CROSS-REFERENCE TO RELATED APPLICATION

Priority is claimed on Japanese Patent Application No. 2019-062677, filed Mar. 28, 2019, the content of which is incorporated herein by reference.

BACKGROUND

Field of the Invention

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

Description of Related Art

In recent years, studies of automated vehicle control have been conducted. In relation to this technology, the invention of a front vehicle detection device including a lane detector that detects a travel lane of an own vehicle, a front vehicle detector that detects a position of a front vehicle in the horizontal direction in front of the own vehicle, and a degree-of-interruption calculator that calculates the degree of interruption of the front vehicle detected by the front vehicle detection into an own lane detected by the lane detector (see Japanese Unexamined Patent Application, First Publication No. H7-230600).

SUMMARY

In the technology of the related art, an aspect of side movement of another vehicle is not sufficiently considered, adequacy of specifying of an interruption vehicle is not sufficient in some cases.

The present invention is devised in view of such circumstances and an objective of the present invention is to provide a vehicle control device, a vehicle control method, and a storage medium capable of specifying an interruption vehicle more appropriately.

A vehicle control device, a vehicle control method, and a storage medium according to the present invention adopt the following configurations.

(1) According to an aspect of the present invention, a vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle based on an output of an on-board sensor; an interruption vehicle specifier configured to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle. The recognizer recognizes an angle formed between a standard direction and a direction which is a direction of a vehicle body derived based on the output of the on-board sensor and is a direction of a vehicle body of another vehicle on a lateral side of the vehicle. The interruption vehicle specifier specifies the other vehicle as the interruption vehicle based on the angle recognized by the recognizer.

(2) In the vehicle control device according to the aspect (1), the interruption vehicle specifier may specify the other vehicle as the interruption vehicle when a change amount of the angle recognized by the recognizer is equal to or greater than a threshold.

(3) In the vehicle control device according to the aspect (1), the interruption vehicle specifier may specify the other vehicle as the interruption vehicle when a state in which a change amount of the angle recognized by the recognizer is equal to or greater than a threshold continues during a predetermined period.

(4) In the vehicle control device according to the aspect (1), the recognizer may recognize the angle based on a direction binding a first point which is inside the other vehicle and a second point which is in front of the first point of the vehicle and is in an outer edge of the vehicle.

(5) In the vehicle control device according to the aspect (1), the standard direction may be an extension direction of a travel lane in which there is the vehicle.

(6) In the vehicle control device according to the aspect (1), the interruption vehicle specifier may perform specifying the other vehicle as the interruption vehicle as a specifying process of a first stage based on the angle recognized by the recognizer and perform specifying the other vehicle as the interruption vehicle as a specifying process of a second stage when the other vehicle enters a prohibition range in front of the vehicle. The driving controller may cause a degree of control corresponding to the interruption vehicle to be larger with regard to the specified other vehicle when the other vehicle is specified as the interruption vehicle through the specifying process of the second stage than when the other vehicle is specified as the interruption vehicle through the specifying process of the first stage.

(7) In the vehicle control device according to the aspect (6), the driving controller may not launch the vehicle when the other vehicle is specified as the interruption vehicle through the specifying process of the second stage and the vehicle is stopping.

(8) In the vehicle control device according to the aspect (6), the interruption vehicle specifier may set the prohibition range based on a travel environment of the vehicle.

(9) In the vehicle control device according to the aspect (6), the interruption vehicle specifier may set the prohibition range using an area occupied by a lane as a standard.

(10) In the vehicle control device according to the aspect (6), the interruption vehicle specifier may lengthen a length of the prohibition range as a vehicle length of the interruption vehicle is longer.

(11) In the vehicle control device according to the aspect (1), the interruption vehicle specifier may operate when a speed of the vehicle is less than a predetermined speed.

(12) According to another aspect of the present invention, a vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle based on an output of an on-board sensor; an interruption vehicle specifier configured to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle. The recognizer recognizes a difference which is a difference of a side position derived based on the output of the on-board sensor and is a difference of a side position obtained as a distance between first and second standard portions of a vehicle body of the other vehicle which is on a lateral side of the vehicle in a road width direction. The interruption vehicle specifier specifies the other vehicle as the interruption vehicle based on the difference of a side position recognized by the recognizer.

(13) According to still another aspect of the present invention, a vehicle control device includes: a recognizer configured to recognize a surrounding situation of a vehicle; an interruption vehicle specifier configured to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result of the recognizer; and a driving controller configured to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle. The interruption vehicle specifier includes a first interruption vehicle specifier that specifies the interruption vehicle based on a side movement amount of another vehicle and a second interruption vehicle specifier that specifies the interruption vehicle based on a direction of a vehicle body of the other vehicle. The first interruption vehicle specifier operates when a speed of the vehicle is equal to or greater than a predetermined speed. Both the first interruption vehicle specifier and the second interruption vehicle specifier operate when the speed of the vehicle is less than the predetermined speed.

(14) According to still another aspect of the present invention, there is provided a vehicle control method causing a computer: to recognize a surrounding situation of a vehicle based on an output of an on-board sensor; to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result; to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle; to recognize an angle formed between a standard direction and a direction which is a direction of a vehicle body derived based on the output of the on-board sensor and is a direction of a vehicle body of another vehicle on a lateral side of the vehicle when the surrounding situation of the vehicle is recognized; and to specify the other vehicle as the interruption vehicle based on the recognized angle when the interruption vehicle is specified.

(15) According to still another aspect of the present invention, a storage medium that stores a program causing a computer: to recognize a surrounding situation of a vehicle based on an output of an on-board sensor; to specify an interruption vehicle attempting to interrupt a travel lane from a lateral side of the travel lane in which there is the vehicle based on a recognition result; to control at least one of an acceleration or deceleration speed or steering of the vehicle based on a position of the specified interruption vehicle; to recognize an angle formed between a standard direction and a direction which is a direction of a vehicle body derived based on the output of the on-board sensor and is a direction of a vehicle body of another vehicle on a lateral side of the vehicle when the surrounding situation of the vehicle is recognized; and to specify the other vehicle as the interruption vehicle based on the recognized angle when the interruption vehicle is specified.

According to the aspects (1) to (15), it is possible to specify an interruption vehicle more appropriately. By specifying the interruption vehicle based on a direction of the vehicle body, it is possible to specify the interruption vehicle in more travel scenarios.

According to the aspects (2) and (3), it is possible to specify an interruption vehicle with high precision while suppression erroneous detection.

According to the aspect (6), it is possible to perform stepwise control in accordance with emergency of the control.

