Toyota Jidosha Kabushiki Kaisha

Naoki Nagakura

Yushi Shibaike

Naoyuki Muramatsu

A vehicle control device includes an offset unit configured to execute offset processing for offsetting the target lateral position such that the target lateral position is separated from the first lane, when a relationship between the first vehicle and the vehicle satisfies an offset condition. The offset unit is configured not to execute the offset processing even if the relationship between the first vehicle and the vehicle satisfies the predetermined offset condition, when a vehicle-to-vehicle distance between the second vehicle and the vehicle is equal to or less than a predetermined distance or when a value obtained by dividing the vehicle-to-vehicle distance between the second vehicle and the vehicle by a relative speed between the second vehicle and the vehicle is equal to or less than a predetermined time.

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Chofu, Japan

Naoki Nagakura