Travel control device, travel control method, and storage medium

A travel control method in which a computer:

• recognizes a peripheral situation of a host vehicle;
• detects at least one of a state of an occupant of the host vehicle and an instruction operation by the occupant;
• generates an action plan of the host vehicle on the basis of a recognition result and a detection result;
• controls at least one of steering and speed of the host vehicle to execute travel control of the host vehicle on the basis of the generated action plan;
• generates a first action plan on the basis of the recognition result and a preset rule;
• generates a second action plan with logic different from generation of the first action plan with respect to the recognition result;
• and
• regenerates the other action plan after either one of the first action plan and the second action plan is selected.

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

• recognize a peripheral situation of a host vehicle;
• detect at least one of a state of an occupant of the host vehicle and an instruction operation by the occupant;
• generate an action plan of the host vehicle on the basis of a recognition result and a detection result;
• control at least one of steering and speed of the host vehicle to execute travel control of the host vehicle on the basis of the generated action plan;
• generate a first action plan on the basis of the recognition result and a preset rule;
• generate a second action plan with logic different from generation of the first action plan with respect to the recognition result;
• and
• regenerate the other action plan after either one of the first action plan and the second action plan is selected.