Vehicle control method and vehicle control device

A vehicle control device comprising:

• a first sensor configured to detect a position of a stationary object on a road on which a host vehicle is traveling;
• a second sensor configured to detect a velocity of the host vehicle;
• a third sensor configured to detect a position and a velocity of an oncoming vehicle traveling in a direction opposite to a traveling direction of the host vehicle in an oncoming lane adjacent to a traveling lane in which the host vehicle is traveling;
• and
• a controller configured to control a traveling state of the host vehicle in accordance with data detected by the first sensor, the second sensor, and the third sensor,
• the controller being configured to:
• set a region including the stationary object on the road defined within a predetermined distance from the stationary object along an extending direction of the road;
• calculate a passing position at which the host vehicle and the oncoming vehicle pass each other in accordance with the velocity of the host vehicle and the position and the velocity of the oncoming vehicle;
• calculate a first score that is a larger value as the velocity of the oncoming vehicle is greater;
• calculate a second score that is a larger value as an acceleration rate of the oncoming vehicle is greater;
• integrate the first score with the second score so as to calculate an integration score;
• and
• cause the host vehicle to decelerate when the integration score is greater than or equal to a predetermined value or causing the host vehicle to keep the velocity or accelerate when the integration score is smaller than the predetermined value in a case in which the passing position is present within the region.