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

Abstract:

A vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; and an action controller configured to control an action of the vehicle. The action controller determines a range in which the vehicle is located relative to a first vehicle located on a lateral side of the vehicle recognized by the recognizer and a second vehicle located on a side behind the first vehicle in a longitudinal direction of a road by the recognizer based on a distance between the first and second vehicles when a course of the vehicle is changed to the lateral side.