Vehicle control device, vehicle control method, and non-transitory computer-readable recording medium recording program

A vehicle control device, comprising:

• an obtaining part that obtains operation information indicating that a driver of a vehicle is performing an operation related to driving the vehicle;
• a recognition part that recognizes a road marking line of a lane in which the vehicle travels;
• and
• a support part that provides a support so that the vehicle does not deviate from the road marking line when a probability that the vehicle deviates from the road marking line is greater than or equal to a predetermined degree,
• wherein when the operation information is obtained, the support part suppresses an operation of the support as compared with a case where the operation information is not obtained.

A vehicle control method, wherein a computer:

• recognizes a road marking line of a lane in which a vehicle travels;
• provides a support so that the vehicle does not deviate from the road marking line when a probability that the vehicle deviates from the road marking line is greater than or equal to a predetermined degree;
• when gripping information indicating that a driver of the vehicle is gripping a steering wheel is obtained and operation information indicating that the driver is performing an operation related to driving the vehicle is not obtained, delays an operation of the support as compared with a case where the gripping information and the operation information are not obtained;
• and
• when the operation information is obtained, suppresses the operation of the support for a predetermined time regardless of whether the gripping information is obtained.

A non-transitory computer-readable recording medium recording a program, wherein a computer is made to perform:

• a processing of recognizing a road marking line of a lane in which a vehicle travels;
• a processing of providing a support so that the vehicle does not deviate from the road marking line when a probability that the vehicle deviates from the road marking line is greater than or equal to a predetermined degree;
• when gripping information indicating that a driver of the vehicle is gripping a steering wheel is obtained and operation information indicating that the driver is performing an operation related to driving the vehicle is not obtained, a processing of delaying an operation of the support as compared with a case where the gripping information and the operation information are not obtained;
• and
• when the operation information is obtained, a processing of suppressing the operation of the support for a predetermined time regardless of whether the gripping information is obtained.