Control device, control method, and storage medium

A control method of a vehicle, the control method comprising:

• by a computer configured to control the vehicle,
• acquiring surrounding information of the vehicle;
• receiving, from an inputter provided in a passenger compartment of the vehicle, a first input with contact and a second input by at least one of a gesture and a voice by an occupant of the vehicle;
• and
• performing a travel control of the vehicle using the surrounding information and start the travel control of a lane change for performing the lane change based on at least the first input, wherein
• the travel control of the lane change is started based on the second input in a first driving mode in which gripping a steering wheel by the occupant is not required and monitoring surroundings outside the vehicle by the occupant is required.

A non-transitory computer-readable storage medium storing a program for causing a computer configured to control a vehicle to execute a process, the process comprising:

• acquiring surrounding information of the vehicle;
• receiving, from an inputter provided in a passenger compartment of the vehicle, a first input with contact and a second input by at least one of a gesture and a voice by an occupant of the vehicle;
• and
• performing a travel control of the vehicle using the surrounding information and start the travel control of a lane change for performing the lane change based on at least the first input, wherein
• the travel control of the lane change is started based on the second input in a first driving mode in which gripping a steering wheel by the occupant is not required and monitoring surroundings outside the vehicle by the occupant is required.