A vehicle control device includes a vicinity situation recognizer configured to recognize a vicinity situation of a vehicle, and a driving controller configured to perform driving control on steering and acceleration or deceleration of the vehicle on the basis of a vicinity situation recognized by the vicinity situation recognizer, in which, in automated entrance processing for causing the vehicle to enter a parking lot with the driving control after a predetermined event of the vehicle, the driving controller is configured to cause the vehicle to travel with a first behavior in a first predetermined period from a first timing at which the vehicle has started to a second timing at which a predetermined condition is satisfied, and cause the vehicle to travel with a second behavior in which a proceeding distance per unit time is longer than with the first behavior.
VEHICLE CONTROL DEVICE, MONITORING SYSTEM, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM
2020-09-24
Patent
Electronic Resource
English
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