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

Abstract:

A vehicle control device recognizes a second self-position, which is obtained by correcting a first self-position, and an orientation of a vehicle on a road, on which the vehicle is traveling, based on a situation around the vehicle, the first self-position, and map information, determines a steering control mode and a speed control mode of the vehicle based on the second self-position and the orientation of the vehicle, and performs automated driving by controlling the vehicle based on the determined control modes. In the vehicle control device, when the vehicle is scheduled to advance from a first lane in which the vehicle is travelling to a second lane being a main lane in which the vehicle is scheduled to advance and it is not possible to recognize a target associated with a road indicating an end point of a merging section in which merging from the first lane to the second lane is allowed, a determiner determines a steering angle control mode for searching for the target based on the second self-position and the orientation of the vehicle.