Vehicle control device, vehicle control method, and program

A vehicle control method comprising:

• by way of a computer,
• recognizing a curve of a travel lane of a self-vehicle;
• performing a curve departure mitigation control of the self-vehicle when it is detected that the self-vehicle is likely to depart from the curve of the travel lane;
• and
• determining an end possibility of the curve departure mitigation control based on a vehicle body end portion of the self-vehicle and a departure-side lane line of the travel lane which is at a minimal distance with respect to the vehicle body end portion when determining the end possibility by an undershoot state in which a departure state of the self-vehicle is equal to or more than a predetermined state and an overshoot state in which the departure state of the self-vehicle is equal to or less than the predetermined state.

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

• recognize a curve of a travel lane of a self-vehicle;
• perform a curve departure mitigation control of the self-vehicle when it is detected that the self-vehicle is likely to depart from the curve of the travel lane;
• and
• determine an end possibility of the curve departure mitigation control based on a vehicle body end portion of the self-vehicle and a departure-side lane line of the travel lane which is at a minimal distance with respect to the vehicle body end portion when determining the end possibility by an undershoot state in which a departure state of the self-vehicle is equal to or more than a predetermined state and an overshoot state in which the departure state of the self-vehicle is equal to or less than the predetermined state.