| CPC B60W 60/005 (2020.02) [G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2556/40 (2020.02); B60W 2710/20 (2013.01); B60W 2720/106 (2013.01)] | 12 Claims |
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1. A vehicle control device, comprising:
a storage device storing a program; and
a hardware processor executing the program stored in the storage device to:
recognize a surrounding situation of a vehicle;
determine whether or not the surrounding situation includes a road division line;
control steering and acceleration/deceleration of the vehicle based on the recognized surrounding situation and map information without depending on an operation performed by a driver of the vehicle;
determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode, wherein the second driving mode is a driving mode in which a load of a task imposed on the driver is smaller than a load of a task imposed in the first driving mode, wherein a part of the plurality of driving modes including at least the second driving mode is performed by controlling steering and acceleration/deceleration of the vehicle without depending on an operation performed by the driver of the vehicle, and wherein when a task in the determined driving mode is not performed by the driver, the driving mode of the vehicle is changed to a driving mode imposing a larger task load; and
set, when the vehicle is traveling in the second driving mode, the surrounding situation is determined not to include a road division line, and a preceding vehicle is recognized within a first predetermined distance in a traveling direction of the vehicle, a longer traveling continuation distance in the second driving mode using the map information than when the surrounding situation is determined not to include a road division line and the preceding vehicle is not recognized,
wherein, when the surrounding situation is determined not to include a road division line, the hardware processor determines whether both of the road division lines of the vehicle are not included or only one of the road division lines of the vehicle is not included,
wherein, when both of the road division lines of the vehicle are determined not to be included, the preceding vehicle is recognized within the first predetermined distance in the traveling direction of the vehicle, and a degree of parallelism between a road division line in the map information and a trajectory of the preceding vehicle is equal to or smaller than a threshold value, the hardware processor sets a longer traveling continuation distance in the second driving mode using the map information than when the degree of parallelism is larger than the threshold value,
wherein when one of the road division lines of the vehicle is determined not to be included, a deviation between a road division line in the map information and the other road division line included in the surrounding situation is determined to be equal to or smaller than a threshold value, and the preceding vehicle is recognized within the first predetermined distance in the traveling direction of the vehicle, the hardware processor continues traveling of the vehicle in the second driving mode, and
wherein a smaller value of the degree of parallelism indicates that the road division line in the map information and the trajectory of the preceding vehicle are more parallel to each other.
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