Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM

Abstract:

A vehicle control device recognizes an intersection present in front of a vehicle proceeding in a first direction on a first road, a first another vehicle proceeding in a second direction opposite to the first direction on the first road to approach the intersection, and a second another vehicle traveling after the first another vehicle, controls the vehicle based on a first relative relation between the first another vehicle and the vehicle and a second relative relation between the second another vehicle and the vehicle, determines, when the first and second another vehicles are expected to enter the second road, whether the vehicle enters the second road after the first another vehicle and before the second another vehicle or after the second another vehicle based on relative relations between a basis position and the vehicle, the first and second another vehicles, and controls the vehicle based on a determining result.