Vehicle control apparatus, vehicle control method, and program

1. A vehicle control apparatus, comprising:

a road recognizer that recognizes a road form around a vehicle;

a second-vehicle recognizer that recognizes a state of another vehicle around the vehicle; and

a driving controller that allows the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle and that prevents, upon passing of the vehicle through an intersection, passing of the vehicle through the intersection based on a presence of the other vehicle recognized by the second-vehicle recognizer,

wherein in a case where the driving controller recognizes, by the road recognizer, that a plurality of lanes are present in a road of a right/left turn destination of the vehicle, the driving controller continues an entry control to the road of the right/left turn destination of the vehicle and

in a case where the second-vehicle recognizer recognizes that the other vehicle which was the opposing vehicle has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, the driving controller controls the vehicle to enter a lane on a more front side than the lane that the other vehicle which was the opposing vehicle has entered.

2. The vehicle control apparatus according to claim 1 ,

wherein the road recognizer recognizes a median strip on the road and recognizes the lane of the right/left turn destination based on a position of the recognized median strip.

3. The vehicle control apparatus according to claim 1 ,

wherein in a case where it is impossible for the road recognizer to recognize a median strip, the driving controller allows the vehicle to travel, as a target lane of a right/left turn, on a most distant lane in the view from the vehicle among the plurality of lanes of the right/left turn destination across an opposing lane.

4. The vehicle control apparatus according to claim 3 ,

wherein the road recognizer recognizes, among corners that are present at an intersection at which the vehicle turns right or left across the opposing lane, a position of a corner that corresponds to an end part of a road of the right/left turn destination across the opposing lane, the end part being on a far side in the view from the vehicle, and

the driving controller controls the vehicle to enter the most distant lane in the view from the vehicle among the plurality of lanes of the road of the right/left turn destination across the opposing lane using the position of the corner recognized by the road recognizer as a reference.

5. The vehicle control apparatus according to claim 1 ,

wherein the road of the right/left turn destination is a destination of a right/left turn across an opposing lane.

6. The vehicle control apparatus according to claim 1 ,

wherein in a case where the second-vehicle recognizer recognizes that the other vehicle, which was an opposing vehicle approaching from a direction opposing the vehicle, has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, the driving controller continues an entry control to the road of the right/left turn destination of the vehicle.

7. The vehicle control apparatus according to claim 1 ,

wherein in a case where a plurality of lanes of a first road before a right/left turn are present, and a plurality of lanes of a second road of the right/left turn destination are present, the driving controller allows the vehicle to enter, as a target lane of a right/left turn, a lane that corresponds to the vehicle in the first road among the lanes of the second road.

8. The vehicle control apparatus according to claim 7 ,

wherein in a case where a plurality of lanes of a first road before a right/left turn are present, and a plurality of lanes of a second road of the right/left turn destination are present, when the lane in which the vehicle traveled on the first road is an n-th (n is an arbitrary natural number) lane counted from a lane farthest from an opposing lane in a proceeding direction among the lanes of the second road, the driving controller allows the vehicle to enter, as a target lane of a right/left turn, an n-th lane counted from a lane farthest from an opposing lane in a proceeding direction also in a road of a right/left turn destination.

9. A vehicle control method, comprising:

by way of a road recognizer, recognizing a road form around a vehicle;

by way of a second-vehicle recognizer, recognizing a state of another vehicle around the vehicle; and

by way of a driving controller, allowing the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle, preventing, upon passing of the vehicle through an intersection, passing of the vehicle through the intersection based on a presence of the other vehicle recognized by the second-vehicle recognizer, and in a case where the road recognizer recognizes that a plurality of lanes are present in a road of a right/left turn destination of the vehicle and the second-vehicle recognizer recognizes that the other vehicle, which was an opposing vehicle approaching from a direction opposing the vehicle, has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, continuing an entry control to the road of the right/left turn destination of the vehicle.

10. A computer-readable non-transitory recording medium which comprises a program that causes a computer, comprising a processor, mounted on a vehicle comprising a road recognizer that recognizes a road form around the vehicle to:

recognize a road form around the vehicle;

recognize a state of another vehicle around the vehicle;

allow the vehicle to travel by controlling one or both of steering and acceleration/deceleration of the vehicle;

prevent, upon passing of the vehicle through an intersection, passing of the vehicle through the intersection based on a presence of the recognized other vehicle; and

in a case where it is recognized that a plurality of lanes are present in a road of a right/left turn destination of the vehicle and it is recognized that the other vehicle, which was an opposing vehicle approaching from a direction opposing the vehicle, has entered a lane on a rear side in a view from the vehicle among the plurality of lanes in the road of the right/left turn destination, continue an entry control to the road of the right/left turn destination of the vehicle.