Vehicle control device, vehicle control method, and storage medium

1. A vehicle control device comprising:

a processor that executes instructions to:

recognize a peripheral situation of a vehicle; and

control opening and closing of a window portion the vehicle; and

detect a lost article located in an interior of the vehicle,

wherein the processor controls opening and closing of the window portion on the basis of a recognition result of a gesture performed by a user of the vehicle,

wherein the processor determines whether the lost article is able to be taken out of the vehicle through the window portion, and

wherein the processor opens a window portion being the closest to the lost article among window portions on the basis of a detection result.

2. The vehicle control device according to claim 1 ,

wherein the processor further recognizes a position of the user, and

in a case where the processor recognizes the gesture of a request for opening window portions and the position of the user who has performed the gesture, the processor opens a window portion closest to the position of the user among the window portions.

3. The vehicle control device according to claim 1 ,

wherein, in a case where the processor recognizes the gesture of a request for closing window portions, the processor closes a window portion closest to a position of the user among the window portions.

4. The vehicle control device according to claim 1 ,

wherein, in a case where it is detected that the lost article is recovered by the user, and the gesture of a request for closing window portions is further recognized, the processor closes an opened window portion on the basis of the gesture recognized.

5. The vehicle control device according to claim 1 ,

wherein the processor closes an opened window portion in a case where a predetermined time has elapsed since some or all of the window portions were opened on the basis of the gesture recognized.

6. The vehicle control device according to claim 1 ,

wherein, in a case where the user's gesture for prompting start of the vehicle is recognized, the processor closes an opened window portion on the basis of the gesture recognized.

7. The vehicle control device according to claim 6 ,

the processor further executes instructions to:

control steering and a speed of the vehicle irrespective of the user's operation on the basis of the recognition result,

wherein the processor starts the vehicle after completion of closing control of a window portion on which opening control is performed on the basis of the gesture for prompting start of the vehicle recognized.

8. The vehicle control device according to claim 1 ,

wherein, in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions, the processor performs at least one of opening and closing one or more doors or some or all of the window portions of the vehicle in a different mode from that when the lost article is taken out through the window portion.

9. The vehicle control device according to claim 8 ,

wherein the processor opens all the window portions of the vehicle in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions.

10. The vehicle control device according to claim 8 ,

wherein the processor opens a door closest to the user or a door closest to the lost article in a case where it is determined that the lost article is not able to be taken out of the vehicle through any of the window portions.

11. The vehicle control device according to claim 1 ,

wherein, in a case where an article loaded at a boarding start point by the user is returned to the boarding start point without being removed from the vehicle at a destination or a transit point, the processor excludes the article as a target to be detected as the lost article.

12. The vehicle control device according to claim 1 ,

wherein the processor recognizes weather conditions around the vehicle and does not open the window portion in a case where there is a falling matter in a space around the vehicle.

13. A vehicle control method comprising causing a vehicle control device to:

recognize a peripheral situation of a vehicle;

control opening and closing of a window portion of the vehicle on the basis of a result of recognition of a gesture which is performed by a user of the vehicle who is outside of the vehicle;

detect a lost article located in an interior of the vehicle;

determine whether the lost article is able to be taken out of the vehicle through the window portion; and

open a window portion closest to the lost article among window portions on the basis of a detection result.