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

A vehicle control method using a computer comprising:

• acquiring a situation outside a vehicle;
• executing automated driving for automatically controlling at least one of acceleration/deceleration and steering of the vehicle on the basis of the acquired situation outside the vehicle, and ending the automated driving and performing switching to manual driving when a first condition is satisfied;
• communicating with an outside-vehicle facility;
• sending a request for a remote operation to the outside-vehicle facility using the communicator when a second condition is satisfied in a case in which switching from the automated driving to the manual driving is performed, and executing remote driving for automatically controlling at least one of acceleration/deceleration and steering of the vehicle on the basis of control information received from the outside-vehicle facility.

A computer-readable non-transitory storage medium storing a vehicle control program causing a computer to:

• acquire a situation outside a vehicle;
• execute automated driving for automatically controlling at least one of acceleration/deceleration and steering of the vehicle on the basis of the acquired situation outside the vehicle, and end the automated driving and perform switching to manual driving when a first condition is satisfied;
• communicate with an outside-vehicle facility;
• and
• send a request for a remote operation to the outside-vehicle facility using the communicator when a second condition is satisfied in a case in which switching from the automated driving to the manual driving is performed, and execute remote driving for automatically controlling at least one of acceleration/deceleration and steering of the vehicle on the basis of control information received from the outside-vehicle facility.