| CPC B60W 30/12 (2013.01) [B60W 30/182 (2013.01); G06T 7/246 (2017.01); G06T 7/68 (2017.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2540/00 (2013.01); B60W 2552/53 (2020.02); G06T 2207/30256 (2013.01)] | 11 Claims |
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1. A vehicle control device comprising:
a processor that executes instructions to:
recognize a surrounding situation of a vehicle including a first marking associated with a traveling lane of the vehicle on the basis of an output from a detection device having detected the surrounding situation of the vehicle;
recognize a second marking associated with a lane near the vehicle from map information on the basis of position information of the vehicle;
control one or both of steering and speed of the vehicle on the basis of results of recognition of the surrounding situation and recognition of the second marking; and
determine a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode in which a task which is imposed on an occupant of the vehicle is heavier than the task of the first driving mode,
wherein some of the plurality of driving modes including at least the first driving mode are controlled, and
wherein the processor is configured to perform:
determining whether to refer to the map information on the basis of a first result of determination indicating whether the first marking and the second marking match and a second result of determination indicating whether there is a separation between two of the second markings;
determining whether or not to execute each of a plurality of predetermined driving support functions based on a driving mode to be executed among the plurality of driving modes, the first result of determination, the second result of determination, whether or not to refer to the map information, and information on a marking that is used as a reference when the driving mode is executed among the first marking and the second marking; and
setting details of driving support which are able to be executed to be different between a first state in which the map information is referred to and a second state in which the map information is not referred to when the first driving mode based on the first marking is executed.
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