Vehicle Control Device, Vehicle Control Method, and Vehicle Control System

A vehicle control device comprising a control unit that outputs a calculation result based on input information,

• wherein the control unit:
• calculates, while retaining a trajectory including a part of a first target trajectory calculated at a first time for calculating a target trajectory along which a vehicle is to travel, a second target trajectory at a second time which is a next calculation timing of a target trajectory after a calculation cycle from the first time, wherein the retained part of the first target trajectory corresponds to a predetermined distance from the vehicle, and
• outputs a control command for driving the vehicle based on information related to a target position set on the second target trajectory.

A vehicle control method performed by a control unit provided in a vehicle,

• wherein the control unit:
• calculates, while retaining a trajectory including a part of a first target trajectory calculated at a first time for calculating a target trajectory along which a vehicle is to travel, a second target trajectory at a second time which is a next calculation timing of a target trajectory after a calculation cycle from the first time, wherein the retained part of the first target trajectory includes a section corresponding to a distance to be traveled by the vehicle during a time from the first time to the second time and a first target position set on the first target trajectory, and
• outputs a control command for driving the vehicle based on information related to a second target position set on the second target trajectory.