Vehicle control device, vehicle control method, and program

A vehicle control method comprising causing a computer to:

• recognize a surrounding circumstance of a vehicle, including a curve of a traveling lane on which the vehicle is traveling;
• determine whether to be able to activate a curve departure suppression control that prevents the vehicle from departing from the recognized curve of the traveling lane when the vehicle is likely to depart from the curve, and execute the curve departure suppression control based on a result of the determination;
• determine whether to activate the curve departure suppression control based on a first activation possibility condition when the vehicle enters the curve from which the vehicle is likely to depart;
• and
• determine whether to activate the curve departure suppression control based on a second activation possibility condition when the vehicle is traveling on the curve from which the vehicle is likely to depart.

A computer-readable non-transitory storage medium storing a program that causes a computer to:

• recognize a surrounding circumstance of a vehicle, including a curve of a traveling lane on which the vehicle is traveling;
• determine whether to be able to activate a curve departure suppression control that prevents the vehicle from departing from the recognized curve of the traveling lane when the vehicle is likely to depart from the curve, and execute the curve departure suppression control based on a result of the determination;
• determine whether to activate the curve departure suppression control based on a first activation possibility condition when the vehicle enters the curve from which the vehicle is likely to depart;
• and
• determine whether to activate the curve departure suppression control based on a second activation possibility condition when the vehicle is traveling on the curve from which the vehicle is likely to depart.