Vehicle control device, vehicle control method, and storage medium

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

• determining a path of a vehicle according to a situation of the vehicle;
• executing at least one of steering control and speed control of the vehicle such that the vehicle travels along the determined path;
• and
• determining the path of the vehicle using one of a plurality of determination modes,
• wherein the plurality of determination modes include a first mode in which, when a road shape with a plurality of path candidates exists in a traveling direction of the vehicle and a destination of the vehicle has been set, a path in a direction of the destination is determined from among the plurality of path candidates, and a second mode in which, when the road shape exists and a destination of the vehicle has not been set, a path for the vehicle to travel is determined from among the plurality of path candidates according to a condition based on a predetermined road standard.

A non-transitory computer-readable storage medium that stores a program, the program causing a computer to execute:

• determining a path of a vehicle according to a situation of the vehicle;
• executing at least one of steering control and speed control of the vehicle such that the vehicle travels along the determined path;
• and
• determining the path of the vehicle using one of a plurality of determination modes,
• wherein the plurality of determination modes include a first mode in which, when a road shape with a plurality of path candidates exists in a traveling direction of the vehicle and a destination of the vehicle has been set, a path in a direction of the destination is determined from among the plurality of path candidates, and a second mode in which, when the road shape exists and a destination of the vehicle has not been set, a path for the vehicle to travel is determined from among the plurality of path candidates according to a condition based on a predetermined road standard.