Vehicle control device, vehicle control method, and storage medium

A vehicle control device comprising:

• a processing circuitry configured to:
• recognize a surrounding situation of a vehicle;
• determine that entry of the vehicle to a second road different from a first road is allowed, based on a determination condition, in response to determining that the vehicle enters the second road from the first road among a plurality of lanes recognized as the surrounding situation;
• control one or both of steering and a speed of the vehicle to facilitate the vehicle to enter the second road in response to determining that the entry to the second road is allowed;
• and
• change the determination condition to a first condition in response to determining that the entry into the second road does not perpendicularly intersect the second road with respect to a horizontal direction, and changing the determination condition to a second condition in response to determining that the first road perpendicularly intersects the second road.

A vehicle control method comprising:

• recognizing, by an in-vehicle computer comprising a processor, a surrounding situation of a vehicle;
• determining, by the in-vehicle computer, that entry into an intersection is allowed, based on a determination condition, in response to having recognized that there is the intersection ahead in a traveling direction of the vehicle;
• facilitating, by the in-vehicle computer, the vehicle to enter the intersection by controlling one or both of steering and a speed of the vehicle in response to having determined that the entry into the intersection is allowed;
• and
• changing, by the in-vehicle computer, the determination condition to a first condition for the entry into the intersection in response to determining that the intersection is a circular intersection, and changing the determination condition to a second condition in response to determining that the intersection is another intersection different from the circular intersection.

A computer-readable non-transitory storage medium storing a program, the program causing an in-vehicle computer to execute:

• a process of recognizing a surrounding situation of a vehicle;
• a process of determining that entry into an intersection is allowed, based on a determination condition, in response to having recognized that there is the intersection ahead in a traveling direction of the vehicle;
• a process of facilitating the vehicle to enter the intersection by controlling one or both of steering and a speed of the vehicle in response to having determined that the entry into the intersection is allowed;
• and
• a process of changing the determination condition to a first condition for the entry into the intersection in response to determining that the intersection is a circular intersection, and changing the determination condition to a second condition in response to determining that intersection is another intersection different from the circular intersection.