Vehicle control device, vehicle control method, and storage medium

Abstract

Provided are a vehicle control device capable of executing more appropriate driving control, a vehicle control method, and a storage medium. The vehicle control device according to an embodiment is provided with: a recognizer that recognizes a surrounding condition of a host vehicle; and a driving controller configured to control one or both of the steering and speed of the host vehicle on the basis of the peripheral status recognized by the recognizer or map information. The driving controller includes a lane change controller that changes lanes from the host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, the lane change controller includes a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of recognition, and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits a lane change by the second operation within a first period including a distance or time from a first time at which changing lanes is stopped.

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 known a technique that, when it is determined that there is no collision with another vehicle traveling on the target lane, executes control to support a lane change to the target lane, and prohibits the support to move in a specific direction after the lane change. Carry out new lane change control on adjacent lanes (for example, Japanese Patent Application Laid-Open No. 2019-1184). [0003] However, in the conventional technology, the control when the lane change is not completed is not considered. Therefore, appropriate driving control cannot be performed sometimes. Contents of the invention [0004] The aspects of the present invention have been made in consideration of such circumstances, and one of the ...

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Problems solved by technology

[0003] However, in the prior art, the control when the lane change is not completed is not considered

Therefore, it is sometimes impossible to perform proper driving control

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