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/deceleration of the vehicle independently of an operation of a driver of the vehicle; and a mode decider configured to decide on any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle. The recognizer recognizes a sign existing within a reference range of a route along which the vehicle travels. The mode decider changes the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of signs recognized by the recognizer exceeds a first reference value.

Abstract: A vehicle control device is a vehicle control device that controls autonomous driving of a vehicle, the vehicle control device including a calculator that calculates an index value indicating accuracy of an estimated position of the vehicle according to a current running state of the vehicle and an estimated running state of the vehicle which is estimated in the control of the autonomous driving, and a controller that lowers a control level of the autonomous driving when the calculated index value is equal to or greater than a predetermined threshold value.

Abstract: A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to perform automated driving for controlling at least one of acceleration, deceleration, and steering of the vehicle on the basis of the situation recognized by the recognizer and map information including a plurality of coordinate points indicating lanes on a route of the vehicle. The driving controller changes a control level of the automated driving in accordance with the number of coordinate points.

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/deceleration of the vehicle independently of an operation of a driver of the vehicle; and a mode decider configured to decide on any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle. The recognizer recognizes a sign existing within a reference range of a route along which the vehicle travels. The mode decider changes the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of signs recognized by the recognizer exceeds a first reference value.

Abstract: A vehicle control device according to an embodiment controls automated driving of a vehicle. The vehicle control device includes a processor configured to execute a program to perform acquiring map information in which a recommended lane on a route to a destination of the vehicle is identified, and controlling a control level of the automated driving on the basis of the acquired map information. The processor is further configured to lower the control level of the automated driving when a boundary line of the recommended lane is not recognizable within a predetermined distance in a travel direction of the vehicle.

Abstract: A vehicle control device according to an embodiment includes: a recognizer that recognizes a situation around a vehicle; a determiner that determines events that define a traveling state of the vehicle based on the situation recognized by the recognizer, a route to a destination of the vehicle, and a position of the vehicle; and a driving controller that performs automated driving that controls at least one of acceleration/deceleration and steering of the vehicle based on the events determined by the determiner, wherein the driving controller changes the control level of the automated driving according to the number of events within a predetermined range in a traveling direction of the vehicle.

Abstract: A vehicle control device includes: a first measurer measures a position (hereinafter referred to as a first position) of a vehicle based on radio waves coming from artificial satellites; a second measurer measures the position (hereinafter referred to as a second position) of the vehicle based on a behavior of the vehicle; a determiner determines a correction amount of the second position based on a difference between the first position and the second position; and a driving controller performs automated driving of the vehicle based on the first position or the second position corrected based on the correction amount, wherein when the correction amount is not determined, the driving controller lowers the control level of the automated driving in a shorter travel distance or travel time under a condition that the first position is not measured as compared with a case where the correction amount is determined.