Vehicle control device, vehicle control method, and storage medium

A vehicle control method causing an in-vehicle computer to execute:

• recognizing one or more other vehicles present in the vicinity of a subject vehicle;
• recognizing that a road on which the subject vehicle is running is a road having no center line;
• estimating a state of a driver of an oncoming vehicle facing the subject vehicle among the recognized one or more other vehicles;
• determining whether the recognized oncoming vehicle is a vehicle executing manual driving;
• and
• decelerating the subject vehicle to a speed equal to or lower than a predetermined speed on the basis of the estimated state of the driver of the oncoming vehicle in a case in which the oncoming vehicle is determined to be a vehicle executing manual driving, and the road on which the subject vehicle is running is recognized as a road having no center line.

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

• a process of recognizing one or more other vehicles present in the vicinity of a subject vehicle;
• a process of recognizing that a road on which the subject vehicle is running is a road having no center line;
• a process of estimating a state of a driver of an oncoming vehicle facing the subject vehicle among the recognized one or more other vehicles;
• a process of determining whether the recognized oncoming vehicle is a vehicle executing manual driving;
• and
• a process of decelerating the subject vehicle to a speed equal to or lower than a predetermined speed on the basis of the estimated state of the driver of the oncoming vehicle in a case in which the oncoming vehicle is determined to be a vehicle executing manual driving, and the road on which the subject vehicle is running is recognized as a road having no center line.