Method for Controlling Vehicle and Vehicle Control Device

A method for controlling a vehicle including: based on map information including information of an installation position of a traffic light and information of a lane controlled by the traffic light and a range of the angle of view of a camera mounted on the own vehicle, calculating an imaging-enabled area in which an image of the traffic light can be captured on the lane by the camera; determining whether or not the own vehicle is positioned in the imaging-enabled area; and when the own vehicle is positioned in the imaging-enabled area, controlling the own vehicle in such a way that the traffic light is not shielded from the range of the angle of view of the camera by a preceding vehicle of the own vehicle.