Vehicle control device, vehicle control method, and storage medium

A vehicle control method for an in-vehicle computer mounted in an own vehicle including a display configured to display an image, the method comprising:

• the in-vehicle computer recognizing an object present near the own vehicle, the object including another vehicle;
• generating a target trajectory of the own vehicle on the basis of a state of the recognized object;
• controlling at least one of a speed or steering of the own vehicle on the basis of the generated target trajectory;
• and
• causing the display to display a first image simulating the other vehicle recognized as the object, a second image simulating the generated target trajectory, and a third image simulating a road in which the own vehicle is present such that the first and second images are superimposed on the third image,
• wherein the second image is an image in which a first section that is on a near side of a reference vehicle, which is referred to when the target trajectory is generated, as viewed from the own vehicle among a plurality of sections into which the target trajectory is divided in a longitudinal direction is displayed with emphasis relative to a second section that is on a far side of the reference vehicle as viewed from the own vehicle.

A computer-readable non-transitory storage medium storing a program causing an in-vehicle computer mounted in an own vehicle including a display configured to display an image to execute:

• a process of recognizing an object present near the own vehicle, the object including another vehicle;
• a process of generating a target trajectory of the own vehicle on the basis of a state of the recognized object;
• a process of controlling at least one of a speed or steering of the own vehicle on the basis of the generated target trajectory;
• a process of causing the display to display a first image simulating the other vehicle recognized as the object, a second image simulating the generated target trajectory, and a third image simulating a road in which the own vehicle is present such that the first and second images are superimposed on the third image;
• and
• a process of causing the display to display, as the second image, an image in which a first section that is on a near side of a reference vehicle, which is referred to when the target trajectory is generated, as viewed from the own vehicle among a plurality of sections into which the target trajectory is divided in a longitudinal direction is displayed with emphasis relative to a second section that is on a far side of the reference vehicle as viewed from the own vehicle.