

Abstract: A vehicle control method for controlling a vehicle using a vehicle control apparatus includes: a sensor configured to detect a state outside a subject vehicle; and a control device. The vehicle control method includes: executing control of recovering a travel trajectory of the subject vehicle to a target trajectory, as ordinary control, by giving a steering amount in a lateral direction with respect to a travel lane of the subject vehicle; using detection data of the sensor to determine whether or not another vehicle is traveling in an adjacent lane to the travel lane of the subject vehicle; and when determining that the other vehicle is traveling in the adjacent lane ahead of the subject vehicle, increasing a response of the steering amount to a higher response than that in the ordinary control, before the subject vehicle passes the other vehicle.

Abstract: A data collecting system includes a server and a data processing apparatus. The server holds at least one piece of request data including at least a content of a request for collection of traveling state data on a vehicle and a requisite condition for the collection of the traveling state data. The server sends request data of interest to the data processing apparatus. The data processing apparatus acquires the traveling state data on the vehicle on the basis of the request data of interest received from the server, and sends the acquired traveling state data to the server.

Abstract: A vehicle has first and second wheels arranged in a longitudinal direction. In vehicle travel control, a control device calculates a control amount based on a parameter detected by a sensor and controls vehicle travel in accordance with the control amount. Modes of the vehicle travel control include first and second modes. In the first mode, a forward direction is from the second wheel toward the first wheel. In the second mode, the forward direction is from the first wheel toward the second wheel. The control device holds definition information that defines at least one of the detected parameter and the control amount. In the first mode, the control device executes the vehicle travel control in accordance with first definition information for the first mode. In the second mode, the control device executes the vehicle travel control in accordance with second definition information for the second mode.

Abstract: A vehicle control system includes: a terminal configured to be carried by a user; and a control device configured to execute remote autonomous moving processing to move a vehicle from an initial position to a stop position. The terminal includes: a touch panel configured to display an acceptance area that accepts a prescribed repetitive operation performed for continuing traveling of the vehicle and to display a suspension icon that accepts an operation performed for stopping the vehicle; and a processing unit configured to make the touch panel display the suspension icon at a part where the repetitive operation has been performed when the repetitive operation is stopped. When the control device or the processing unit determines that the suspension icon is operated or that the repetitive operation is not resumed within a prescribed period after the repetitive operation has been stopped, the control device stops the vehicle.

Abstract: A method for determining a road boundary representation for a vehicle positioned on a road is disclosed. The method comprises receiving sensor data comprising information about a surrounding environment of the vehicle, forming a reference representation model for each of a plurality of road references based on the received sensor data, wherein each reference representation model is indicative of a road reference geometry and comprises at least one reference component, each reference component being associated with a component class, assigning a weight to each reference component, forming a master reference model indicative of the road boundary representation, the master reference model comprising a corresponding master component for each component class, updating the master reference model by updating each master component based on the reference components and the assigned weights within a common component class.

Abstract: A vehicle control apparatus for controlling a vehicle, comprising, a setting unit that accepts setting of a destination; an acquisition unit that acquires peripheral information of the vehicle; and a control unit that controls traveling of the vehicle based on the peripheral information, wherein the control unit executes, if the destination has been set, first control in which first assist for a course change is performed in accordance with a case in which the vehicle has entered a course change area from a first road existing on a traveling route to the destination to a second road connected to the first road, and executes, if the destination has not been set, second control in which second assist with an assist level lower than in the first assist is performed on a road existing on a current traveling route.

Abstract: A control device controlling the movement route of a transportation vehicle calculates a movement route to a target position of the transportation vehicle and, in a case where an obstacle exists on the calculated movement route, counts the number of detours indicating the magnitude of an influence of the obstacle on movement route calculation, and calculates the movement route again so as to avoid the obstacle.

Abstract: A vehicle control device includes: a determination unit configured to determine a control condition related to vehicle traveling when a host vehicle, which is a control target vehicle, travels automatically by automatic driving; and a control unit configured to control traveling of the host vehicle based on a determination result of the determination. The determination unit is configured to: acquire a position of the host vehicle; and determine whether to enter an intersection based on a detection result of a stopped vehicle stopped at the intersection when the host vehicle approaches the intersection which is designated to require vehicles on all road segments entering the intersection to stop at a same priority. The control unit is configured to perform travel control of entering and passing through the intersection in accordance with a determination result of the determination unit.

Abstract: In a vehicle control system (1, 101, 201) configured for autonomous driving, a control unit executes a stop process by which the vehicle is parked in a prescribed stop area when it is detected that the control unit or a driver has become incapable of properly maintaining a traveling state of the vehicle, and a stop maintaining process for keeping the vehicle parked following the vehicle coming to a stop in the stop process. The control unit keeps the brake lamp turned on while the stop maintaining process is being executed.