Honda Motor Co., Ltd.
MOVING BODY CONTROL APPARATUS, MOVING BODY, AND MOVING BODY CONTROL METHOD

Abstract:

A moving body control apparatus includes a cancel control section performing control to cancel a lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied. When the first cancel condition is satisfied with the grip of an occupant on a manipulator being a prescribed level or greater, if a distance in a vehicle width direction between a moving body and a lane marker is a first distance threshold value or greater, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change, and when the first cancel condition is satisfied with the grip being less than the prescribed level, if the distance is not less than a second distance threshold value greater than the first distance threshold value, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change.