Vehicle Control Device And Vehicle Control Method

Abstract: Provided is a vehicle control device provided with a function enabling proper setting of a travel procedure for resuming travel after a host vehicle has executed a turnout. The invention comprises: a candidate region determination unit (12) for determining a passable region (601) that is a region through which a host vehicle (2) and an oncoming vehicle (600) in the periphery of the host vehicle are able to pass on a road that includes a region through which the host vehicle (2) and the oncoming vehicle (600) are unable to pass; an action plan determination unit (13) for determining an action plan indicating an order of action steps (602, 605) for the host vehicle (2); a trajectory generation unit (14) for generating a travel trajectory for the host vehicle (2) in the passable region; an action plan update unit (15) able to update the action plan on the basis of the location of the oncoming vehicle (600) in the passable region (601) and the travel trajectory of the host vehicle generated by the trajectory generation unit (14); and a travel control unit (16) for controlling travel by the host vehicle (2) in accordance with the action plan.

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