VEHICLE AS WELL AS CONTROL DEVICE AND CONTROL METHOD OF THE SAME

To provide a technique for executing lane change operation at an automation level corresponding to a travelling environment.SOLUTION: A control device of a vehicle comprises a recognizing part that recognizes a travelling environment of the vehicle, a creating part that creates a travel plan on the basis of the travelling environment, and a control part that performs travelling control including at least either of acceleration/deceleration or steering of the vehicle on the basis of the travel plan. The control part, when performing lane change, determines difficulty levels of lane change or automation degrees of travelling control under the current travelling environment, selects one lane change mode from a plurality of lane change modes in which degrees of involvement from a driver in the vehicle are different, on the basis of the determined difficulty levels or automation degrees, and performs the travelling control in accordance with the selected lane change mode.SELECTED DRAWING: Figure 3 【課題】走行環境に応じた自動化レベルの車線変更動作を実行するための技術を提供する。【解決手段】車両の制御装置は、車両の走行環境を認識する認識部と、走行環境に基づいて、走行計画を生成する生成部と、走行計画に基づいて、車両の加減速又は操舵の少なくとも一方を含む走行制御を行う制御部と、を備える。制御部は、車線変更を行う場合に、現在の走行環境における車線変更の難易度又は走行制御の自動化度合いを決定し、決定された難易度又は自動化度合いに基づいて、車両の運転者による関与の度合いが異なる複数の車線変更態様から１つの車線変更態様を選択し、選択された車線変更態様に従って走行制御を行う。【選択図】図３