Vehicle control device, vehicle control method, and program

A vehicle control method comprising:

• by way of a computer,
• recognizing a travel lane of a self-vehicle;
• performing, when it is detected that the self-vehicle is likely to depart from the travel lane, a first departure mitigation control when the travel lane from which the self-vehicle is likely to depart is a straight road;
• performing a second departure mitigation control when the travel lane from which the self-vehicle is likely to depart is a curve;
• determining whether or not it is possible to end the departure mitigation control by a first end condition which is an end condition of the first departure mitigation control and a second end condition which is an end condition of the second departure mitigation control;
• and
• setting the second end condition to be less likely to be established than the first end condition.

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

• recognize a travel lane of a self-vehicle;
• perform, when it is detected that the self-vehicle is likely to depart from the travel lane, a first departure mitigation control when the travel lane from which the self-vehicle is likely to depart is a straight road;
• perform a second departure mitigation control when the travel lane from which the self-vehicle is likely to depart is a curve;
• determine whether or not it is possible to end the departure mitigation control by a first end condition which is an end condition of the first departure mitigation control and a second end condition which is an end condition of the second departure mitigation control;
• and
• set the second end condition to be less likely to be established than the first end condition.