Vehicle control device, vehicle control method, and storage medium

Abstract

A vehicle control device of the embodiments includes a recognizer, and a driving controller, in which the driving controller includes a lane change controller that changes lanes from a host vehicle traveling lane in which a 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.

What is claimed is: 
     
         1 . A vehicle control device comprising:
 a recognizer configured to recognize a peripheral status of a host vehicle; and   a driving controller configured to control one or both of steering and speed of the host vehicle on the basis of the peripheral status recognized by the recognizer or map information,   wherein the driving controller includes a lane change controller that changes lanes from a 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 performs 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 performed by the recognizer, 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.   
     
     
         2 . The vehicle control device according to  claim 1 ,
 wherein, when a lane change to another lane present in a direction opposite to an adjacent lane to which a lane change is stopped is performed on the basis of a position of the host vehicle, the driving controller makes the first period shorter than when a lane change is performed to the adjacent lane to which a lane change is stopped.   
     
     
         3 . The vehicle control device according to  claim 1 ,
 wherein, when a reason for changing lanes to the adjacent lane is guidance to a destination, the driving controller makes the first period shorter than in the case of another reason.   
     
     
         4 . The vehicle control device according to  claim 1 ,
 wherein, when a lane change from the host vehicle traveling lane of the host vehicle to the adjacent lane by the first operation is completed, the driving controller suppresses a lane change by the second operation within a second period shorter than the first period from a time of the completion.   
     
     
         5 . The vehicle control device according to  claim 1 , further comprising:
 an operation receiver configured to receive an intention of a lane change from the occupant,   wherein the driving controller executes a lane change by the first operation when the operation receiver has received the intention of the lane change.   
     
     
         6 . The vehicle control device according to  claim 1 ,
 wherein the second operation includes processing of determining whether it is possible to cause the host vehicle to change lanes from the host vehicle traveling lane to the adjacent lane.   
     
     
         7 . The vehicle control device according to  claim 1 ,
 wherein the driving controller changes the first period on the basis of a reason why changing lanes is stopped.   
     
     
         8 . The vehicle control device according to  claim 1 ,
 wherein the driving controller further includes a notification controller configured to notify the occupant of the reason why changing lanes is stopped when the lane change is stopped.   
     
     
         9 . The vehicle control device according to  claim 8 ,
 wherein the notification controller notifies the occupant that a lane change by the second operation becomes possible when a time for prohibiting the lane change by the second operation has elapsed.   
     
     
         10 . A vehicle control method comprising:
 by an in-vehicle computer,   recognizing a peripheral status of a host vehicle;   controlling one or both of steering and speed of the host vehicle on the basis of the recognized peripheral status or map information; and   changing lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane;   wherein control for changing lanes 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 the recognition of the peripheral status, and   when changing lanes is stopped at the time of execution of the first operation, the host vehicle is caused to continue traveling in the host vehicle traveling lane and a lane change by the second operation is prohibited within a first period including a distance or time from a first time at which changing lanes is stopped.   
     
     
         11 . A computer-readable non-transitory storage medium that stores a program causing an in-vehicle computer to execute recognizing a peripheral status of a host vehicle;
 controlling one or both of steering and speed of the host vehicle on the basis of the recognized peripheral status or map information; and   changing lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane;   wherein control for changing lanes 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 the recognition of a peripheral status, and   when changing lanes is stopped at the time of execution of the first operation, the host vehicle is caused to continue traveling in the host vehicle traveling lane and a lane change by the second operation is prohibited within a first period including a distance or time from a first time at which changing lanes is stopped.