Vehicle control system, vehicle control method, and non-transitory computer-readable storage medium

A vehicle control method executed by a computer, the method comprising:

• recognizing an obstacle around a vehicle based on a signal from a radar;
• calculating a vehicle speed based on a plurality of wheel speeds detected by a plurality of wheel speed sensors provided on a plurality of wheels;
• controlling a safety device based on a position of the obstacle and the vehicle speed;
• and
• selecting the wheel speed to be used for calculating the vehicle speed from among the plurality of wheel speeds based on a state of the vehicle.

A non-transitory computer-readable storage medium comprising a control program, wherein the control program, when executed by a computer, executes a vehicle control method, comprising:

• recognizing an obstacle around a vehicle based on a signal from a radar;
• calculating a vehicle speed based on a plurality of wheel speeds detected by a plurality of wheel speed sensors provided on a plurality of wheels;
• controlling a safety device based on a position of the obstacle and the vehicle speed;
• and
• selecting the wheel speed to be used for calculating the vehicle speed from among the plurality of wheel speeds based on a state of the vehicle.