Control system of vehicle, control method of the same, and non-transitory computer-readable storage medium

A control method of a vehicle that can travel in a first travel state in which an operation by a driver is not required and in a second travel state in which the operation by the driver is required, the method comprising:

• determining whether a shift from the first travel state to the second travel state is required;
• requesting the driver to perform an operation when it is determined that the shift is required in the determining whether the shift from the first travel state to the second travel state is required;
• determining whether the driver has performed an operation in response to the request in the requesting;
• and
• stopping the vehicle in a predetermined position when it is determined that the driver has not performed the operation in the determining whether the driver has performed the operation in response to the request in the requesting,
• wherein in the stopping, in a case in which a lane change operation is required to stop the vehicle in the predetermined position, a speed of travel of the self-vehicle is reduced, by deciding a deceleration amount of the speed of travel of the self-vehicle based on each of a vehicle speed set for a first lane and a vehicle speed set for a second lane, the first lane being a lane before the lane change operation and the second lane being a lane after the lane change operation, and by increasing the deceleration amount as the self-vehicle closes to the predetermined position in a lateral direction,
• the predetermined position is a shoulder of a road, the first lane, the second lane and the shoulder of the road are provided in this order in the lateral direction,
• the deceleration amount in driving on the second lane is larger than that in shifting from the first lane to the second lane, and
• the deceleration amount in shifting from the second lane to the shoulder of the road is larger than that in driving on the second lane.

A non-transitory computer-readable storage medium storing a program to cause a computer, which is incorporated in a vehicle that can travel in a first travel state in which an operation by a driver is not required and in a second travel state in which the operation by the driver is required, to function as

• a first determination unit configured to determine whether a shift from the first travel state to the second travel state is required;
• a requesting unit configured to make an operation request to the driver when the first determination unit determines that the shift is required;
• a second determination unit configured to determine whether the driver has performed an operation in response to the request from the requesting unit;
• and
• a control unit configured to stop the vehicle in a predetermined position when the second determination unit determines that the driver has not performed the operation,
• wherein in a case in which a lane change operation is required to stop the vehicle in the predetermined position, the control unit reduces a speed of travel of the self-vehicle, by deciding a deceleration amount of the speed of travel of the self-vehicle based on each of a vehicle speed set for a first lane and a vehicle speed set for a second lane, the first lane being a lane before the lane change operation and the second lane being a lane after the lane change operation, and by increasing the deceleration amount as the self-vehicle closes to the predetermined position in a lateral direction,
• the predetermined position is a shoulder of a road, the first lane, the second lane and the shoulder of the road are provided in this order in the lateral direction,
• the deceleration amount in driving on the second lane is larger than that in shifting from the first lane to the second lane, and
• the deceleration amount in shifting from the second lane to the shoulder of the road is larger than that in driving on the second lane.