US Patent 11505193 Vehicle control apparatus, vehicle control method, and storage medium

A vehicle control apparatus includes a recognizer which is configured to recognize a surrounding environment of a host vehicle and a driving controller which is configured to perform automated driving on the basis of a recognition result of the recognizer, wherein the driving controller is configured to perform passing control of causing the host vehicle to pass a preceding vehicle if at least one of a first condition according to a relative speed of the host vehicle with respect to the preceding vehicle and a second condition according to a type of the preceding vehicle is satisfied when the recognizer recognizes the preceding vehicle, and is configured to curb the passing control by changing at least one of the first condition and the second condition when a continuity of a first route on which the host vehicle is traveling decreases.