Honda Motor Co., Ltd.
Vehicle control device, vehicle control method, and storage medium

Abstract:

A vehicle control device includes: an obstacle recognizing unit; a state recognizing unit; an operation detecting unit; a braking force control unit that performs automated brake control of outputting a braking force by operating a brake device in a case in which a relation between the obstacle recognized and the vehicle satisfies a predetermined condition; and a stopping control unit that causes the braking force control unit to stop the automated brake control in a case in which a driving operation of a predetermined level or more using the operator is detected from a time that is a predetermined time before start of the automated brake control to a time at which the automated brake control starts, wherein the stopping control unit does not perform the stopping of the automated brake control in a case in which the state of the driver is recognized as a predetermined state.