A vehicle control method for a controller of a host vehicle comprising: determining, based on map information, whether a road section in which the host vehicle is travelling is a road section in which it is difficult for the host vehicle and a vehicle concerned to pass by each other; detecting the vehicle concerned is traveling toward the host vehicle on the road section and the vehicle concerned has stopped; determining the priority of the host vehicle and the vehicle concerned when the host vehicle and the vehicle concerned pass through the road section; characterized by : setting a specific time (T1;T2) from when the vehicle concerned stops to when the host vehicle starts action to avoid the vehicle concerned based on a first and second time threshold, the second threshold being smaller than the first threshold and wherein the threshold is set to the second threshold in a case where the priority of the host vehicle is lower than the priority of the vehicle concerned , and the threshold is set to the first threshold in a case where the priority of the host vehicle is higher than the priority of the vehicle concerned ; controlling the host vehicle to start action to avoid the vehicle concerned when the time since the vehicle concerned stopped becomes or exceeds the specified time (T1;T2) set in the setting step; and in that the priority is determined based on an attribute of the vehicle concerned ; and the priority is determined based on information on the surroundings of the vehicle concerned or the host vehicle . determining, based on map information, whether a road section in which the host vehicle is travelling is a road section in which it is difficult for the host vehicle and a vehicle concerned to pass by each other; detecting the vehicle concerned is traveling toward the host vehicle on the road section and the vehicle concerned has stopped; determining the priority of the host vehicle and the vehicle concerned when the host vehicle and the vehicle concerned pass through the road section; characterized by : setting a specific time (T1;T2) from when the vehicle concerned stops to when the host vehicle starts action to avoid the vehicle concerned based on a first and second time threshold, the second threshold being smaller than the first threshold and wherein the threshold is set to the second threshold in a case where the priority of the host vehicle is lower than the priority of the vehicle concerned , and the threshold is set to the first threshold in a case where the priority of the host vehicle is higher than the priority of the vehicle concerned ; controlling the host vehicle to start action to avoid the vehicle concerned when the time since the vehicle concerned stopped becomes or exceeds the specified time (T1;T2) set in the setting step; and in that the priority is determined based on an attribute of the vehicle concerned ; and the priority is determined based on information on the surroundings of the vehicle concerned or the host vehicle . setting a specific time (T1;T2) from when the vehicle concerned stops to when the host vehicle starts action to avoid the vehicle concerned based on a first and second time threshold, the second threshold being smaller than the first threshold and wherein the threshold is set to the second threshold in a case where the priority of the host vehicle is lower than the priority of the vehicle concerned , and the threshold is set to the first threshold in a case where the priority of the host vehicle is higher than the priority of the vehicle concerned ; controlling the host vehicle to start action to avoid the vehicle concerned when the time since the vehicle concerned stopped becomes or exceeds the specified time (T1;T2) set in the setting step; and in that the priority is determined based on an attribute of the vehicle concerned ; and the priority is determined based on information on the surroundings of the vehicle concerned or the host vehicle . <EOS>