VEHICLE CONTROL DEVICE, CONTROL METHOD, AND STORAGE MEDIUM

原文（中国語）

A vehicle control device includes a trajectory generation unit configured to, in a case where the intersection is a multi-way intersection, and an intersection angle between a first road including the entry position and a second road including the exit position is within a first angle range including 180 degrees, specify, based on a recognition result, a first reference point which is an end point of a boundary between the first road and the intersection on one side in a width direction of the first road, and a second reference point which is an end point of a boundary between the second road and the intersection on one side in a width direction of the second road, derive, based on the first and second reference point, a first reference line passing through the first and second reference point, and generate the travel trajectory based on the first reference line.