Abstract: A vehicle controller includes a first detector that detects a traveling state of a host vehicle, a second detector that detects a traveling state of an other vehicle that travels along a main lane when the host vehicle is traveling along a merging road, a marking line recognizer that recognizes a marking line of the main lane, and a merging controller that performs merging control of the host vehicle into the main lane based on a transverse moving situation of the other vehicle detected by the second detector, wherein, when a marking line of the main lane is unable to be recognized by the marking line recognizer, the merging controller delays starting of the merging control in comparison with a case in which the marking line of the main lane is able to be recognized by the marking line recognizer.

Abstract: When a vehicle heads from a first road toward a second road which at least partially intersects with the first road while traveling, other vehicle heads from the second road to a first road side, and a future trajectory in which the vehicle travels and a future trajectory in which the other vehicle travels intersect with each other, a vehicle control device determines whether to cause the vehicle to pass through an intersection area in which the first road and the second road intersect with each other with priority over the other vehicle on the basis of the state of the vehicle and the future position of the other vehicle and controls the vehicle on the basis of a result of the determination.

Abstract: A vehicle control device includes a driving controller. In a case in which the own vehicle is traveling in a third lane connected to a first lane of a main lane including at least the first lane and a second lane adjacent to the first lane and enters the first lane, the driving controller is configured to determine that the own vehicle is able to join the first lane when another vehicle traveling on a side of the own vehicle in the first lane is predicted to change a lane to the second lane, and determine that the own vehicle is not able to join the first lane when the other vehicle is predicted not to change the lane to the second lane and the other vehicle is not decelerating or accelerating. The driving controller is configured to control the own vehicle according to a determination result.