Vehicle control device, vehicle control method, and storage medium
A vehicle control device ( 100 ) including a recognition unit ( 130 ) that that is configured to recognize a peripheral situation of a vehicle and a driving control unit ( 140, 166 ) that that is configured to control at least steering of the vehicle on the basis of a result of recognition acquired by the recognition unit, and, in a case in which the recognition unit is configured to recognize a road surface inclination area in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end, which is disposed at the road end of an advancement direction of the vehicle, and the vehicle is running on the road surface inclination area, the driving control unit is configured to adjust a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present.
1. A vehicle control device comprising:
at least one memory storing instructions, and
at least one processor configured to execute instructions to:
recognize a peripheral situation of a vehicle; and
control at least steering of the vehicle on the basis of a result of recognition acquired,
recognize a road surface inclination area in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end, and which is disposed at the road end of an advancement direction of the vehicle, and
in a case in which the vehicle is running on the road surface inclination area, adjust a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present,
recognize a presence and a width of a side ditch present on a side farther from a center part of the road than the road surface inclination area, and
determine an amount of adjustment of the steering angle in accordance with a width of the side ditch.
2. The vehicle control device according to claim 1 , wherein the at least one processor is further configured to:
cause the vehicle to run in the flat area in a case to recognize a flat area, which is adjacent to the road surface inclination area, farther from a center part of the road than the road surface inclination area.
3. The vehicle control device according to claim 1 , wherein the at least one processor is further configured to:
execute a process for adjusting the steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present in a case in which a speed of the vehicle is equal to or lower than a predetermined value.
4. The vehicle control device according to claim 1 ,
wherein the at least one processor is further configured to:
recognize a gradient of the road surface inclination area, and
determine an amount of adjustment of the steering angle in accordance with the gradient recognized.
5. The vehicle control device according to claim 1 ,
wherein the at least one processor is further configured to:
cause the vehicle to run in the road surface inclination area in a case in which an obstacle is unavoidable in the flat part of the road.
6. A vehicle control method in which a vehicle control device is configured to recognize a peripheral situation of a vehicle and controls at least steering of the vehicle on the basis of a result of recognition, the vehicle control method comprising:
recognizing a road surface inclination area, which is disposed at the road end of an advancement direction of the vehicle, in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end,
adjusting a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present in a case in which the vehicle runs on the road surface inclination area;
recognizing a presence and a width of a side ditch present on a side father from a center part of the road than the road surface inclination area, and
determining an amount of adjustment of the steering angle in accordance with a width of the side ditch.
7. A computer-readable non-transitory storage medium having a program stored thereon, the program causing a vehicle control device to execute:
recognizing a peripheral situation of a vehicle; and
controlling at least steering of the vehicle on the basis of a result of recognition,
wherein the program causing the vehicle control device to execute:
recognizing a road surface inclination area, which is disposed at the road end of an advancement direction of the vehicle, in which a gradient toward a lower side in a vertical direction is formed from a flat part of the road toward a road end,
adjusting a steering angle of the vehicle in a direction in which the vehicle is away from the road end on a side on which the road surface inclination area is present in a case in which the vehicle runs on the road surface inclination area,
recognizing a presence and a width of a side ditch present on a side father from a center part of the road than the road surface inclination area, and
determining an amount of adjustment of the steering angle in accordance with a width of the side ditch.