Vehicle control system, vehicle control method, and readable storage medium

A vehicle control method using a computer, the vehicle control method comprising:

• recognizing a surroundings status of a vehicle;
• controlling at least steering of the vehicle on the basis of the recognized surroundings status;
• causing the vehicle to run on the basis of a first reference line deviating to one side of a road in a case in which a target obstacle is not recognized in an advancement direction of the vehicle;
• and
• causing the vehicle to avoid the target obstacle after causing the vehicle to run on the basis of a second reference line disposed on an other side of the road from the first reference line in a case in which a target obstacle is recognized.

A non-transitory computer-readable storage medium that stores a computer program to be executed by a computer to perform at least:

• recognize a surroundings status of a vehicle;
• control at least steering of the vehicle on the basis of the recognized surroundings status;
• cause the vehicle to run on the basis of a first reference line deviating to one side of a road in a case in which a target obstacle is not recognized in an advancement direction of the vehicle;
• and
• cause the vehicle to avoid the target obstacle after causing the vehicle to run on the basis of a second reference line disposed on an other side of the road from the first reference line in a case in which the target obstacle is recognized.