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

Abstract:

A vehicle control device includes a recognizer configured to recognize an object near a vehicle, a generator configured to generate one or more target trajectories, along which the vehicle travels, on the basis of the object, and a driving controller configured to automatically control driving of the vehicle on the basis of the target trajectories. The generator calculates a travelable area, which is an area where the vehicle is able to travel, on the basis of a state of the object, and excludes a target trajectory outside the calculated travelable area from the one or more generated target trajectories, and the driving controller automatically controls the driving of the vehicle on the basis of the target trajectory that remains without being excluded by the generator.