Honda Motor Co., Ltd.
Vehicle control apparatus, vehicle control method, and storage medium

Abstract:

A vehicle control apparatus of an embodiment includes a surrounding situation recognition unit which recognizes a situation of surroundings of a vehicle, a branch point recognition unit which recognizes a branch point present in a traveling direction of the vehicle on the basis of the recognition result of the surrounding situation recognition unit, a main lane recognition unit which recognizes a main lane connected to the branch point, and a driving control unit which controls one or both of the steering and acceleration/deceleration of the vehicle and causes the vehicle to travel in the direction of the main lane recognized by the main lane recognition unit at the branch point.