CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit from Japanese Patent Application No. 2018-246633, filed on Dec. 28, 2018, the contents of which are hereby incorporated by reference into the present application.

BACKGROUND

Field of the Invention

The present invention relates to a vehicle control system, a vehicle control method, and a storage medium.

Description of Related Art

Conventionally, a technology of detecting that a vehicle is in a parking state during operation of a wiper and stopping the wiper in the parking state is known (for example, see Japanese Patent Application Publication No. 2018-70099).

Conventionally, a technology of controlling operation of a wiper depending on a surrounding situation of a vehicle is known (for example, see Japanese Patent Application Publication No. 2016-150688).

Conventionally, a technology of minimizing raindrops on a front window of an automobile, splashing toward pedestrians or the like when a wiper blade restarts moving during restart of an engine is known (for example, see Japanese Patent Application Publication No. 2010-143499).

SUMMARY

However, when a vehicle controlled by automated driving goes to meet an occupant, if a wiper operates actively in a place where occupants board or alight, water drops may splash onto a person present in that place.

The present invention has been made in consideration of these circumstances and one object thereof is to provide a vehicle control system, a vehicle control method, and a storage medium capable of controlling a wiper to an appropriate degree depending on a situation of a vehicle.

A vehicle control system, a vehicle control method, and a storage medium according to the present invention employ the following configuration.

(1) A vehicle control system according to an aspect of the present invention includes: a recognizer that recognizes a surrounding environment of a vehicle; a driving controller that performs speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result obtained by the recognizer; and a wiper controller that controls a wiper attached to a window of the vehicle, wherein the wiper controller changes a degree of operation of the wiper according to a boarding position and a degree of approach when the vehicle moves to the boarding position at which an occupant boards the vehicle after the vehicle starts traveling under the control of the driving controller or when the vehicle starts traveling to move away from the boarding position under the control of the driving controller after the occupant alights from the vehicle.

(2) In aspect (1), the wiper controller changes a degree of operation of the wiper according to an approach of the vehicle to a position at which the occupant boards the vehicle when the driving controller stops the vehicle to allow the occupant to board the vehicle after causing the vehicle to start traveling from a state in which the vehicle is parked.

(3) In aspect (1), the wiper controller changes a degree of operation of the wiper according to an approach of the vehicle to a position at which the occupant boards the vehicle when the driving controller stops the vehicle to allow the occupant to board the vehicle after causing the vehicle to start traveling from a state in which the vehicle is parked in an unmanned parking area, and the position at which the occupant boards the vehicle is a boarding area determined in advance in correspondence to the unmanned parking area.

(4) In aspect (1), the wiper controller changes a degree of operation of the wiper according to an approach of the vehicle to a stopping area when the driving controller stops the vehicle in a stopping area having eaves to allow the occupant to board the vehicle after causing the vehicle to start traveling.

(5) In aspect (1), the wiper controller decreases the degree of operation of the wiper when the recognizer recognizes a person around the position at which the occupant boards the vehicle as compared to when no person is recognized.

(6) In aspect (5), the wiper controller decreases the degree of operation of the wiper on a side in front of a position of the person recognized by the recognizer.

(7) In aspect (5), the wiper controller restores the degree of operation of the wiper to an original state after the occupant boards the vehicle when the person recognized by the recognizer is only the occupant of the vehicle.

(8) In aspect (7), the wiper controller decreases a degree of restoring the degree of operation of the wiper to an original state when the person recognized by the recognizer is not only the occupant of the vehicle as compared to when the recognized person is only the occupant of the vehicle.

(9) In aspect (1), the wiper controller causes the wiper to wipe the window before changing the degree of operation of the wiper.

(10) In aspect (1), the wiper controller changes the degree of operation of the wiper on the basis of a position of eaves and an approach to the boarding position when the recognizer recognizes that the eaves are present at the position at which the occupant boards the vehicle.

(11) A vehicle control method according to an aspect of the present invention causes a computer to execute: recognizing a surrounding environment of a vehicle; performing speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result; controlling a wiper attached to a window of the vehicle; and changing a degree of operation of the wiper according to a boarding position and a degree of approach when the vehicle moves to the boarding position at which the occupant boards the vehicle after the vehicle starts traveling or when the vehicle starts traveling to move away from the boarding position after the occupant alights from the vehicle.

(12) A storage medium according to an aspect of the present invention stores a program for causing a computer to execute: recognizing a surrounding environment of a vehicle; performing speed control and steering control of the vehicle regardless of an operation of an occupant on the basis of a recognition result; controlling a wiper attached to a window of the vehicle; and changing a degree of operation of the wiper according to a boarding position and a degree of approach when the vehicle moves to the boarding position at which the occupant boards the vehicle after the vehicle starts traveling or when the vehicle starts traveling to move away from the boarding position after the occupant alights from the vehicle.

According to aspects (1) to (12), it is possible to control the wiper to an appropriate degree depending on a situation of a vehicle.

According to aspects (5) and (6), it is possible to prevent raindrops wiped away by the wiper from being splashed to a person.

According to aspect (7), it is possible to provide satisfactory visibility to an occupant immediately after getting in a vehicle.

According to aspect (8), it is possible to prevent raindrops wiped away by the wiper from being splashed to a person even after an occupant boards a vehicle.

According to aspect (9), it is possible to suppress the degree of blocking the visibility due to change in wiper sensitivity as much as possible.

