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

Abstract:

According to an embodiment, a vehicle control device includes a recognizer configured to recognize surroundings of a host vehicle, and an avoidance controller configured to able to execute first avoidance control for avoiding contact with a physical object recognized by the recognizer according to braking of the host vehicle and second avoidance control for avoiding the contact with the physical object recognized by the recognizer according to movement of the host vehicle in a vehicle width direction. When the contact between the host vehicle and the physical object is avoided, the avoidance controller selects either the first avoidance control or the second avoidance control on the basis of a lane type of a host vehicle lane recognized by the recognizer and preferentially executes the selected avoidance control.