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

Abstract:

A vehicle control device of the embodiment includes a recognizer that recognizes a surrounding situation of a host vehicle; and a driving controller that controls one or both of steering or acceleration/deceleration of the host vehicle to cause the host vehicle to travel, wherein the driving controller causes the host vehicle to travel in any of a plurality of driving modes including a first driving mode in which the host vehicle travels so that the speed of the host vehicle reaches a target speed, and the driving controller restricts the execution of at least the first driving mode when a specific object is recognized in a traveling direction of the host vehicle based on map information or a recognition result from the recognizer during the execution of the first driving mode.