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

Abstract:

A vehicle control device includes a controller configured to, when a plan is made to change a lane of the vehicle from a first lane to a second lane, cause the vehicle to change the lane to the second lane based on a position of a vehicle that travels in the second lane. When a first other vehicle which travels in the second lane and is a predetermined distance from the vehicle is recognized and a second other vehicle behind the vehicle in the second lane is not recognized, the controller sets a first virtual vehicle behind the first other vehicle and a second virtual vehicle behind the first virtual vehicle, and causes the vehicle to change the lane to the second lane based on a position of the first other vehicle, a position of the first virtual vehicle, and a position of the second virtual vehicle.