Vehicle control device and control method

A vehicle control device for controlling a vehicle, comprising:

• a processor configured to:
• acquire peripheral information of the vehicle;
• recognize a peripheral situation of the vehicle based on the acquired peripheral information acquired;
• and
• perform first control including at least one of steering control or acceleration and deceleration control for causing the vehicle to travel along an own lane based on road boundary lines in a periphery of the vehicle, wherein
• in a predetermined situation in which an oncoming lane whose travel direction is opposite to that of the own lane in which the vehicle travels is present on a roadway including the own lane and a central division line that separates the own lane and the oncoming lane is not present or the central division line is not able to be detected,
• the processor performs the first control preferentially using, among the road boundary lines on left and right sides of the roadway, the road boundary line on an own lane side over the road boundary line on an oncoming lane side.

A control method to be performed by a computer for controlling a vehicle, the control method comprising:

• acquiring peripheral information of the vehicle;
• recognizing a peripheral situation of the vehicle based on the acquired peripheral information;
• and
• guiding an occupant of the vehicle to a travel region ahead of the vehicle in a travel direction thereof by displaying the travel region on a display unit of the vehicle based on a recognition result for the peripheral situation, wherein
• the guiding comprises:
• in a predetermined situation in which an oncoming lane whose travel direction is opposite to that of an own lane in which the vehicle travels is present on a roadway including the own lane, and a central division line that separates the own lane and the oncoming lane is not present or the central division line is not able to be detected,
• displaying a predetermined region on an own lane side between road boundary lines on left and right sides of the roadway as the travel region, and displaying a region on an oncoming lane side with respect to the predetermined region as a non-travel region that is not the travel region.

A control method to be performed by a computer for controlling a vehicle, the control method comprising:

• acquiring peripheral information of the vehicle;
• recognizing a peripheral situation of the vehicle based on the acquired peripheral information;
• and
• performing first control including at least one of steering control or acceleration and deceleration control for causing the vehicle to travel along an own lane based on recognized road boundary lines in a periphery of the vehicle, wherein
• the performing comprises:
• in a predetermined situation in which an oncoming lane whose travel direction is opposite to that of the own lane in which the vehicle travels is present on a roadway including the own lane and a central division line that separates the own lane and the oncoming lane is not present or the central division line is not able to be detected,
• performing the first control preferentially using, among the road boundary lines on left and right sides of the roadway, the road boundary line on an own lane side over the road boundary line on an oncoming lane side.