Vehicle control device, vehicle control method, and storage medium

1. A vehicle control device comprising:

a communicator which communicates with a management device, the management device guiding a vehicle capable of automatedly traveling to a target parking space with reference to management information representing parking states of a plurality of parking spaces;

a recognizer which recognizes a surrounding state of the vehicle;

a generator which generates parking state information including information representing whether other vehicles are parked in parking spaces which the vehicle passes based on a result recognized by the recognizer and transmits the parking state information to the management device using the communicator; and

a driving controller which performs at least one of speed control and steering control of the vehicle based on the surrounding state recognized by the recognizer and causes the vehicle to be automatically parked in a parking space designated by the management device,

wherein, when the communicator receives information representing a parking space specified by another vehicle recognizer included in another vehicle from the other vehicle in a state in which a vehicle is parked in the parking space, the driving controller determines whether the parking space represented by the information received from the other vehicle is consistent with the parking space designated by the management device and causes the vehicle to move to the parking space designated by the management device when it is determined that the two parking spaces are not consistent with each other.

2. The vehicle control device according to claim 1 ,

wherein the generator generates the parking state information by associating identification information of parking spaces adjacent to a route along which the vehicle travels with information representing whether other vehicles are parked in the parking spaces adjacent to the route along which the vehicle travels.

3. The vehicle control device according to claim 2 ,

wherein the generator acquires the identification information of the parking spaces based on a result obtained by recognizing indicating objects provided in the parking spaces by the recognizer.

4. The vehicle control device according to claim 1 ,

wherein the recognizer specifies a parking space adjacent to the route along which the vehicle travels,

the communicator further communicates with another vehicle, and

the vehicle control device further comprises a communication manager which transmits information representing the parking space specified by the recognizer to another vehicle parked in the parking space specified by the recognizer using the communicator.

5. The vehicle control device according to claim 1 ,

wherein the communicator communicates with a parked vehicle parked in the parking spaces and receives a recognition result of a parked vehicle recognizer included in the parked vehicle, and

the generator generates the parking state information based on the recognition result received from the parked vehicle.

6. A vehicle control method, using a computer, comprising:

communicating with a management device, the management device guiding a vehicle capable of automatedly traveling to a target parking space with reference to management information representing parking states of a plurality of parking spaces;

recognizing a surrounding state of the vehicle;

generating parking state information including information representing whether other vehicles are parked in parking spaces which the vehicle passes based on the recognized result; and

transmitting the parking state information to the management device, and

performing at least one of speed control and steering control of the vehicle based on the surrounding state and causing the vehicle to be automatically parked in a parking space designated by the management device,

wherein, when the management device receives information representing a parking space specified by another vehicle recognizer included in another vehicle from the other vehicle in a state in which a vehicle is parked in the parking space the management device determines whether the parking space represented by the information received from the other vehicle is consistent with the parking space designated by the management device and causes the vehicle to move to the parking space designated by the management device when it is determined that the two parking spaces are not consistent with each other.

7. A computer readable non-transitory storage medium storing a program causing a computer to:

communicate with a management device, the management device guiding a vehicle capable of automatedly traveling to a target parking space with reference to management information representing parking states of a plurality of parking spaces;

recognize a surrounding state of the vehicle;

generate parking state information including information representing whether other vehicles are parked in parking spaces which the vehicle passes based on the recognized result;

transmit the parking state information to the management device; and

perform at least one of speed control and steering control of the vehicle based on the surrounding state and causing the vehicle to be automatically parked in a parking space designated by the management device,

wherein, when the management device receives information representing a parking space specified by another vehicle recognizer included in another vehicle from the other vehicle in a state in which a vehicle is parked in the parking space the management device determines whether the parking space represented by the information received from the other vehicle is consistent with the parking space designated by the management device and causes the vehicle to move to the parking space designated by the management device when it is determined that the two parking spaces are not consistent with each other.