Vehicle control device, vehicle control method, and storage medium

Abstract

The invention provides a vehicle control device, a vehicle control method, and a storage medium. The vehicle control device (100) includes a recognition unit (130) that recognizes a surrounding situation of a vehicle, a driving control unit (140, 160) that executes a first driving mode in which steering, and speed of the vehicle are controlled or a second driving mode in which a degree of dependence on the operation of the occupant is higher than the first driving mode on the basis of the surrounding situation recognized by the recognition unit, and a switching controller (142) that switches between the first driving mode and the second driving mode, wherein the driving control unit switches a traveling line of the vehicle from a first traveling line on which the vehicle travels in the first driving mode to a second traveling line on which the vehicle travels in the second driving mode and then switches a driving mode of the vehicle from the first driving mode to the second driving mode.

Description

technical field [0001] The invention relates to a vehicle control device, a vehicle control method and a storage medium. Background technique [0002] In recent years, research on automatically controlling a vehicle has progressed. In connection with this, there is disclosed a technique for preventing the occurrence of a gap between the vehicle's driving line during automatic driving and the driving line during manual driving (ie, the driving line assumed by the driver) (for example, Japanese Patent Application Laid-Open No. 2016-224594 ). However, in the conventional technology, although the center position of the vehicle does not coincide with the position where the passenger is seated, the vehicle's travel line is positioned at the time of automatic driving based on the center position of the vehicle when the passenger starts manual driving. Therefore, the passenger cannot visually recognize the surrounding conditions of the vehicle in a balanced manner. Contents of t...

AI Technical Summary

Problems solved by technology

However, in the conventional technology, although the center position of the vehicle does not coincide with the position where the passenger is seated, the driving line of the vehicle is positioned at the time of automatic driving based on the center position of the vehicle when the passenger starts manual driving. The driving line of the vehicle, so passengers cannot visually recognize the surrounding conditions of the vehicle in a balanced manner

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