Vehicle control device, vehicle control method, and non-transitory computer-readable medium storing a program

[0020]A vehicle control device according to an embodiment of the present invention, a vehicle control method, and a non-transitory computer-readable medium storing a program will be described with reference to the drawings. FIG. 1 is a block diagram showing a vehicle equipped with a vehicle control device according to the present embodiment.

[0021]A vehicle (a host vehicle or driver's own vehicle) 10 is equipped with a travel assist system 12, a driving force control system 14, a braking force control system 16, an EPS system (electric power steering system) 18, and a vehicle speed sensor 20.

[0022]A travel assist ECU (travel assist electronic control device, vehicle control device) 44 is provided in the travel assist system 12.

[0023]The travel assist system 12 detects various peripheral objects (detected objects) 100 and lane markings 112 appearing around the periphery of the host vehicle 10. It should be noted that, when describing the lane markings in general, the reference numeral...

[0065]A vehicle control device, a vehicle control method, and a non-transitory computer-readable medium storing a program according to a first modification of the present embodiment will be described with reference to FIG. 6. FIG. 6 is a flowchart illustrating an example of operations of the vehicle control device according to the present modification.

[0066]Steps S1 to S6 are the same as steps S1 to S6 described above with reference to FIG. 5, and therefore description of these steps is omitted. If the first distance Da in relation to the preceding vehicle 102a is less than the threshold value (YES in step S6), the process proceeds to step S11. If the first distance Da in relation to the preceding vehicle 102a is greater than or equal to the threshold value (NO in step S6), the process proceeds to step S21.

[0067]In step S21, the other vehicle recognition unit 60 determines whether or not other vehicles 102 are present apart from the preceding vehicle 102a. If it is determined that t...

[0071]A vehicle control device, a vehicle control method, and a non-transitory computer-readable medium storing a program according to a second modification of the present embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart illustrating an example of operations of the vehicle control device according to the present modification.

[0072]Steps S1 to S6 are the same as steps S1 to S6 described above with reference to FIG. 5, and therefore description of these steps is omitted. If the first distance Da in relation to the preceding vehicle 102a is less than the threshold value (YES in step S6), the process proceeds to step S11. If the first distance Da in relation to the preceding vehicle 102a is greater than or equal to the threshold value (NO in step S6), the process proceeds to step S31.

[0073]In step S31, the other vehicle recognition unit 60 determines whether or not other vehicles 102 exist in plurality apart from the preceding vehicle 102a. If it is determine...