Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Abstract:

A vehicle control device includes: a recognizer configured to recognize surrounding conditions of a host vehicle; a driving controller configured to control one or both of speed and steering of the host vehicle on the basis of the surrounding conditions recognized the recognizer; and an outside notifier configured to notify an outside of the host vehicle of a lane change destination of the host vehicle. The driving controller is configured to change a time or a distance until lane change from a host vehicle travel lane in which the host vehicle is traveling to a neighboring lane which is adjacent to the host vehicle travel lane is stopped depending on whether the outside of the host vehicle is notified of the lane change destination by the outside notifier when stopping conditions of the lane change are satisfied at the time of starting of the lane change.