Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle, and a mode determiner configured to determine a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, in which it is recognized that there is an end point to end the second driving mode due to a road structure on a traveling direction side of the vehicle, and the driving mode of the vehicle is changed from the second driving mode to the first driving mode when a distance from the end point is equal to or less than a reference distance.

Abstract: A vehicle control device includes a recognition part, a driving control part, and an output control part. When determining there is a section where a current driving mode cannot be continued in a first lane and the vehicle changes to a second lane, the output control part outputs predetermined information, including first and second information, before reaching the section. When detecting an intention to change lanes after outputting the first information, and a lane change to the second lane is completed before outputting the second information, the driving control part continues a first driving mode executed during traveling in the first lane even after the lane change is completed, and when detecting the intention to change lanes after outputting the first information, and the lane change to the second lane is completed after outputting the second information, the driving control part changes to a driving mode imposing a larger task.

Abstract: A moving body control apparatus includes a cancel control section performing control to cancel a lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied. When the first cancel condition is satisfied with the grip of an occupant on a manipulator being a prescribed level or greater, if a distance in a vehicle width direction between a moving body and a lane marker is a first distance threshold value or greater, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change, and when the first cancel condition is satisfied with the grip being less than the prescribed level, if the distance is not less than a second distance threshold value greater than the first distance threshold value, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change.

Abstract: At least one processor detects whether a steering wheel is being gripped by a user who operates a mobile object, executes first movement control that is executable with the steering wheel not being gripped, and second movement control that is executable with the steering wheel being gripped, notifies the user, by using an outputter, that the user is requested to grip the steering wheel when gripping of the steering wheel is not detected after an operator for operating a direction indicator is operated while the first movement control is being executed with the steering wheel not being gripped, and continues the first movement control without shifting to the second movement control when the gripping is not detected after the notification is made.

Abstract: A moving body control apparatus includes a cancel control section performing control to cancel a lane change when a first cancel condition and a second cancel condition for cancelling the lane change are satisfied. When the first cancel condition is satisfied with the grip of an occupant on a manipulator being a prescribed level or greater, if a distance in a vehicle width direction between a moving body and a lane marker is a first distance threshold value or greater, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change, and when the first cancel condition is satisfied with the grip being less than the prescribed level, if the distance is not less than a second distance threshold value greater than the first distance threshold value, the cancel control section judges that the second cancel condition is satisfied and cancels the lane change.

Abstract: A vehicle control device of the embodiments includes a recognizer, and a driving controller, in which the driving controller includes a lane change controller that changes lanes from a host vehicle traveling lane in which a host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, the lane change controller includes a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of recognition, and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits a lane change by the second operation within a first period including a distance or time from a first time at which changing lanes is stopped.

Abstract: A vehicle control device includes a first inputter, a second inputter, a mode controller configured to, when the first inputter is operated by a user, determine a driving mode of a vehicle as a first mode, and when the second inputter is operated by the user in the first mode, switch the driving mode from the first mode to a second mode, and a driving controller configured to control at least one of a steering and speed of the vehicle, and the driving controller is configured to control a steering and speed of the vehicle and prohibit change of a path of the vehicle when the driving mode is the first mode, and control a steering and speed of the vehicle and change of the path of the vehicle is allowed when the driving mode is the second mode.

Abstract: A vehicle control device includes a first inputter, a second inputter, a mode controller configured to, when the first inputter is operated by a user, determine a driving mode of a vehicle as a first mode, and when the second inputter is operated by the user in the first mode, switch the driving mode from the first mode to a second mode, and a driving controller configured to control at least one of a steering and speed of the vehicle, and the driving controller is configured to control a steering and speed of the vehicle and prohibit change of a path of the vehicle when the driving mode is the first mode, and control a steering and speed of the vehicle and change of the path of the vehicle is allowed when the driving mode is the second mode.

Abstract: A moving body control apparatus includes a travel control section that controls travel of a moving body based on vicinity information, and a lane change control section that performs a lane change of the moving body from a first lane to a second lane, if the lane change of the moving body from the first lane to the second lane is approved. The travel control section performs first acceleration/deceleration control to accelerate or decelerate the moving body according to a velocity of another moving body travelling in the second lane, if the lane change of the moving body from the first lane to the second lane is denied.

Abstract: A lane change control unit restricts an automatic lane change in the case of predicting that a user's own vehicle after having made the automatic lane change will be adjacent to another vehicle that exists inside of a third lane or on a third lane dividing line, and executes the automatic lane change without restriction in the case of predicting that the user's own vehicle after having made the automatic lane change will be adjacent to another vehicle that exists inside a fourth lane or inside of a road shoulder.

Abstract: A vehicle control device includes a recognizer configured to recognize situations around a vehicle; a determiner configured to determine any of lanes included in a road on which the vehicle travels as a reference lane; and a driving controller configured to control at least one of a speed and steering of the vehicle according to the situations recognized by the recognizer and the reference lane determined by the determiner, wherein the determiner is configured to, when the vehicle moves from a first road to a second road different from the first road, among a plurality of lanes included in the first road, according to a relative position of a first reference lane determined at a time before the vehicle moves to the second road with respect to the plurality of lanes, determine a second reference lane on the second road.

Abstract: A moving body control apparatus includes a lane change control section that performs lane change control causing a moving body to perform a lane change from a first lane, in which the moving body is travelling, to a second lane that is adjacent to the first lane, a judging section that judges whether another moving body travelling in the second lane will perform a lane change from the second lane to the first lane, based on vicinity information, and a restriction control section that restricts the lane change of the moving body from the first lane to the second lane when it is judged by the judging section that the other moving body will perform the lane change from the second lane to the first lane.

Abstract: According to an embodiment, a driving assistance device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control at least steering of the vehicle on the basis of the surrounding situation recognized, a receiver configured to receive an operation of an occupant of the vehicle, and an output controller configured to cause an output to output a traveling state of the vehicle. The driving controller causes a lane change of the vehicle to be made when a receiver receives an instruction for allowing the vehicle to make the lane change and a condition in which the lane change is made is satisfied. The output controller causes the output to output information about the lane change when the lane change has not been started even though a first prescribed time period has elapsed after the receiver received the instruction.

Abstract: On a road on which a first lane, a second lane, and a third lane or a road shoulder are adjacent to each other, a vehicle control device executes an automatic lane change from the first lane to the second lane. In the case that a traffic regulating object that regulates passage of traffic in the third lane or on the road shoulder is placed in the third lane or on the road shoulder, and an external environment recognition unit recognizes the traffic regulating object, a lane change control unit restricts the automatic lane change.

Abstract: A vehicle control device includes a display configured to display information, an inputter to which a user's operation is input, a driving controller configured to control at least one of a speed and steering of a vehicle, a determiner configured to determine a lane in which the vehicle is present when a first operation that allows a lane change by the vehicle is input to the inputter as a reference lane, and a display controller that is configured to cause the display to display a first image depicting a road on which the vehicle is present and a second image depicting the reference lane which are superimposed.

Abstract: A vehicle control apparatus for controlling a vehicle based on peripheral information of the vehicle, the apparatus comprising: a control unit configured to control steering and acceleration/deceleration of the vehicle in a first state in which holding of a steering apparatus of the vehicle by a driver is required or a second state in which holding of the steering apparatus is not required, wherein the control unit transitions a state of the vehicle from the second state to the first state, if input of an intervention operation for acceleration/deceleration by the driver is detected in a case of executing course change of the vehicle, when the vehicle is traveling in the second state.

Abstract: A vehicle control apparatus for controlling a vehicle, comprising, a setting unit that accepts setting of a destination; an acquisition unit that acquires peripheral information of the vehicle; and a control unit that controls traveling of the vehicle based on the peripheral information, wherein the control unit executes, if the destination has been set, first control in which first assist for a course change is performed in accordance with a case in which the vehicle has entered a course change area from a first road existing on a traveling route to the destination to a second road connected to the first road, and executes, if the destination has not been set, second control in which second assist with an assist level lower than in the first assist is performed on a road existing on a current traveling route.

Abstract: A vehicle control device includes a driving controller configured to control a speed and steering of a vehicle to perform an automatic lane change, in which the driving controller limits the automatic lane change when it is detected that the vehicle is in a first area having a length of a first distance in a longitudinal direction of a road with a starting point of a specific road structure set as a reference or in a second area having a length of a second distance in the longitudinal direction of the road with an end point of the specific road structure set as a reference on the basis of information of at least one of an external recognition result and map information.

Abstract: A device comprising: an acquisition unit that acquires surrounding information of a self-vehicle; and a control unit that controls traveling of the self-vehicle based on the surrounding information, wherein the control unit estimates whether a traveling speed of the self-vehicle will be equal to or less than a predetermined speed based on a relative speed between a traveling speed of the self-vehicle and a traveling speed of another vehicle traveling in a merging lane merging into a traveling lane in which the self-vehicle is traveling and based on a relative distance between the self-vehicle and the other vehicle, and when estimating that the traveling speed of the self-vehicle will be equal to or less than the predetermined speed, disables an automatic lane change operation of the self-vehicle to an adjacent lane adjacent to the traveling lane.

Abstract: A vehicle control device includes a recognition part, a driving control part, and an output control part. When determining there is a section where a current driving mode cannot be continued in a first lane and the vehicle changes to a second lane, the output control part outputs predetermined information, including first and second information, before reaching the section. When detecting an intention to change lanes after outputting the first information, and a lane change to the second lane is completed before outputting the second information, the driving control part continues a first driving mode executed during traveling in the first lane even after the lane change is completed, and when detecting the intention to change lanes after outputting the first information, and the lane change to the second lane is completed after outputting the second information, the driving control part changes to a driving mode imposing a larger task.