Vehicle control device, vehicle control system, vehicle control method, and storage medium

A vehicle control system including:

• a vehicle control device configured to control a vehicle;
• and
• a terminal device configured to communicate with the vehicle, wherein the vehicle control device includes:
• a recognizer that recognizes a surrounding environment of the vehicle,
• a driving controller that performs speed control and steering control of the vehicle based on a recognition result of the recognizer,
• a vehicle-side communication unit that communicates with a terminal device of a user boarding the vehicle,
• a vehicle exterior notification unit that notifies information regarding vehicle identification to the vehicle exterior, and
• a notification controller that causes the vehicle-side communication unit to transmit information for notifying the information regarding the vehicle identification to the terminal device and causes the vehicle exterior notification unit to notify the information regarding the vehicle identification when the driving controller causes the vehicle to travel toward a position at which the user is located, and
• wherein the terminal device includes:
• a terminal-side communication unit that communicates with the vehicle control device, and
• a notification unit that notifies the information regarding the vehicle identification received by the terminal-side communication unit, wherein the notification controller is further configured to:
• cause the vehicle-side communication unit to transmit the information for notifying the information regarding the vehicle identification to the terminal device, and
• cause the vehicle exterior notification unit to notify the information regarding the vehicle identification, when a distance between the terminal device and the vehicle or a distance between a boarding area in which the user boards the vehicle to the vehicle, is within a predetermined distance.

A vehicle control method causing a computer to:

• recognize a surrounding environment of a vehicle;
• perform speed control and steering control of the vehicle based on a recognition result;
• and
• cause a communication unit to:
• transmit information for notifying information regarding vehicle identification to a terminal device, and
• cause a vehicle exterior notification unit to notify the information regarding the vehicle identification to the outside of the vehicle when:
• the vehicle is caused to travel toward a position at which a user is located, and
• a distance between the terminal device and the vehicle or a distance between a boarding area in which the user boards the vehicle to the vehicle, is within a predetermined distance.

A computer-readable non-transitory storage medium that stores a program causing a computer to:

• recognize a surrounding environment of a vehicle;
• perform speed control and steering control of the vehicle based on a recognition result;
• and
• cause a communication unit to transmit information for notifying information regarding vehicle identification to a terminal device and cause a vehicle exterior notification unit to notify the information regarding the vehicle identification to the outside of the vehicle when a process of causing the vehicle to travel toward a position at which a user is located is performed, wherein the notification controller is further configured to:
• cause the communication unit to transmit the information for notifying the information regarding the vehicle identification to the terminal device, and
• cause the vehicle exterior notification unit to notify the information regarding the vehicle identification, when a distance between the terminal device and the vehicle or a distance between a boarding area in which the user boards the vehicle to the vehicle, is within a predetermined distance.