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 the surrounding conditions of the vehicle, and a driving control unit (140, 160) that performs passenger-independent driving based on the surrounding conditions recognized by the recognition unit. A first driving mode that is operated to control the steering and acceleration and deceleration of the vehicle or a second driving mode that is more dependent on the operation of the passenger than the first driving mode; and a switching control unit (142), When predetermined conditions are met, the first driving mode and the second driving mode are switched, and the driving control unit changes the traveling line of the vehicle from the vehicle traveling in the first driving mode. After the first traveling line is switched to the second traveling line in which the vehicle travels in the second driving mode, the driving mode of the vehicle is switched from the first driving mode to the second driving mode.

Description

Technical field [0001] The present 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 vehicles has been progressing. In connection with this, technology for preventing the occurrence of a gap between the traveling line during automatic driving of the vehicle and the traveling line during manual driving (that is, the traveling line assumed by the driver) has been disclosed (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, when the passenger starts manual driving, the driving line of the vehicle is positioned at the time of automatic driving based on the center position of the vehicle. Therefore, passengers cannot visually recognize the surrounding conditions of the vehicle in a ...

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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