Patent attributes
A vehicle control device performs first control for causing a vehicle to perform lane change to a fourth lane adjacent to a third lane by causing the vehicle to pass through an area between a first other vehicle and a second other vehicle in a traveling direction and an area between a third other vehicle and a fourth other vehicle in the traveling direction, when it is determined that a relationship between the first other vehicle and the vehicle satisfies a first condition, a relationship between the second other vehicle and the vehicle satisfies a second condition stricter than the first condition, a relationship between the third other vehicle and the vehicle satisfies a third condition stricter than the first condition, and a relationship between the fourth other vehicle and the vehicle satisfies a fourth condition stricter than the second condition and the third condition.
