Patent attributes
Provided is a vehicle control apparatus (100) which includes a recognition unit (130) configured to recognize a surrounding situation of a vehicle, and driving control units (140 and 160) configured to automatically control acceleration or deceleration and steering of the vehicle on the basis of a surrounding situation recognized by the recognition unit, in which, in a case that a stop position of the vehicle is recognized in the traveling direction of the vehicle by the recognition unit, and a traffic participant proceeding at a speed lower than the speed of the vehicle in the traveling direction is recognized in front of the stop position, the driving control unit determines whether the traffic participant catches up with the vehicle before the vehicle reaches the stop position, and determines to cause the vehicle to reach further ahead of the traffic participant in the traveling direction on the basis of a result of the determination.
