Vehicle control system, vehicle control method, and vehicle control program

A vehicle control system comprising:

• an acquirer configured to acquire information that allows recognition of a speed of another vehicle in a travel direction of an own vehicle;
• a determiner configured to determine whether or not a low speed section whose travel speed is equal to or less than a reference speed is present in the travel direction of the own vehicle based on the information acquired by the acquirer;
• and
• a controller selectively capable of executing a first automated driving mode which is capable of executing when the own vehicle travels at a first speed that is equal to or less than the reference speed or a second automated driving mode which is capable of executing at least when the own vehicle travels at a second speed that is greater than the first speed, the first automated driving mode being a mode in which lane change is not performed, the second automated driving mode being a mode in which lane change is performed, the controller being configured to, in a case that the own vehicle travels on a first lane that is not linked to a destination at the second speed during control based on the second automated driving mode, cause the own vehicle to move to a second lane that is linked to the destination before the own vehicle reaches the low speed section that has been determined as being present by the determiner, the low speed section being a section in which the own vehicle plans to travel at the first speed that is equal to or less than the reference speed in the first automated driving mode,
• wherein the controller is further configured to:
• cause the own vehicle to move to the second lane in a case that:
• the own vehicle travels on the first lane at the second speed during control based on the second automated driving mode, and
• the own vehicle is capable of completing movement to the second lane before reaching the low speed section;
• and
• notify a driver of information that the own vehicle reach the low speed section after a predetermined time elapses and it is necessary to change lanes, in a case that:
• the own vehicle travels on the first lane at the second speed during control based on the second automated driving mode, and
• the own vehicle is not capable of completing movement to the second lane before reaching the low speed section.

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

• acquiring information that allows recognition of a speed of another vehicle in a travel direction of an own vehicle;
• determining whether or not a low speed section whose travel speed is equal to or less than a reference speed is present in the travel direction of the own vehicle based on the information;
• and
• selectively executing a first automated driving mode which is capable of executing when the own vehicle travels at a first speed that is equal to or less than the reference speed or a second automated driving mode which is capable of executing at least when the own vehicle travels at a second speed that is greater than the reference speed, the first automated driving mode being a mode in which lane change is not performed, the second automated driving mode being a mode in which lane change is performed, in a case that the own vehicle travels on a first lane that is not linked to a destination at the second speed during control based on the second automated driving mode, causing the own vehicle to move to a second lane that is linked to the destination before the own vehicle reaches the low speed section that has been determined as being present, the low speed section being a section in which the own vehicle plans to travel in the first automated driving mode,
• wherein the vehicle control method further comprises:
• causing the own vehicle to move the second lane in a case that:
• the own vehicle travels on the first lane at the second speed during control based on the second automated driving mode, and
• the own vehicle is capable of completing movement to the second lane before reaching the low speed section;
• and
• notifying a driver of information that the own vehicle reach the low speed section after a predetermined time elapses and it is necessary to change lanes, in a case that:
• the own vehicle travels on the first lane at the second speed during control based on the second automated driving mode, and
• the own vehicle is not capable of completing movement to the second lane before reaching the low speed section.