Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• deciding, by a computer, a combination of (i) an objective function, in which acceleration in future travel is designated as a control variable formulated using an auxiliary variable corresponding to a predetermined scene assumed from a positional relationship with another traffic participant during travel of a host vehicle, and (ii) a restricting conditional formula for setting a restriction on the future travel, in accordance with a recognized surrounding situation of the host vehicle;
• and
• deciding, by the computer, a travel speed in the future travel of the host vehicle on the basis of the combination of the objective function and the restricting conditional formula,
• wherein the auxiliary variable is a variable related to a vehicle speed limit, a degree of urgency, tracking, and collision avoidance corresponding to the scene.

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

• decide a combination of (i) an objective function, in which acceleration in future travel is designated as a control variable formulated using an auxiliary variable corresponding to a predetermined scene assumed from a positional relationship with another traffic participant during travel of a host vehicle, and (ii) a restricting conditional formula for setting a restriction on the future travel, in accordance with a recognized surrounding situation of the host vehicle;
• and
• decide a travel speed in the future travel of the host vehicle on the basis of the combination of the objective function and the restricting conditional formula,
• wherein the auxiliary variable is a variable related to a vehicle speed limit, a degree of urgency, tracking, and collision avoidance corresponding to the scene.