Vehicle control device, vehicle control method, and storage medium
A vehicle control device of an embodiment includes a recognizer that recognizes a surrounding situation of a host vehicle, a driving state detector that detects a driving state including steering of an occupant of the host vehicle, a driving controller that executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results of the recognizer and steering of the occupant equal to or larger than a predetermined value has been detected by the driving state detector, and a limiter that adjusts a limit value related to steering of the occupant in accordance with a steering state of the occupant.
1 . A vehicle control device comprising:
a recognizer that recognizes a surrounding situation of a host vehicle;
a driving state detector that detects a driving state including steering of an occupant of the host vehicle;
a driving controller that executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results of the recognizer and steering of the occupant equal to or larger than a predetermined value has been detected by the driving state detector; and
a limiter that adjusts limit values related to steering of the occupant in accordance with a steering state of the occupant,
wherein the limit values comprise:
a first upper limit value with respect to steering when the steering control is not being performed, and
a second upper limit value with respect to steering during the steering control,
wherein the driving controller executes steering control such that a steering state during the steering control does not exceed the second upper limit value, and
wherein the limiter sets the second upper limit value within a predetermined range from a largest value of a steering state of the occupant detected by the driving state detector.
2 . The vehicle control device according to claim 1 ,
wherein the limiter adjusts the second upper limit value until a predetermined time elapses after the steering control has been executed.
3 . The vehicle control device according to claim 2 ,
wherein the predetermined time is a time shorter than a time when the steering control is predicted to be executed.
4 . The vehicle control device according to claim 1 ,
wherein the limiter causes the adjusted second upper limit value to decrement so as to become close to the first upper limit value with an elapse of time.
5 . The vehicle control device according to claim 1 ,
wherein the limiter adjusts the second upper limit value in accordance with a steering state of the occupant when the steering state of the occupant detected by the driving state detector exceeds the first upper limit value.
6 . A vehicle control method in which a computer
recognizes a surrounding situation of a host vehicle,
detects a driving state including steering of an occupant of the host vehicle,
executes steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results and steering of the occupant equal to or larger than a predetermined value has been detected, and
adjusts limit values related to steering of the occupant in accordance with a steering state of the occupant, wherein the limit values comprise:
a first upper limit value with respect to steering when the steering control is not being performed, and
a second upper limit value with respect to steering during the steering control,
wherein the executing of steering control comprises executing the steering control such that a steering state during the steering control does not exceed the second upper limit value, and
wherein the second upper limit value is within a predetermined range from a largest value of a steering state of the occupant.
7 . A computer readable non-transitory storage medium which stores a program causing a computer:
to recognize a surrounding situation of a host vehicle,
to detect a driving state including steering of an occupant of the host vehicle,
to execute steering control for supporting steering of the occupant when there is a probability that the host vehicle will come into contact with a surrounding obstacle on the basis of recognition results and steering of the occupant equal to or larger than a predetermined value has been detected, and
to adjust limit values related to steering of the occupant in accordance with a steering state of the occupant, wherein the limit values comprise:
a first upper limit value with respect to steering when the steering control is not being performed, and
a second upper limit value with respect to steering during the steering control,
wherein the executing of steering control comprises executing the steering control such that a steering state during the steering control does not exceed the second upper limit value, and
wherein the second upper limit value is within a predetermined range from a largest value of a steering state of the occupant.