VEHICLE CONTROL METHOD, VEHICLE CONTROL SYSTEM, AND VEHICLE CONTROL PROGRAM

A vehicle control method controls a vehicle adapted to automated valet parking in a parking lot. The vehicle control method includes a localization process of estimating a vehicle position of the vehicle in the parking lot based on a detection result by a sensor mounted on the vehicle. The vehicle control method further includes a process of accumulating an estimation error of the vehicle position estimated through the localization process. The vehicle control method further includes a first margin setting process of setting a margin distance to be longer than a default value by a correction value that reflects a variance of distribution of the estimation error. The vehicle control method further includes a vehicle stop process of controlling the vehicle such that the vehicle stops the margin distance before a specified stop position in the parking lot based on the vehicle position estimated through the localization process.