Vehicle control device, vehicle control method, and storage medium

A vehicle control method executed using a computer mounted in a vehicle, the vehicle control method comprising:

• detecting other vehicles;
• executing a lane change of a subject vehicle based on states of the other vehicles without depending on a steering operation of a vehicle occupant of the subject vehicle;
• determining whether or not the lane change is to be continued based on the states of a first vehicle, the first vehicle being one of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane after control of executing the lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started;
• and
• returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued,
• wherein the determination is performed based on a time for the subject vehicle to arrive at the second lane,
• wherein, in a case in which the first vehicle has a predetermined positional relation with the subject vehicle, the determination includes determining that the lane change is to be continued in a case in which the time is shorter than a threshold value and determining that the lane change is not to be continued in a case in which the time is longer than the threshold value, and
• wherein, the method further comprises changing the threshold value based on an index value obtained by dividing a distance by a relative speed between the first vehicle and the subject vehicle.

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

• detecting other vehicles;
• executing a lane change of a subject vehicle based on states of the other vehicles without depending on a steering operation of a vehicle occupant of the subject vehicle;
• determining whether or not the lane change is to be continued based on the states of a first vehicle, the first vehicle being one of the other vehicles executing a lane change from a third lane adjacent to a second lane to the second lane after control of executing the lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started;
• and
• returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued,
• wherein the determination is performed based on a time for the subject vehicle to arrive at the second lane,
• wherein, in a case in which the first vehicle has a predetermined positional relation with the subject vehicle, the determination includes determining that the lane change is to be continued in a case in which the time is shorter than a threshold value and determining that the lane change is not to be continued in a case in which the time is longer than the threshold value, and
• wherein, the method further comprises changing the threshold value based on an index value obtained by dividing a distance by a relative speed between the first vehicle and the subject vehicle.