VEHICLE CONTROLLER AND METHOD FOR CONTROLLING VEHICLE

A vehicle controller includes a processor configured to: detect a lane being traveled by the vehicle, set a planned trajectory to be traveled by the vehicle along the detected lane, detect a lane line demarcating the lane being traveled by the vehicle and an obstacle in an area around the vehicle, identify an effective section of the planned trajectory, the effective section being a section in which the planned trajectory and the detected lane line match, and control motion of the vehicle to avoid a collision between the obstacle and the vehicle in the case that the obstacle is located in the effective section and on the planned trajectory.