| CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 30/182 (2013.01); B60W 40/06 (2013.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02); B60W 2556/40 (2020.02)] | 15 Claims |
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1. A vehicle control device comprising:
a recognizer configured to recognize a surrounding situation of a vehicle;
a driving controller configured to control one or both of steering and speed of the vehicle on the basis of the surrounding situation recognized by the recognizer;
an acquirer configured to acquire map information including lane information near the vehicle and reference information for identifying a position of the vehicle; and
an identifier configured to identify a traveling lane of the vehicle out of one or more lanes included in a road on which the vehicle is traveling from the map information on the basis of the reference information,
wherein the identifier is configured to set a reference lane on which the vehicle travels on the basis of the number of lanes of the road acquired from the map information and type information of lane markings near the vehicle recognized by the recognizer or information of an object capable of identifying a lane position and to identify the traveling lane of the vehicle on the basis of the set reference lane, behavior of the vehicle, and an increase or decrease in the number of lanes of the road,
wherein the driving controller is configured to cause the vehicle to travel by operating in one of a plurality of driving modes including at least a first driving mode and a second driving mode in which a heavier task than that in the first driving mode is imposed on an occupant of the vehicle,
wherein the driving controller is configured to perform the first driving mode when the traveling lane of the vehicle is identified by the identifier, and
wherein the driving controller is configured to perform the second driving mode when the traveling lane of the vehicle is not identified by the identifier.
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