| CPC B60W 50/082 (2013.01) [B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); 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 medium having computer-readable instructions stored therein; and
a processor connected to the storage medium,
wherein the processor executes the computer-readable instructions, to thereby
acquire a camera image obtained by imaging a peripheral situation of a vehicle,
control steering and acceleration or deceleration of the vehicle on the basis of the camera image and map information irrespective of an operation of a driver of the vehicle,
determine a driving mode of the vehicle to be any of a plurality of driving modes including a first driving mode and a second driving mode and change the driving mode of the vehicle to a more task-intensive driving mode in a case where a task related to the determined driving mode is not executed by the driver, the second driving mode being a driving mode in which a task imposed on the driver is lighter than in the first driving mode, and some of the plurality of driving modes including at least the second driving mode being controlled irrespective of the operation of the driver of the vehicle,
calculate a margin for the vehicle to continue traveling in the second driving mode on the basis of a speed of the vehicle and a distance to an intersection between a map road centerline indicated in the map information and any one of map road partition lines on both sides, and
determine whether the processor causes the vehicle to continue the second driving mode referring to the map road centerline on the basis of the margin when the vehicle is traveling in the second driving mode referring to the map road centerline.
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