Vehicle control device, vehicle control method, and storage medium

A vehicle control device, comprising:

• one or more storage devices storing a program;
• and one or more hardware processors, the one or more hardware processors being configured to execute the program stored in the one or more storage devices to:
• acquire a target steering angle for following a target trajectory of a vehicle
• determine whether or not a change in speed of the target steering angle in a first period is equal to or larger than a first threshold value and whether or not a change in speed of the target steering angle in a second period is equal to or larger than a second threshold value;
• and
• determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode that imposes a simpler task on a driver than the first driving mode,
• wherein the one or more hardware processors are configured to change, in a case where the driving mode of the vehicle is the second driving mode, the driving mode of the vehicle to the first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value and the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value,
• wherein the first period is a period longer than the second period, and
• wherein the first threshold value is a value smaller than the second threshold value.

A vehicle control method to be executed by a vehicle control device, the vehicle control method comprising:

• acquiring a target steering angle for following a target trajectory of a vehicle;
• determining whether or not a change in speed of the target steering angle in a first period is equal to or larger than a first threshold value and whether or not a change in speed of the target steering angle in a second period is equal to or larger than a second threshold value;
• determining a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode that imposes a simpler task on a driver than the first driving mode;
• and
• changing, in a case where the driving mode of the vehicle is the second driving mode, the driving mode of the vehicle to the first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value or when the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value,
• wherein the first period is a period longer than the second period, and
• wherein the first threshold value is a value smaller than the second threshold value.

A vehicle control method to be executed by a vehicle control device, the vehicle control method comprising:

• acquiring a target steering angle for following a target trajectory of a vehicle;
• determining whether or not a change in speed of the target steering angle in a first period is equal to or larger than a first threshold value and whether or not a change in speed of the target steering angle in a second period is equal to or larger than a second threshold value;
• determining a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode that imposes a simpler task on a driver than the first driving mode;
• and
• changing, in a case where the driving mode of the vehicle is the second driving mode, the driving mode of the vehicle to the first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value and the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value,
• wherein the first period is a period longer than the second period, and
• wherein the first threshold value is a value smaller than the second threshold value.

A computer-readable non-transitory storage medium having stored thereon a program for causing a processor of a vehicle control device to:

• acquire a target steering angle for following a target trajectory of a vehicle;
• determine whether or not a change in speed of the target steering angle in a first period is equal to or larger than a first threshold value and whether or not a change in speed of the target steering angle in a second period is equal to or larger than a second threshold value;
• determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode that imposes a simpler task on a driver than the first driving mode;
• and
• change, in a case where the driving mode of the vehicle is the second driving mode, the driving mode of the vehicle to the first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value or when the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value,
• wherein the first period is a period longer than the second period, and
• wherein the first threshold value is a value smaller than the second threshold value.

A computer-readable non-transitory storage medium having stored thereon a program for causing a processor of a vehicle control device to:

• acquire a target steering angle for following a target trajectory of a vehicle;
• determine whether or not a change in speed of the target steering angle in a first period is equal to or larger than a first threshold value and whether or not a change in speed of the target steering angle in a second period is equal to or larger than a second threshold value;
• determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode that imposes a simpler task on a driver than the first driving mode;
• and
• change, in a case where the driving mode of the vehicle is the second driving mode, the driving mode of the vehicle to the first driving mode when the change in speed of the target steering angle in the first period is determined to be equal to or larger than the first threshold value and the change in speed of the target steering angle in the second period is determined to be equal to or larger than the second threshold value,
• wherein the first period is a period longer than the second period, and
• wherein the first threshold value is a value smaller than the second threshold value.