TECHNICAL FIELD

The present invention relates to a vehicle control device, a vehicle control method, and a program.

Priority is claimed on Japanese Patent Application No. 2016-253952, filed Dec. 27, 2016, the content of which is incorporated herein by reference.

BACKGROUND ART

Recently, automated driving of a vehicle has been studied. Among techniques associated with automated driving, there are techniques for performing automated driving for driving support in some road sections. In this regard, a technique associated with automated driving in which a driving mode is switched between a manual driving mode in which a driver's driving operation is necessary and an automated driving mode is known (see Patent Literature 1).

CITATION LIST

Patent Literature

[Patent Literature 1]

Japanese Unexamined Patent Application, First Publication No. 2016-137819

SUMMARY OF INVENTION

Technical Problem

In the related art, there is a likelihood that abrupt steering or sudden acceleration or deceleration will occur after manual driving has been switched to automated driving.

The invention is made in consideration of the above-mentioned circumstances and an objective thereof is to provide a vehicle control device, a vehicle control method, and a program that can realize smooth switching to automated driving.

Solution to Problem

(1) A vehicle control device includes an automated driving control unit configured to execute automated driving of a vehicle and an acquisition unit configured to acquire movement states in a running direction and a lateral direction of the vehicle, wherein, when automated driving has been started by switching from manual driving, the automated driving control unit is configured to execute automated driving such that the movement states which have been acquired by the acquisition unit before the automated driving has been started are maintained for a predetermined time or a predetermined distance.

(2) In the vehicle control device according to (1), the automated driving control unit may start lane change after the vehicle has run a predetermined distance or a predetermined time in a case in which there is necessity for lane change due to branching when automated driving has been started by switching from manual driving.

(3) The vehicle control device according to (2) may further include an output unit configured to output information and an output control unit configured to cause the output unit to output information indicating that a lane on which the vehicle is running is different from a preset lane when the lane on which the vehicle is running is different from the preset lane after the automated driving control unit has started automated driving by switching from manual driving.

(4) In the vehicle control device according to any one of (1) to (3), the automated driving control unit may smoothly change a speed of the vehicle until the speed reaches a target speed when the vehicle is accelerating or decelerating after automated driving has been started.

(5) A vehicle control method causes a computer to perform: executing automated driving of a vehicle; acquiring movement states in a running direction and a lateral direction of the vehicle; and executing automated driving such that, when automated driving has been started by switching from manual driving, the movement states which have been acquired before automated driving has been started are maintained for a predetermined time or a predetermined distance.

(6) A program causes a computer to perform: executing automated driving of a vehicle; acquiring movement states in a running direction and a lateral direction of the vehicle; and executing automated driving such that, when automated driving has been started by switching from manual driving, the movement states which have been acquired before automated driving has been started are maintained for a predetermined time or a predetermined distance.

Advantageous Effects of Invention

According to (1), (5), and (6), it is possible to realize smooth switching to automated driving when manual driving is switched to automated driving and to prevent a driver from feeling a sense of incompatibility.

According to (2), by setting a corrected target path in an automated driving transition section, it is possible to inhibit behavior such as abrupt lane change or acceleration or deceleration of a host vehicle.

According to (3), when a host vehicle is running on an alternative lane in an automated driving transition section, information indicating that a lane on which the host vehicle is running is different from a preset lane is displayed for a driver and thus the driver can cope with behavior of the host vehicle after automated driving has been started.

According to (4), when the host vehicle is accelerating or decelerating after automated driving has been started, a speed of the host vehicle is smoothly changed until the speed reaches a target speed and thus it is possible to prevent abrupt acceleration or deceleration of the host vehicle.

