{
  "$type": "site.standard.document",
  "description": "A vehicle control apparatus includes a microprocessor configured to perform: generating an action plan so that the subject vehicle moves from the first lane to the second lane according to a mode of the lane change when it is determined that the lane change is necessary. The target route includes a…",
  "path": "/patents/1352131",
  "publishedAt": "2023-10-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18163",
    "Honda Motor Co., Ltd."
  ],
  "textContent": "A vehicle control apparatus includes a microprocessor configured to perform: generating an action plan so that the subject vehicle moves from the first lane to the second lane according to a mode of the lane change when it is determined that the lane change is necessary. The target route includes a branching road in which the second lane is adjacent to the first lane from a first point to a second point ahead of the first point in a traveling direction and the second lane is separated from the first lane behind the second point. The deciding including deciding, based on a length from the first point to the second point, the mode of the lane change to be a first mode or a second mode having a different reference position for determining a start position of control of the lane change each other.",
  "title": "VEHICLE CONTROL APPARATUS"
}