US Patent 11377145 Vehicle control device and control method for vehicle

A vehicle control device includes an external sensor configured to acquire environmental information around a host vehicle, and an electronic control unit. The electronic control unit is configured to control the host vehicle so that the host vehicle travels along a target travel trajectory; detect an adjacent preceding vehicle that is traveling in a lane adjacent to a lane in which the host vehicle is traveling; acquire environmental information on a road side or a lane on an opposite side of the lane in which the adjacent traveling vehicle is traveling from the lane in which the host vehicle is traveling; and generate the target travel trajectory of the host vehicle so as to move away from the adjacent preceding vehicle in a width direction of the lane in which the host vehicle is traveling, within a lane width of the lane in which the host vehicle is traveling.