VEHICLE CONTROLLER

To suppress degradation of precision in estimating the timing that a self-vehicle can turn right or left.SOLUTION: A vehicle controller 10, 10a, or 10b that is mounted in a self-vehicle M1 in order to control the self-vehicle includes a right/left turn detection unit 14 that detects that the self-vehicle is scheduled to turn right or left by traversing an opposite lane, a situation detection unit 20 or 20b that detects a situation of a place where the self-vehicle reaches after turning right or left, an oncoming vehicle schedule detection unit 35 that detects a traveling schedule of an oncoming vehicle M5 to a place where the oncoming vehicle reaches after turning right or left, and a timing estimation unit 40 that uses the detected situation and traveling schedule to estimate the timing that the self-vehicle can turn right or left.SELECTED DRAWING: Figure 4 【課題】自車両が右左折可能となるタイミングの推定精度の低下を抑制する。【解決手段】自車両Ｍ１に搭載されて自車両を制御する車両制御装置１０、１０ａ、１０ｂは、自車両が対向車線を横切って右左折を行う予定であることを検出する右左折検出部１４と、自車両の右左折先の状況を検出する状況検出部２０、２０ｂと、対向車Ｍ５の右左折先への走行予定を検出する対向車予定検出部３５と、検出された状況と走行予定とを用いて、自車両が右左折を実行可能となるタイミングを推定するタイミング推定部４０と、を備える。【選択図】図４