Vehicle control apparatus, vehicle control method, and vehicle control program

A vehicle control system comprising:

• a driving controller which controls automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by executing any of a plurality of modes having different degrees of automated driving;
• a skill level recognizer which recognizes a skill level of the occupant of the host vehicle;
• and
• a mode controller which selects a mode to be implemented by the driving controller and controls a time or the length of a traveling distance necessary for the driving controller to change to the mode on the basis of the skill level recognized by the skill level recognizer.

A vehicle control system comprising:

• a driving controller which controls automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by executing any of a plurality of modes having different degrees of automated driving;
• a skill level recognizer which recognizes a skill level of the occupant of the host vehicle;
• and
• a mode controller which selects a mode implemented by the driving controller and controls change in behavior of the host vehicle when the driving controller ends automated driving and implements manual driving to be changed on the basis of the skill level recognized by the skill level recognizer.

A vehicle control method comprising, through a computer mounted in a vehicle:

• controlling automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by implementing any of a plurality of modes having different degrees of automated driving;
• recognizing a skill level of the occupant of the host vehicle;
• selecting the implemented mode;
• and
• controlling a time or the length of a traveling distance necessary to change to the mode on the basis of the recognized skill level.

A computer readable non-transitory storage medium having a program stored therein, the program causing a computer mounted in a vehicle:

• to control automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by implementing any of a plurality of modes having different degrees of automated driving;
• to recognize a skill level of the occupant of the host vehicle;
• to select the implemented mode;
• and
• to control a time or the length of a traveling distance necessary to change to the mode on the basis of the recognized skill level.

A vehicle control method comprising, through a computer mounted in a vehicle:

• controlling automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by implementing any of a plurality of modes having different degrees of automated driving;
• recognizing a skill level of the occupant of the host vehicle;
• selecting the implemented mode;
• and
• controlling change in behavior of the host vehicle when automated driving is ended and manual driving is implemented on the basis of the recognized skill level.

A computer readable non-transitory storage medium having a program stored therein, the program causing a computer mounted in a vehicle:

• to control automated driving of automatically controlling at least one of an acceleration/deceleration and steering of a host vehicle or manual driving of controlling both the acceleration/deceleration and steering of the host vehicle on the basis of an operation of an occupant of the host vehicle by implementing any of a plurality of modes having different degrees of automated driving;
• to recognize a skill level of the occupant of the host vehicle;
• to select the implemented mode;
• and
• to control changed in behavior of the host vehicle when automated driving is ended and manual driving is implemented on the basis of the recognized skill level.