Vehicle control device, vehicle control method, and vehicle control program

A vehicle control device, comprising:

• an automatic driving control unit that executes a first driving mode in which at least one of acceleration/deceleration, and steering of a host vehicle is automatically controlled in order for the host vehicle to travel along a route up to a destination;
• and
• a specific situation transition control unit that encourages a vehicle occupant of the host vehicle to transition to a second driving mode in which the degree of automatic driving is lower in comparison to the first driving mode by decelerating the host vehicle in a case of terminating execution of the first driving mode at a scheduled termination point of the first driving mode,
• wherein the specific situation transition control unit sets a transition completion point to a point before the scheduled termination point of the automatic driving to make a vehicle speed of the host vehicle be close to zero at the transition completion point.

A vehicle control device, comprising:

• an automatic driving control unit that executes a first driving mode in which at least one of acceleration/deceleration, and steering of a host vehicle is automatically controlled in order for the host vehicle to travel along a route up to a destination;
• a specific situation transition control unit that encourages a vehicle occupant of the host vehicle to transition to a second driving mode in which the degree of automatic driving is lower in comparison to the first driving mode by decelerating the host vehicle in a case of terminating execution of the first driving mode at a scheduled termination point of the first driving mode;
• and
• a hand-over control unit that switches the first driving mode to the second driving mode on the basis of operation content received by an operation device that is operated by the vehicle occupant,
• wherein in a case where control of decelerating the host vehicle is performed by the specific situation transition control unit, the hand-over control unit sets a threshold value that is used in determination as to whether or not to switch the first driving mode to the second driving mode to a threshold value with which switching from the first driving mode to the second driving mode is easier in comparison to a threshold value in a case where the control of decelerating the host vehicle is not performed by the specific situation transition control unit.

A vehicle control device, comprising:

• an automatic driving control unit that executes a first driving mode in which at least one of acceleration/deceleration, and steering of a host vehicle is automatically controlled in order for the host vehicle to travel along a route up to a destination;
• and
• a specific situation transition control unit that encourages a vehicle occupant of the host vehicle to transition to a second driving mode in which the degree of automatic driving is lower in comparison to the first driving mode by decelerating the host vehicle in a case of terminating execution of the first driving mode at a scheduled termination point of the first driving mode;
• wherein in a case of performing deceleration control to transition the host vehicle from the first driving mode to the second driving mode, the specific situation transition control unit causes a braking force output device that outputs a braking force to output a braking force that is different in the degree of deceleration between a first half and a second half of a period of transitioning the first driving mode to the second driving mode.