At least one processor of a vehicle is configured to execute at least one program to: generate a speed plan for a first travel route from a blind spot elimination position to a position specified by a control standby condition, the speed plan specifying a speed of the vehicle for a position on the first travel route so as to meet a requirement that the vehicle be decelerated at a predetermined allowable deceleration or less for a predetermined time from the blind spot elimination position to satisfy the control standby condition; and instruct, for a second travel route from a current position of the vehicle to the blind spot elimination position, the vehicle to travel along the second travel route by autonomous driving so as to cause the vehicle to reach a speed specified by the speed plan at the blind spot elimination position.