Patent attributes
A vehicle control method includes recognizing an object, generating plurality of target trajectories which the vehicle travels using a plurality of models, and automatically controlling driving of the vehicle based on the target trajectory, the plurality of models include a first model which is a rule based model or a model based model, and a second model which is a machine learning based model, and the second target trajectory is selected, when the vehicle accelerates after a speed of the vehicle has been equal to or smaller than a predetermined value, under a condition in which driving of the vehicle is controlled based on a first target trajectory output by the first model and under a condition in which driving of the vehicle is controlled based on a second target trajectory output by the second model.
