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

Abstract:

A vehicle control device (100) includes a recognizer (130) that recognizes a situation occurring near an own-vehicle, and a driving controller (140, 160) that controls acceleration/deceleration and steering of the own-vehicle on the basis of a result of the recognition of the recognizer. When performing travel control according to a behavior of a preceding vehicle that is traveling in front of the own-vehicle such that the own-vehicle follows the preceding vehicle to pass through an intersection, the driving controller does not perform following of the preceding vehicle if a turning start point of the preceding vehicle does not match a turning start point in a route predicted for the own-vehicle to pass through the intersection in a scheduled direction or if a turning angle of the preceding vehicle does not match a turning angle in the predicted route.