Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• acquiring peripheral information indicating a peripheral state of a host vehicle including a marking line of a traveling lane as a lane in which the host vehicle is traveling;
• executing driving assist control for automatically steering the host vehicle based on the peripheral information such that a lateral position of the host vehicle with respect to the traveling lane coincides with a target lateral position set in the traveling lane;
• storing, when a steering deviation state in which the lateral position of the host vehicle deviates from the target lateral position is caused by a steering operation by a driver of the host vehicle during execution of the driving assist control, a value corresponding to the steering operation by the driver as a learning value in association with a learning scene determined in advance when a scene specified by the peripheral information is the learning scene;
• and
• varying the target lateral position based on the stored learning value in at least one of a case where the scene specified by the peripheral information varies from a scene other than the learning scene to the learning scene during the execution of the driving assist control and a case where a scene specified by the peripheral information at a time point when the execution of the driving assist control is started is the learning scene, after storing the learning value.

A non-transitory storage medium storing a program to be executed by a computer mounted on a host vehicle, the program causing the computer to execute a process comprising:

• acquiring peripheral information indicating a peripheral state of the host vehicle including a marking line of a traveling lane as a lane in which the host vehicle is traveling;
• executing driving assist control for automatically steering the host vehicle based on the peripheral information such that a lateral position of the host vehicle with respect to the traveling lane coincides with a target lateral position set in the traveling lane;
• storing, when a steering deviation state in which the lateral position of the host vehicle deviates from the target lateral position is caused by a steering operation by a driver of the host vehicle during execution of the driving assist control, a value corresponding to the steering operation by the driver as a learning value in association with a learning scene determined in advance when a scene specified by the peripheral information is the learning scene;
• and
• varying the target lateral position based on the stored learning value in at least one of a case where the scene specified by the peripheral information varies from a scene other than the learning scene to the learning scene during the execution of the driving assist control and a case where a scene specified by the peripheral information at a time point when the execution of the driving assist control is started is the learning scene, after storing the learning value.