Vehicle control device, vehicle control method, and program using robust planning with improved other vehicle prediction

A vehicle control method to be executed by a computer, the vehicle control method comprising:

• acquiring a plurality of predicted trajectories of another vehicle traveling near an own vehicle;
• selecting two predicted trajectories from among the plurality of predicted trajectories based on a first target trajectory of the own vehicle;
• establishing a final predicted trajectory of another vehicle out of the selected two predicted trajectories based on at least one of an occurrence probability and risk value of the selected two predicted trajectories;
• generating a second target trajectory of the own vehicle based on the established final predicted trajectory;
• and
• controlling travel of the own vehicle according to the second target trajectory.

A non-transitory computer-readable storage medium having stored thereon a program for causing a computer to:

• acquire a plurality of predicted trajectories of another vehicle traveling near an own vehicle;
• select two predicted trajectories from among the plurality of predicted trajectories based on a first target trajectory of the own vehicle;
• establish a final predicted trajectory of another vehicle out of the selected two predicted trajectories based on at least one of an occurrence probability and risk value of the selected two predicted trajectories;
• generate a second target trajectory of the own vehicle based on the established final predicted trajectory;
• and
• control travel of the own vehicle according to the second target trajectory.