{
  "$type": "site.standard.document",
  "description": "A vehicle control device includes a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle, based on a relative relationship between a position and a speed of the self-vehicle and the first vehicle, and allow the…",
  "path": "/patents/1296827",
  "publishedAt": "2021-08-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18163",
    "HONDA MOTOR CO., LTD."
  ],
  "textContent": "A vehicle control device includes a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle, based on a relative relationship between a position and a speed of the self-vehicle and the first vehicle, and allow the self-vehicle to change lanes to the first main lane based on the first plan when it is estimated that a third vehicle is able to change lanes to a second main lane adjacent to the first main lane without interfering with a fourth vehicle, based on a relative relationship between a position and a speed of the first vehicle or a second vehicle present behind the self-vehicle and traveling and the fourth vehicle in a case where it is assumed that the self-vehicle has changed lanes to the first main lane based on the first plan.",
  "title": "VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM"
}