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

Abstract:

Provided is a vehicle control device including: a recognition unit configured to recognize an object which is located near a vehicle; a calculation unit configured to calculate an area of risk which is distributed around the object; a generation unit configured to generate a target trajectory for the vehicle to travel along on the basis of the area; and a driving control unit configured to automatically control at least one of a speed or steering of the vehicle on the basis of the target trajectory, wherein the generation unit selects one or a plurality of models from a plurality of models that output the target trajectory in a case where the area is input, inputs the area calculated by the calculation unit to the selected model, and generates the target trajectory on the basis of an output result of the model to which the area is input, and the calculation unit changes a range of the area in accordance with a type of model selected by the generation unit.