FIELD: automotive industry.
SUBSTANCE: information about the environment of the considered vehicle (V) is obtained using a sensor provided in the considered vehicle (V). The location of the entrance is set, located on the second lane (L2), adjacent to the first lane (L1), along which the considered vehicle (V) moves, in accordance with the information about the environment in front of the considered vehicle (V). The entry location indicates the location into which the vehicle in question is entering (V). A front vehicle (X2) located in front of the entry location and a rear vehicle (X3) located behind the entry location are specified, among other vehicles. The running state of the front vehicle (X2) and the rear vehicle (X3) are determined. It is determined whether there is an entry space for the vehicle in question (V) at the entry location. It is predicted whether the front vehicle (X2) starts moving by determining that the front vehicle (X2) and the rear vehicle (X1) are stopped and there is no space at the entrance location. The movement of the considered vehicle (V) is started to the location of the entrance when the start of the movement of the front vehicle (X2) is predicted. A vehicle control device is also proposed.
EFFECT: reduction of the probability of skipping a lane change is achieved.
15 cl, 17 dwg
