Travel control device, travel control method, and storage medium

A travel control device comprising:

• a recognizer that recognizes a surrounding situation of a vehicle;
• a detector that detects at least one of a state of an occupant of the vehicle and an instruction operation by the occupant;
• an action plan generator that generates an action plan of the vehicle based on a recognition result by the recognizer and a detection result by the detector;
• and
• a travel controller that controls at least one of steering and speed of the vehicle to execute travel control of the vehicle based on the action plan generated by the action plan generator,
• wherein the travel controller comprises:
• a first travel controller that causes the vehicle to travel along a first action plan generated based on a preset rule;
• and
• a second travel controller that causes the vehicle to travel along a second action plan generated based on a model learned to generate an action plan based on external world information,
• the travel controller causes the first travel controller to execute travel control based on predetermined behavior control when an activation instruction of the predetermined behavior control is received during travel control by the first travel controller, and
• the travel controller switches from travel control by the second travel controller to travel control by the first travel controller to execute travel control based on the predetermined behavior control when the activation instruction of the predetermined behavior control is received during travel control by the second travel controller.

A travel control method in which a computer:

• recognizes a surrounding situation of a vehicle;
• detects at least one of a state of an occupant of the vehicle and an instruction operation by the occupant;
• generates an action plan of the vehicle based on a recognized result and a detected result;
• controls at least one of steering and speed of the vehicle to execute travel control of the vehicle based on a generated action plan;
• generates a first action plan based on a preset rule;
• generates a second action plan based on a model learned to generate an action plan based on external world information;
• causes predetermined behavior control for the vehicle to be executed in response to the state of the occupant or an operation instruction of the occupant even in a case where travel control of either the first action plan or the second action plan is being executed;
• causes the first action plan to execute travel control based on the predetermined behavior control when an activation instruction of the predetermined behavior control is received during travel control by the first action plan;
• and
• switches from travel control by the second action plan to travel control by the first action plan to execute travel control based on the predetermined behavior control when the activation instruction of the predetermined behavior control is received during travel control by the second action plan.

A computer-readable non-transitory storage medium storing a program that causes a computer to:

• recognize a surrounding situation of a vehicle;
• detect at least one of a state of an occupant of the vehicle and an instruction operation by the occupant;
• generate an action plan of the vehicle based on a recognized result and a detected result;
• control at least one of steering and speed of the vehicle to execute travel control of the vehicle based on a generated action plan;
• generate a first action plan based on a preset rule;
• generate a second action plan based on a model learned to generate an action plan based on external world information;
• cause predetermined behavior control for the vehicle to be executed in response to the state of the occupant or an operation instruction of the occupant even in a case where travel control of either the first action plan or the second action plan is being executed;
• cause the first action plan to execute travel control based on the predetermined behavior control when an activation instruction of the predetermined behavior control is received during travel control by the first action plan;
• and
• switch from travel control by the second action plan to travel control by the first action plan to execute travel control based on the predetermined behavior control when the activation instruction of the predetermined behavior control is received during travel control by the second action plan.