Vehicle control device, vehicle control method, and storage medium
a vehicle control and vehicle technology, applied in the direction of automatic control systems, navigation instruments, instruments, etc., can solve the problems of inability to execute appropriate driving control, control when the lane change is not completed, and conventional technology has not been considered, so as to achieve appropriate driving control
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[0029]Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a storage medium of the present invention will be described with reference to the drawings. In the following description, an embodiment in which the vehicle control device is applied to an automated driving vehicle will be described as an example. Automated driving is, for example, to execute driving control by automatically controlling one or both of steering and speed of a vehicle. Examples of the driving control described above may include, for example, driving control such as an adaptive cruise control system (ACC), a traffic jam pilot (TJP), an automated lane change (ALC), a lane keeping assistance system (LKAS), and a collision mitigation brake system (CMBS). ALC includes a first operation of changing lanes according to a request from an occupant of a host vehicle and a second operation of changing lanes on the basis of a result of recognition by a recognizer to be described below. The se...
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