US Patent 11011059 Vehicle control device

In the case of recognizing a traffic regulation which determines that the priority of a first lane is higher than the priority of a second lane, and in the case of determining a state in which another vehicle is in compliance with the traffic regulation, and then determining that the other vehicle is not complying with the traffic regulation, a vehicle control device carries out at least one of a travel control in which a travel position of a host vehicle is moved in a direction of a side opposite to the second lane, and a travel control in which acceleration is not performed.