VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM THAT PERFORMS RISK CALCULATION FOR TRAFFIC PARTICIPANT

摘要

A vehicle control device includes a peripheral recognition unit configured to recognize a peripheral status of a vehicle including a position of a traffic participant present in a periphery of the vehicle on the basis of an output of an in-vehicle device, an estimation unit configured to estimate a peripheral attention ability of the traffic participant on the basis of an output of the in-vehicle device, and a risk area setting unit configured to set a risk area of the traffic participant on the basis of a result of the estimation performed by the estimation unit.