Vehicle control device, vehicle control method, and storage medium

A vehicle control device comprising:

• an acquirer configured to acquire a recognition result of a recognizer for recognizing surroundings of a vehicle;
• and
• an action controller configured to control an action of the vehicle,
• wherein, when the recognition result represents that a first vehicle traveling immediately in front of the vehicle has been recognized and a second vehicle traveling immediately in front of the first vehicle has not been recognized, the action controller controls the vehicle on the basis of first acceleration derived in a first rule,
• wherein, when the recognition result represents that the first vehicle and the second vehicle have been recognized, the action controller controls the vehicle on the basis of second acceleration derived in a second rule, and
• wherein the second rule is a rule for deriving the second acceleration less than the first acceleration derived in the first rule on the basis of an amount of change in a speed or acceleration of the vehicle during a predetermined time period in which the vehicle has traveled with the first acceleration.

A vehicle control method comprising:

• acquiring, by a computer, a recognition result of a recognizer for recognizing surroundings of a vehicle;
• controlling, by the computer, an action of the vehicle;
• when the recognition result represents that a first vehicle traveling immediately in front of the vehicle has been recognized and a second vehicle traveling immediately in front of the first vehicle has not been recognized, causing, by the computer, the vehicle to track the first vehicle with first acceleration derived in a first rule;
• and
• when the recognition result represents that the first vehicle and the second vehicle have been recognized, causing, by the computer, the vehicle to track the first vehicle with second acceleration derived in a second rule,
• wherein the second rule is a rule for deriving acceleration less than that in the first rule when a relative relationship between the vehicle and the first vehicle is uniform.

A computer-readable non-transitory storage medium storing a program for causing a computer to:

• acquire a recognition result of a recognizer for recognizing surroundings of a vehicle;
• control an action of the vehicle;
• when the recognition result represents that a first vehicle traveling immediately in front of the vehicle has been recognized and a second vehicle traveling immediately in front of the first vehicle has not been recognized, perform a process of causing the vehicle to track the first vehicle with first acceleration derived in a first rule;
• and
• when the recognition result represents that the first vehicle and the second vehicle have been recognized, perform a process of causing the vehicle to track the first vehicle with second acceleration derived in a second rule,
• wherein the second rule is a rule for deriving acceleration less than that in the first rule when a relative relationship between the vehicle and the first vehicle is uniform.