Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Abstract:

A vehicle control device includes a main control device that includes a recognition unit configured to recognize a peripheral situation of a vehicle, a driving control unit configured to control steering and acceleration/deceleration of the vehicle independently from an operation of a driver of the vehicle, and a mode determination unit configured to determine a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, and to change the driving mode of the vehicle to a driving mode with a heavier task load when the second driving mode is a driving mode in which a task load imposed on the driver is lighter than in the first driving mode, at least a part of the plurality of driving modes including the second driving mode is controlled by the driving control unit, and a predetermined condition is satisfied, a sub-control device that has the same configuration as the main control device, and is capable of controlling the vehicle in place of the main control device, and a temperature detection unit configured to detect a temperature of the second battery that is different from the first battery supplying power to the main control device and supplies power to the sub-control device, in which the mode determination unit changes the driving mode of the vehicle from the second driving mode to the first driving mode when a temperature of the second battery is lower than a predetermined temperature.