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|1. (WO2017022448) VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND VEHICLE CONTROL PROGRAM|
|Applicants:||HONDA MOTOR CO., LTD.
|Title:||VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND VEHICLE CONTROL PROGRAM|
This vehicle control device is provided with a first detection unit which detects peripheral vehicles travelling in the periphery of the vehicle, a control plan generation unit which generates a vehicle control plan on the basis of the peripheral vehicles, a travel control unit which, on the basis of the control plan, controls the vehicle acceleration, deceleration or steering. The control plan generation unit generates a vehicle control plan on the basis of those of the one or more of the peripheral vehicles detected by the first detection unit that fulfill a prescribed condition, and if peripheral vehicles that fulfill the prescribed condition cannot be detected, generates a vehicle control plan by configuring virtual vehicles modeled virtually on peripheral vehicles that fulfill the prescribed condition.