Vehicle control device, vehicle control method, and program

A vehicle control device comprising:

• a recognition unit configured to recognize a surrounding situation of a vehicle;
• and
• a control unit configured to determine whether the vehicle is likely to depart from a traveling lane based on a recognition result obtained by the recognition unit, and output a departure warning to a driver of the vehicle when it is determined that the vehicle is likely to depart from the traveling lane,
• wherein the departure warning includes a first departure warning when the vehicle is traveling on a road other than a curved road and a second departure warning when the vehicle is traveling on a curved road, and
• the control unit does not issue a warning via a sound in the first and second departure warnings when the second departure warning is issued consecutively following the first departure warning, and issues a warning via a sound in the first or second departure warning when the first or second departure warning is issued within a predetermined time after end conditions for the first and second departure warnings are established and a control related to the first and second departure warnings is ended.

A vehicle control method comprising causing a computer to:

• recognize a surrounding situation of a vehicle;
• determine whether the vehicle is likely to depart from a traveling lane based on a result of the recognition;
• and
• output a departure warning to a driver of the vehicle when it is determined that the vehicle is likely to depart from the traveling lane,
• wherein the departure warning includes a first departure warning when the vehicle is traveling on a road other than a curved road and a second departure warning when the vehicle is traveling on a curved road,
• a number of activations of the first departure warning and a number of activations of the second departure warning are counted, and a content of the departure warning is changed when the number of activations is increased, and
• the count is treated as 1 when activation is performed consecutively from the first departure warning to the second departure warning, or when activation is performed consecutively from the second departure warning to the first departure warning.

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

• recognize a surrounding situation of a vehicle;
• determine whether the vehicle is likely to depart from a traveling lane based on a result of the recognition;
• and
• output a departure warning to a driver of the vehicle when it is determined that the vehicle is likely to depart from the traveling lane,
• wherein the departure warning includes a first departure warning when the vehicle is traveling on a road other than a curved road and a second departure warning when the vehicle is traveling on a curved road,
• a number of activations of the first departure warning and a number of activations of the second departure warning are counted, and a content of the departure warning is changed when the number of activations is increased, and
• the count is treated as 1 when activation is performed consecutively from the first departure warning to the second departure warning, or when activation is performed consecutively from the second departure warning to the first departure warning.