Vehicle control system, vehicle control method, and storage medium

A vehicle control method using a vehicle control device, the vehicle control method comprising:

• recognizing an area surrounding a vehicle;
• performing control of causing at least the vehicle to move forward or causing the vehicle to move backward based on the area surrounding the vehicle;
• notifying traffic participants in a vicinity of the vehicle in response to determining that the vehicle having stopped is caused to advance in a second direction opposite to a first direction in which the vehicle has advanced before being stopped,
• wherein, in response to determining that a traffic participant is a four-wheel vehicle, causing the vehicle to advance in the second direction at a first time after notifying the traffic participants in the vicinity of the vehicle, and
• in response to determining that the traffic participant is a two-wheel vehicle or a pedestrian, causing the vehicle to advance in the second direction at a second time or a third time that is later than the first time after notifying the traffic participants in the vicinity of the vehicle, or
• wherein, in response to determining that the traffic participant is a four-wheel vehicle, causing the vehicle to advance in the second direction at a first acceleration degree after notifying the traffic participants in the vicinity of the vehicle, and
• in response to determining that the traffic participant is a two-wheel vehicle or a pedestrian, causing the vehicle to advance in the second direction at a second acceleration degree or a third acceleration degree that is lower than the first acceleration degree after notifying the traffic participants in the vicinity of the vehicle.

A non-transitory computer-readable storage medium that stores a computer program to be executed by a computer to perform at least:

• recognize an area surrounding a vehicle;
• perform control of causing at least the vehicle to move forward or causing the vehicle to move backward based on the area surrounding the vehicle;
• notify traffic participants in a vicinity of the vehicle in response to determining that the vehicle having stopped is caused to advance in a second direction opposite to a first direction in which the vehicle has advanced before being stopped,
• wherein, in response to determining that a traffic participant is a four-wheel vehicle, cause the vehicle to advance in the second direction at a first time after notifying the traffic participants in the vicinity of the vehicle, and
• in response to determining that the traffic participant is a two-wheel vehicle or a pedestrian, cause the vehicle to advance in the second direction at a second time or a third time that is later than the first time after notifying the traffic participants in the vicinity of the vehicle, or
• wherein, in response to determining that the traffic participant is a four-wheel vehicle, cause the vehicle to advance in the second direction at a first acceleration degree after notifying the traffic participants in the vicinity of the vehicle, and
• in response to determining that the traffic participant is a two-wheel vehicle or a pedestrian, cause the vehicle to advance in the second direction at a second acceleration degree or a third acceleration degree that is lower than the first acceleration degree after notifying the traffic participants in the vicinity of the vehicle.