An apparatus for controlling a lane change of a vehicle includes: a sensor to sense an external vehicle, an input device to receive a lane change command from a driver of the vehicle, and a control circuit to be electrically connected with the sensor and the input device. The control circuit may receive the lane change command using the input device, calculate a minimum operation speed for lane change control, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

A lane change controller determines whether lane change is available or unavailable on the basis of a detection result of an obstacle by a radar and an obstacle recognizer in response to detection of a winker operation by an operation detection unit. A lane keep controller continues lane keep control if the operation detection unit detects the winker operation during the lane keep control and if the lane change controller determines that the lane change is unavailable.

A driving assist device includes, a traveling environment information acquisition unit, an intersection determination unit, a vehicle position information acquisition unit, a predicted travel path setting unit, a blinker signal acquisition unit, a traffic division information acquisition unit, a determination unit, and a notifier. The determination unit determines whether directions indicated by three factors of traffic division information acquired by the traffic division information acquisition unit; a blinker signal acquired by the blinker signal acquisition unit, and a predicted travel path predicted by the predicted travel path setting unit match each other. When the determination unit determines that directions indicated by two factors of the three factors match each other and a mismatch occurs between the directions indicated by the two factors and a direction indicated by a remaining factor of the three factors, the notifier issues a notification about the mismatch of the direction indicated by the remaining factor.

A parking assistance method according to an embodiment of the present disclosure includes: storing information related to a teacher path in teacher traveling of moving a vehicle and stopping the vehicle in a first parking mode; receiving an instruction to change the parking mode, the instruction designating a second parking mode different from the first parking mode; and correcting the teacher path based on the second parking mode.

A vehicle control device is configured to execute travel control of controlling a vehicle such that a travel speed of the vehicle is a target speed corresponding to an inter-vehicle distance between the vehicle and a preceding vehicle traveling in front of the vehicle, or a predetermined target speed set by a driver of the vehicle, and acceleration limit control of limiting acceleration of the vehicle by the travel control. The vehicle control device includes a controller configured to execute the acceleration limit control when an intention to turn right or left of the driver is detected in the vehicle traveling under the travel control, and to end the acceleration limit control in response to a decrease in a steering speed in the vehicle during the acceleration limit control.

A parking assistance method according to an embodiment of the present disclosure includes: storing information related to a teacher path in teacher traveling of moving a vehicle and stopping the vehicle in a first parking mode; receiving an instruction to change the parking mode, the instruction designating a second parking mode different from the first parking mode; and correcting the teacher path based on the second parking mode.