Patent Publication Number: US-2023159051-A1

Title: Vehicle control device, vehicle control method, and storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a Continuation of U.S. application Ser. No. 17/060,098 filed on Oct. 1, 2020, the entire contents of which is incorporated herein by reference. 
     Priority is claimed on Japanese Patent Application No. 2019-187679, filed Oct. 11, 2019, the content of which is incorporated herein by reference. 
    
    
     BACKGROUND 
     Field of the Invention 
     The present invention relates to a vehicle control device, a vehicle control method, and a storage medium. 
     Description of Related Art 
     In recent years, research on automatically controlling vehicles has advanced. In this regard, a technology for executing control for supporting a lane change to a target lane and prohibiting control for supporting a new lane change to an adjacent lane in a specific direction after the lane change when it is determined that a vehicle will not collide with another vehicle traveling in the target lane is known (for example, Japanese Unexamined Patent Application, First Publication No. 2019-1184). 
     SUMMARY 
     However, control when the lane change is not completed has not been considered in the conventional technology. Therefore, there have been many cases in which appropriate driving control cannot be executed. 
     Aspects of the present invention have been made in consideration of such circumstances, and an object thereof is to provide a vehicle control device, a vehicle control method, and a storage medium that can execute more appropriate driving control. 
     A vehicle control device, a vehicle control method, and a storage medium according to the present invention have adopted the following configuration. 
     (1): A vehicle control device according to one aspect of the present invention is a vehicle control device that includes a recognizer configured to recognize a peripheral status of a host vehicle, and a driving controller configured to control one or both of steering and speed of the host vehicle on the basis of the peripheral status recognized by the recognizer or map information, in which the driving controller includes a lane change controller that changes lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, the lane change controller performs a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of recognition performed by the recognizer, and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits a lane change by the second operation within a first period including a distance or time from a first time at which changing lanes is stopped. 
     (2): In the aspect of (1) described above, when a lane change to another lane present in a direction opposite to an adjacent lane to which a lane change is stopped is performed on the basis of a position of the host vehicle, the driving controller makes the first period shorter than when a lane change is performed to the adjacent lane to which a lane change is stopped. 
     (3): In the aspect of (1) described above, when a reason for changing lanes to the adjacent lane is guidance to a destination, the driving controller makes the first period shorter than that in the case of another reason. 
     (4): In the aspect of (1) described above, when a lane change from the host vehicle traveling lane of the host vehicle to the adjacent lane by the first operation is completed, the driving controller suppresses a lane change by the second operation within a second period shorter than the first period from a time of the completion. 
     (5): In the aspect of (1) described above, an operation receiver configured to receive an intention of a lane change from the occupant is further included, in which the driving controller executes a lane change by the first operation when the operation receiver has received the intention of the lane change. 
     (6): In the aspect of (1) described above, the second operation includes processing of determining whether it is possible to cause the host vehicle to change lanes from the host vehicle traveling lane to the adjacent lane. 
     (7): In the aspect of (1) described above, the driving controller changes the first period on the basis of a reason why changing lanes is stopped. 
     (8): In the aspect of (1) described above, the driving controller further includes a notification controller configured to notify the occupant of the reason why changing lanes is stopped when the lane change is stopped. 
     (9): In the aspect of (8) described above, the notification controller notifies the occupant that a lane change by the second operation becomes possible when a time for prohibiting the lane change by the second operation has elapsed. 
     (10): A vehicle control method according to another aspect of the present invention is a vehicle control method that includes, by an in-vehicle computer, recognizing a peripheral status of a host vehicle, controlling one or both of steering and speed of the host vehicle on the basis of the recognized peripheral status or map information, and changing lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, in which control for changing lanes includes a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of the recognition of the peripheral status, and, when changing lanes is stopped at the time of execution of the first operation, the host vehicle is caused to continue traveling in the host vehicle traveling lane and a lane change by the second operation is prohibited within a first period including a distance or time from a first time at which changing lanes is stopped. 
     (11): A storage medium according to still another aspect of the present invention is a computer-readable non-transitory storage medium that has stored a program causing an in-vehicle computer to execute recognizing a peripheral status of a host vehicle, controlling one or both of steering and speed of the host vehicle on the basis of the recognized peripheral status or map information, and changing lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, in which control for changing lanes includes a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of the recognition of a peripheral status, and, when changing lanes is stopped at the time of execution of the first operation, the host vehicle is caused to continue traveling in the host vehicle traveling lane and a lane change by the second operation is prohibited within a first period including a distance or time from a first time at which changing lanes is stopped. 
     According to the aspects of (1) to (11) described above, it is possible to execute more appropriate driving control. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a configuration diagram of a vehicle system including a vehicle control device according to an embodiment. 
         FIG.  2    is a functional configuration diagram of a first controller and a second controller. 
         FIG.  3    is a diagram for describing lane change control of the embodiment. 
         FIG.  4    is a diagram for describing switching timings for various devices or control related to lane change control. 
         FIG.  5    is a diagram which schematically shows how a lane change target position is set in a lane. 
         FIG.  6    is a diagram which shows an example of an image including information indicating a reason for having stopped causing a host vehicle to change lanes. 
         FIG.  7    is a diagram which shows an example of an image indicating that it is possible to change lanes by a second operation. 
         FIG.  8    is a diagram for describing a change of a predetermined waiting time or a predetermined waiting distance. 
         FIG.  9    is a flowchart which shows an example of a flow of processing executed by an automated driving controller according to the embodiment. 
         FIG.  10    is a diagram which shows an example of a hardware configuration of the automated driving controller according to the embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     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 second operation may include processing of determining whether it is possible to cause the host vehicle to change lanes. In the automated driving vehicle, driving control (so-called manual driving) by a manual operation of the occupant may be executed. In the following description, a left-hand traffic regulation is applied will be described, but in a case in which a right-hand traffic regulation is applied, left and right may be reversed. 
     Overall Configuration 
       FIG.  1    is a configuration diagram of a vehicle system  1  including a vehicle control device according to an embodiment. A vehicle (hereinafter, referred to as a host vehicle M) in which the vehicle system  1  is mounted is, for example, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates by using electric power generated by a generator connected to the internal combustion engine or electric power discharged from batteries (storage batteries) such as a secondary battery and a fuel cell. 
     The vehicle system  1  includes, for example, a camera  10 , a radar device  12 , a light detection and ranging (LIDAR)  14 , an object recognition device  16 , a communication device  20 , a human machine interface (HMI)  30 , a vehicle sensor  40 , a navigation device  50 , a map positioning unit (MPU)  60 , a driving operator  80 , a vehicle exterior notifier  90 , an automated driving controller  100 , a traveling drive force output device  200 , a brake device  210 , and a steering device  220 . These devices or apparatuses are connected to each other by a multiplex communication line such as a controller area network (CAN) communicator line, a serial communication line, a wireless communication network, or the like. The configuration shown in  FIG.  1    is merely an example, and a part of the configuration may be omitted or another configuration may be added. A combination of the HMI  30 , the driving operator  80 , the automated driving controller  100 , and the vehicle exterior notifier  90  is an example of a “vehicle control device.” A combination of the HMI  30  and the driving operator  80  is an example of an “operation receiver.” The HMI  30  is an example of a “notifier.” A combination of the first controller  120  and the second controller  160  in the automated driving controller  100  is an example of a “driving controller,” and the HMI controller  180  is an example of a “notification controller.” 
     The camera  10  is, for example, a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera  10  is attached to an arbitrary position of a vehicle in which the vehicle system  1  is mounted. When the front is imaged, the camera  10  is attached to an upper part of the front windshield, a back of the rearview mirror, or the like. The camera  10  periodically repeats to image a periphery of the host vehicle M. The camera  10  may also be a stereo camera. 
     The radar device  12  radiates radio waves such as millimeter waves to the periphery of the host vehicle M, and detects at least a position (a distance and an orientation) of an object by detecting radio waves (reflected waves) reflected by the object. The radar device  12  is attached to an arbitrary part of the host vehicle M. The radar device  12  may detect the position and a speed of the object using a frequency modulated continuous wave (FM-CW) method. 
     THE LIDAR  14  radiates light to the periphery of the host vehicle M and measures scattered light. The LIDAR  14  detects a distance to a target on the basis of time from light emission and light reception. The radiated light is, for example, pulsed laser light. The LIDAR  14  is attached to an arbitrary part of the host vehicle M. 
     The object recognition device  16  performs sensor fusion processing on a result of detection performed by some or all of the camera  10 , the radar device  12 , and the LIDAR  14 , and recognizes the position, type, speed, and the like of the object. The object recognition device  16  outputs a result of the recognition to the automated driving controller  100 . The object recognition device  16  may output results of detections by the camera  10 , the radar device  12 , and the LIDAR  14  to the automated driving controller  100  as they are. In this case, the object recognition device  16  may be omitted from the vehicle system  1 . 
     The communication device  20  uses, for example, a cellular network, a Wi-Fi network, a Bluetooth (a registered trademark), a dedicated short range communication (DSRC), a local area network (LAN), a wide area network (WAN), or a network such as the Internet, and communicates with other vehicles present in the periphery of the host vehicle M, a terminal device of a user using the host vehicle M, or various types of server devices. 
     The HMI  30  notifies an occupant of the host vehicle M of various types of information and receives an input operation from the occupant. The HMI  30  includes, for example, a lane change start switch  32  and a display  34 . The lane change start switch  32  is, for example, a switch for executing lane change control for causing the host vehicle M to change lanes using the automated driving controller  100  without depending on a steering operation or an acceleration or deceleration operation performed by the occupant. The steering operation is, for example, an operation for a steering wheel included in the driving operator  80 . The acceleration or deceleration operation is, for example, an operation for an accelerator pedal or a brake pedal included in the driving operator  80 . As the steering operation and the acceleration or deceleration operation, for example, a joystick, a gesture, a recognition device, or the like may also be used. The lane change control is, for example, ALC control of causing the host vehicle M to change lanes from a traveling lane (a host vehicle traveling lane) to a target adjacent lane by controlling one or both of steering control and speed control of the host vehicle M. The lane change start switch  32  may receive an execution request for a lane change (an intention of a lane change), and may receive information indicating either a right or left direction in which the host vehicle M performs the lane change. The lane change start switch  32  may be, for example, a mechanical switch such as a button or a graphical user interface (GUI) switch displayed on the display  34 . 
     In addition to the lane change start switch  32 , The HMI  30  may include an overtaking start switch, a following travel start switch, a lane keeping start switch, and the like. The overtaking start switch is a switch for executing the overtaking control in which the host vehicle M overtakes a preceding vehicle using the automated driving controller  100 . The following travel start switch is a switch for executing driving control in which the host vehicle M is caused to follow a preceding vehicle using the automated driving controller  100  without depending on the steering operation or the acceleration or deceleration operation performed by the occupant. The lane keeping start switch is a switch for executing driving control (LKAS control) to keep a traveling lane of the host vehicle M using the automated driving controller  100  without depending on the steering operation performed by the occupant. The HMI  30  may include a switch that switches a start or end of the automated driving. 
     The display  34  is, for example, various types of display devices such as an liquid crystal display (LCD) or an organic electro luminescence (EL) display. The display  34  is, for example, a meter display provided in a portion of an instrument panel facing a driver, a center display provided in a center of the instrument panel, a head up display (HUD), or the like. The HUD is, for example, a device for causing the occupant to visually recognize an image by superimposing it on a landscape, and, as an example, causes the occupant to visually recognize a virtual image by projecting light including the image onto a front windshield or combiner of the host vehicle M. The display  34  may include, for example, an operation receiver that receives an operation of the occupant, such as a touch panel. The HMI  30  may include a speaker, a buzzer, a touch panel, a key, and the like. 
     The vehicle sensor  40  includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects a yaw rate (for example, a rotation angle speed around a vertical axis that passes through a center of gravity of the host vehicle M), an orientation sensor that detects a direction of the host vehicle M. A result detected by the vehicle sensor  40  is output to the automated driving controller  100 . 
     The navigation device  50  includes, for example, a global navigation satellite system (GNSS) receiver  51 , a navigation HMI  52 , and a route determiner  53 . The navigation device  50  holds first map information  54  in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver  51  identifies a position of the host vehicle M on the basis of a signal received from a GNSS satellite. The GNSS receiver  51  is an example of a “positional information acquirer.” The position of the host vehicle M may be identified or supplemented by an inertial navigation system (INS) using an output of the vehicle sensor  40 . The navigation HMI  52  includes a display device, a speaker, a touch panel, a key, and the like. The GNSS receiver  51  may also be provided in the vehicle sensor  40 . The navigation HMI  52  may be partially or entirely shared with the HMI  30  described above. The route determiner  53  determines, for example, a route (hereinafter, a route on a map) from the position (or an arbitrary input position) of the host vehicle M identified by the GNSS receiver  51  to a destination input from the occupant using the navigation HMI  52  with reference to the first map information  54 . The first map information  54  is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link. The first map information  54  may include a point of interest (POI) information, and the like. The route on a map is output to the MPU  60 . The navigation device  50  may perform route guidance using the navigation HMI  52  on the basis of the route on a map. The navigation device  50  may transmit a current position and a destination to a navigation server via the communication device  20  and acquire a route equivalent to the route on a map from the navigation server. The navigation device  50  outputs the determined route on a map to the MPU  60 . 
     The MPU  60  includes, for example, a recommended lane determiner  61 , and holds second map information  62  in the storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the route on a map provided from the navigation device  50  into a plurality of blocks (for example, divides every 100 [m] in a vehicle traveling direction), and determines a recommended lane for each block with reference to the second map information  62 . The recommended lane determiner  61  determines which numbered lane to travel from the left. When there is a branch point in the route on a map, the recommended lane determiner  61  determines a recommended lane such that the host vehicle M travels in a reasonable route for traveling to a branch destination. 
     The second map information  62  is map information with higher accuracy than the first map information  54 . The second map information  62  includes, for example, the number of lanes, a type of a road marking line, information on a center of a lane, information on a boundary of the lane, or the like. The second map information  62  may include road information, traffic regulation information, address information (addresses/postal codes), facility information, parking lot information, telephone number information, and the like. The road information includes, for example, a radius of curvature (or curvature), a width, a gradient, and the like of a road. The second map information  62  may be updated at any time by the communication device  20  communicating with another device. The first map information  54  and the second map information  62  may be integrally provided as map information. The map information may also be stored in a storage  190 . 
     The driving operator  80  includes, for example, a turn signal lever  82  that causes a turn signal  92  to operate. The driving operator  80  includes, for example, a steering wheel, an accelerator pedal, and a brake pedal. The driving operator  80  may also include a shift lever, a deformed steering, a joystick, and other operators. For example, each operator of the driving operator  80  is attached to an operation detector that detects an operation amount of an operator performed by an occupant or a presence or absence of an operation. The operation detector detects, for example, a position of the turn signal lever  82 , a steering angle of the steering wheel, a steering torque, a depression amount of an accelerator pedal or a brake pedal, and the like. Then, the operation detector outputs a result of the detection to the automated driving controller  100 , the traveling drive force output device  200 , or one or both of the brake device  210  and the steering device  220 . 
     The vehicle exterior notifier  90  includes, for example, a turn signal  92  as an example of a direction indicator. The turn signal  92  includes, for example, a light emitter such as a lamp. The turn signal  92  is provided at an arbitrary position of the host vehicle M (for example, front, rear, left, and right of a body part of the host vehicle M) at which blinking of the light emitter can be recognized from surroundings of the host vehicle M. The turn signal  92  causes the light emitter at a predetermined position to blink, for example, under control of the HMI controller  180 . The vehicle exterior notifier  90  may include a speaker for outputting a sound, and cause a sound including information regarding future control (for example, a lane change) by automated driving or manual driving of the host vehicle M to be output from the speaker to be notified outside the vehicle. 
     The automated driving controller  100  executes automated driving on the basis of a request from the occupant (an occupant request), a request from the vehicle system  1  (a system request), or the like. The automated driving controller  100  may perform control for switching automated driving to manual driving according to a predetermined operation performed by the occupant. The predetermined operation is, for example, an operation in which a steering angle or steering torque of the steering wheel is equal to or larger than a threshold value or an operation in which a depression amount of the accelerator pedal or the brake pedal is equal to or more than a threshold value. 
     The automated driving controller  100  includes, for example, a first controller  120 , a second controller  160 , the HMI controller  180 , and the storage  190 . Each of the first controller  120 , the second controller  160 , and the HMI controller  180  is realized by, for example, a hardware processor such as a central processing unit (CPU) executing a program (software). Some or all of these components may be realized by hardware (a circuit; including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU), and may also be realized by a cooperation of software and hardware. The program described above may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as an HDD or a flash memory of the automated driving controller  100 , or may be stored in a detachable storage medium such as a DVD, a CD-ROM, or a memory card and installed in the storage device of the automated driving controller  100  by the storage medium (the non-transitory storage medium) being mounted on a drive device, a card slot, or the like. 
     The storage  190  may be realized by various storage devices described above, an electrically erasable programmable read only memory (EEPROM), a read only memory (ROM), a random access memory (RAM), or the like. The storage  190  stores, for example, various types of information, programs, and the like related to driving control in the embodiment. The storage  190  may store map information (for example, first map information  54  and second map information  62 ). 
       FIG.  2    is a functional configuration diagram of the first controller  120  and the second controller  160 . The first controller  120  includes, for example, a recognizer  130  and an action plan generator  140 . The first controller  120  realizes, for example, a function based on artificial intelligence (AI) and a function based on a model given in advance in parallel. For example, a function of “recognizing an intersection” may be realized by executing a recognition of an intersection by deep learning or the like and a recognition based on conditions (including pattern matching signals, road markings, and the like) given in advance in parallel and comprehensively evaluating the both by scoring them. As a result, a reliability of automated driving is guaranteed. The first controller  120  executes control regarding automated driving of the host vehicle M on the basis of, for example, an instruction from the MPU  60 , the HMI controller  180 , or the like, or an instruction from a terminal device  300 . 
     The recognizer  130  recognizes a peripheral status of the host vehicle M. The recognizer  130  includes, for example, a peripheral status recognizer  132  and a lane change determiner  134 . The peripheral status recognizer  132  recognizes the peripheral status of the host vehicle M on the basis of information to be input from the camera  10 , the radar device  12 , and the LIDAR  14  via the object recognition device  16 . For example, the peripheral status recognizer  132  recognizes states such as a position, a speed, acceleration, and the like of an object present in the periphery of the host vehicle M on the basis of the input information. The position of the object is, for example, recognized as a position on absolute coordinates having the origin at a reference point (a center of gravity, a center of a drive axis, or the like) of the host vehicle M, and is used for control. The position of the object may be represented by a representative point such as a center of gravity or a corner of the object, or may be represented by an expressed area. When the object is a moving body such as another vehicle, the “states” of the object may include the acceleration or jerk of the object, or an “action state” (for example, whether the object is changing lanes or is about to change lanes). 
     The peripheral status recognizer  132  recognizes, for example, a traveling lane and an adjacent lane of the host vehicle M. For example, the peripheral status recognizer  132  recognizes the traveling lane and the adjacent lane by comparing a pattern of road marking lines obtained from the second map information  62  (for example an array of solid and dashed lines) with a pattern of road marking lines in the periphery of the host vehicle M recognized from an image captured by the camera  10 . The peripheral status recognizer  132  may also recognize the traveling lane and the adjacent lane by recognizing not only road marking lines but also traveling road boundaries (road boundaries) including road marking lines, road shoulders, curbs, medians, guardrails, and the like. In this recognition, the position of the host vehicle M acquired from the navigation device  50  and a result of processing performed by INS may be taken into consideration. The peripheral status recognizer  132  recognizes a road marking, a radius of curvature (or curvature) of a road, a gradient of a road, a stop line, an obstacle, a red light, a toll gate, an entrance/exit gate of a parking lot, a stop area, a boarding area, and other road events. 
     The peripheral status recognizer  132  recognizes the position and posture of the host vehicle M in a traveling lane when the traveling lane is recognized. The peripheral status recognizer  132  may recognize a deviation of a reference point of the host vehicle M from a center of the lane and an angle in a traveling direction of the host vehicle M formed with respect to a line connecting centers of the lane as a relative position and posture of the host vehicle M with respect to the traveling lane. Instead of this, the peripheral status recognizer  132  may also recognize a position r the like of the reference point of the host vehicle M with respect to one of side ends of the traveling lane (a road marking line or a road boundary) as the relative position of the host vehicle M with respect to the traveling lane. 
     The lane change determiner  134  determines whether it is possible to cause the host vehicle M to change lanes on the basis of a result of recognition performed by the peripheral status recognizer  132 . The lane change determiner  134  may also determine whether the lane change of the host vehicle M has been completed. Details of functions of the lane change determiner  134  will be described below. 
     The action plan generator  140  generates an action plan for causing the host vehicle M to travel according to automated driving. For example, the action plan generator  140  generates a target trajectory in which the host vehicle M travels, in principle, a recommended lane determined by the recommended lane determiner  61 , and will further automatically (independently from an operation of a driver) travel in the future to be able to cope with the peripheral status of the host vehicle M on the basis of a result of the recognition by the recognizer  130 , a road shape or the like in the periphery based on a current position of the host vehicle M acquired from map information, or the like. The target trajectory includes, for example, a speed element. For example the target trajectory is expressed as a sequential arrangement of points (trajectory points) to be reached by the host vehicle M. The trajectory points are points to be reached by the host vehicle M for each predetermined traveling distance (for example, about several [m]) in a road distance, and, apart from this, a target speed and a target acceleration for each predetermined sampling time (for example, about several decimal numbers [sec]) are generated as a part of the target trajectory. The trajectory points may be positions to be reached by the host vehicle M at a corresponding sampling time for each predetermined sampling time. In this case, information on target speed and target acceleration is expressed by intervals between the trajectory points. 
     The action plan generator  140  may set an event of automated driving in generating the target trajectory. The event includes, for example, a constant-speed traveling event in which the host vehicle M is caused to travel in the same lane at a constant speed, a following travel event in which the host vehicle M is caused to follow another vehicle (hereinafter, referred to as a preceding vehicle) that is present within a predetermined distance (for example, within 100 [m]) in front of the host vehicle M, and is the closest to the host vehicle M, a lane change event in which the host vehicle M is caused to change lanes from a host lane to an adjacent lane, a branching event in which the host vehicle M is caused to branch to a lane on a destination side at a road branching point, a merging event in which the host vehicle M is caused to merge to a main line at a merging point, a takeover event for ending automated driving and switching it to manual driving, and the like. The event may include, for example, an overtaking event in which the host vehicle M is caused to change lanes to an adjacent lane, to overtake a preceding vehicle in the adjacent lane, and to change lanes to an original lane again, an avoidance event in which the host vehicle M is caused to perform at least one of braking and steering to avoid an obstacle present in front of the host vehicle M, and the like. 
     For example, the action plan generator  140  may change an event that is already determined for a current section to another event, or may set a new event for the current section according to the peripheral status of the host vehicle M recognized by the peripheral status recognizer  132  when the host vehicle M is traveling. The action plan generator  140  may change an event that is already set for a current section to another event, or may set a new event for the current section according to an operation of the occupant for in-vehicle devices. For example, the action plan generator  140  may change an event that is already set for a current section to the lane change event or may set a new lane change event for the current section when the occupant gives an instruction to cause the turn signal  92  to operate using the lane change start switch  32  or the turn signal lever  82 . The action plan generator  140  generates a target trajectory in accordance with a set event. 
     The action plan generator  140  includes, for example, a lane change controller  142 . The lane change controller  142  has a first operation of changing lanes according to a request from the occupant of the host vehicle M and a second operation of changing lanes on the basis of a result of recognition by the recognizer  130 . For example, the lane change controller  142  controls execution, suppression, prohibition, stop, or the like of a lane change (the lane change event) on the basis of a result of determination by the lane change determiner  134 . Details of functions of the lane change controller  142  will be described below. 
     The second controller  160  controls the traveling drive force output device  200 , the brake device  210 , and the steering device  220  such that the host vehicle M passes through the target trajectory generated by the action plan generator  140  at a scheduled time. 
     The second controller  160  includes, for example, an acquirer  162 , a speed controller  164 , and a steering controller  166 . The acquirer  162  acquires information on the target trajectory (trajectory points) generated by the action plan generator  140 , and stores it in a memory (not shown). The speed controller  164  controls the traveling drive force output device  200  or the brake device  210  on the basis of a speed element associated with the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  in accordance with a bending degree of the target trajectory stored in the memory. Processing of the speed controller  164  and the steering controller  166  is realized by, for example, a combination of feed forward control and feedback control. As an example, the steering controller  166  executes a combination of the feed forward control in accordance with the radius of curvature (or the curvature) of a road in front of the host vehicle M and the feedback control based on a deviation from the target trajectory. 
     Returning to  FIG.  1   , the HMI controller  180  notifies the occupant of predetermined information using the HMI  30 . The predetermined information includes, for example, information on traveling of the host vehicle M such as information on the state of the host vehicle M and information on driving control. The information on a state of the host vehicle M includes, for example, a speed, an engine RPM, and a shift position of the host vehicle M. The information on driving control includes, for example, a presence or absence of execution of driving control (for example, lane change control) by automated driving, information inquiring whether to start automated driving, information on a driving control status due to the automated driving, and the like. The predetermined information may include information that is not related to the traveling of the host vehicle M such as TV programs and content (for example, a movie) stored in a storage medium such as a DVD. The predetermined information may include, for example, information on a current position, a destination, and a remaining fuel amount of the host vehicle M in automated driving. The HMI controller  180  may output information received by the HMI  30  to the communication device  20 , the navigation device  50 , the first controller  120 , and the like. 
     The HMI controller  180  may communicate with a terminal device used by the user of the host vehicle M or another external device via the communication device  20 , and transmit predetermined information to the terminal device or the another external device. The HMI controller  180  may also cause the HMI  30  to output the information acquired from the terminal device or the another external device. 
     The HMI controller  180  receives operation contents of the lane change start switch  32  or the turn signal lever  82 , which is performed by the occupant, and causes a light emitter of the turn signal  92  to blink on the basis of the received operation contents. The HMI controller  180  ends blinking when a predetermined operation by the driving operator  80  is received or when a predetermined behavior of the host vehicle M is recognized. The HMI controller  180  may control a start and end of blinking of the light emitter of the turn signal  92  on the basis of a system request. 
     The traveling drive force output device  200  outputs a traveling drive force (torque) for a traveling of a vehicle to drive wheels. The traveling drive force output device  200  includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an electronic control unit (ECU) that controls these. The ECU controls the constituents described above according to information input from the second controller  160  or information input from an accelerator pedal of the driving operator  80 . 
     The brake device  210  includes, for example, a brake caliper, a cylinder that transmits a hydraulic pressure to the brake caliper, an electric motor that generates a hydraulic pressure to the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second controller  160  or the information input from the brake pedal of the driving operator  80  such that a brake torque corresponding to a braking operation is output to each wheel. The brake device  210  may include, as a backup, a mechanism that transmits the hydraulic pressure generated by an operation of the brake pedal to the cylinder via a master cylinder. The brake device  210  is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls an actuator according to the information input from the second controller  160  and transmits the hydraulic pressure of the master cylinder to the cylinder. 
     The steering device  220  includes, for example, a steering ECU and an electric motor. The electric motor changes a direction of a steering wheel by applying a force to, for example, a rack and pinion mechanism. The steering ECU drives an electric motor according to the information input from the second controller  160  or the information input from the steering wheel of the driving operator  80 , and changes the direction of the steering wheel. 
     Driving Control 
     Next, the driving control of the embodiment will be described in detail. In the following description, control of causing the host vehicle M to change lanes mainly using a first operation or a second operation will be mainly described. 
       FIG.  3    is a diagram for describing lane change control of the embodiment. The example of  FIG.  3    shows a situation in which a lane change is stopped between a start of a lane change by a first operation and completion of the lane change. In the example of  FIG.  3   , three lanes L 1  to L 3  that can travel in the same direction are shown. In  FIG.  3   , the lane L 1  is an example of the “host vehicle traveling lane” and is partitioned by marking lines LL and CL 1 . The lane L 2  is an example of the “adjacent lane” and is partitioned by marking lines CL 1  and CL 2 . The lane L 3  is partitioned by marking lines CL 2  and RL. The marking lines CL 1  and CL 2  are marking lines showing that a vehicle is allowed to change lanes between left and right lanes partitioned by the respective marking lines. In the example of  FIG.  3   , the host vehicle M is assumed to be traveling in the lane L 1  at a speed VM. Times T 1  to T 6  represent times when the traveling host vehicle M reaches a corresponding point, and the time T 1  is set to be the earliest, followed by the times T 2 , T 3 , T 4 , T 5 , and T 6  in that order. In the example of  FIG.  3   , the position of the host vehicle M at a time T* is represented by host vehicle M (T*), and the speed is represented by MV (T*). It is assumed that turn signals  92 LF and  92 RF are disposed on the left and right of the front of a main body of the host vehicle M, and turn signals  92 LR and  92 RR are disposed on the left and right of the rear side of the main body. The same applies in the following description. In the example of  FIG.  3   , another vehicle m 1  is shown. The other vehicle m 1  will be described below. 
       FIG.  4    is a diagram for describing a switching timing of control or various devices related to lane change control. In the example of  FIG.  4   , as switching of various devices or control at the times T 1  to T 6 , switching timings with respect to elapses of time in cases in which “(A) an execution condition of a lane change is satisfied/not satisfied,” “(B) a lane change instruction by the occupant is ON (on) or OFF (oft),” “(C) blinking of the turn signal  92  is ON or OFF,” “(D) lateral movement control of a lane change is ON or OFF,” and “(E) a notification to the occupant is ON or OFF” are shown. In the example of  FIG.  4   , a status (an execution status) of the lane change control associated with the switching timing of various devices or control is shown. 
     The lane change determiner  134  determines whether the host vehicle M can change lanes on the basis of a result of the recognition by the peripheral status recognizer  132 , map information, and the like in the first operation and the second operation. For example, the lane change determiner  134  determines whether all the execution conditions for the lane change as shown below are satisfied, determines that the lane change can be executed when all the conditions are satisfied, and determines that the lane change cannot be executed when any one of the conditions is not satisfied. 
     Execution condition 1: the lane L 2  that is a lane change destination has no obstacles (for example, other vehicles that hinder the lane change) 
     Execution condition 2: a partition line CL that partitions between the lane that is a lane change destination and a host lane is not a road marking that represents prohibition of a lane change (crossing prohibited) 
     Execution condition 3: the lane that is a lane change destination is recognized 
     Execution condition 4: a yaw rate detected by a yaw rate sensor included in the vehicle sensor  40  is less than a threshold value 
     Execution condition 5: a radius of curvature of a road on which the vehicle is traveling is equal to or greater than a predetermined value 
     Execution condition 6: a speed of the host vehicle is within a predetermined speed range 
     The lane change determiner  134  determines, for example, whether the execution conditions for changing lanes from the lane L 1  to the lane L 2  as requested are satisfied at a timing at which a lane change request is received from the occupant in the case of the first operation. When the second operation is executed, the lane change determiner  134  continuously determines whether the execution conditions for the lane change are satisfied, inquires of the occupant about whether to perform a lane change, and performs lane change control on the basis of a result of the inquiry or executes lane change control without depending on an operation of the occupant. 
     Here, in the examples of  FIGS.  3  and  4   , it is assumed that a lane change request is received from the occupant at the time T 2 . For example, it is assumed that the HMI controller  180  receives a lane change request from the occupant when an operation of the turn signal lever  82  or an operation of the lane change start switch  32  is received. The HMI controller  180  may receive the lane change request by a sound input through a microphone included in the HMI  30 . At the time T 2 , the execution conditions of a lane change are satisfied. The HMI controller  180  causes the turn signals  92 RF and  92 RR indicating a lane change in an instructed direction (to the lane L 2  in the example of  FIG.  3   ) to blink. 
     At the time T 2 , the lane change controller  142  starts control for causing the host vehicle M to change lanes from the lane L 1  to the lane L 2 . Specifically, the lane change controller  142  sets a target position after the lane change to the lane L 2 , and performs movement (lateral movement) in a lateral direction (toward the lane L 2 ) with respect to an extending direction of the lanes L 1  to L 3  to cause the host vehicle M to move to the set target position. 
       FIG.  5    is a diagram which schematically shows how a lane change target position TPs is set in the lane L 2 . The lane change controller  142  selects any two vehicles (for example, two vehicles relatively close to the host vehicle M) from peripheral vehicles present in the lane L 2 , and sets the lane change target position TPs between the selected two peripheral vehicles. For example, the lane change target position TPs is set at a center of the lane L 2 . In the following description, a peripheral vehicle present immediately in front of the set lane change target position TPs is referred to as a “front reference vehicle MB,” and a peripheral vehicle present immediately behind the lane change target position TPs is referred to as a “rear reference vehicle MC.” The lane change target position TPs is a relative position based on a positional relationship between the host vehicle M and the front reference vehicle MB and the rear reference vehicle MC. 
     The lane change controller  142  sets a prohibition area RA as shown in  FIG.  5    on the basis of a set position of the lane change target position TPs after the lane change target position TPs is set. For example, the lane change controller  142  projects the host vehicle M onto the lane L 2  that is a lane change destination, and sets an area having a slight margin distance in front of and behind the projected host vehicle M as the prohibition area RA. The prohibition area RA is set as an area extending from one marking line CL partitioning the lane L 2  to another marking line RL. 
     Then, the lane change controller  142  confirms the set target position TPs when not even a part of any of the peripheral vehicles is present in the set prohibition area RA, a time-to-collision (TTC) (B) between the host vehicle M and the front reference vehicle MB is larger than a threshold value Th (B), and a time-to-collision TTC (C) between the host vehicle M and the rear reference vehicle MC is larger than a threshold value Th (C). The expression “not even a part of any of the peripheral vehicles is present in the prohibition area RA” means that, for example, the prohibition area RA and an area indicating the peripheral vehicles do not overlap each other when viewed from above. The time-to-collision TTC (B) is derived by, for example, dividing a distance between an extension line FM in which a front end of the host vehicle M is virtually extended toward the lane L 2  and the front reference vehicle MB by a relative speed of the host vehicle M to the front reference vehicle MB. The time-to-collision TTC (C) is derived by dividing, for example, a distance between an extension line RM in which a rear end of the host vehicle M is virtually extended toward the lane L 2  and the rear reference vehicle MC by a relative speed of the host vehicle M to the rear reference vehicle MC. The threshold values Th (B) and Th (C) may be the same values or may be different values. 
     The lane change controller  142  confirms a target position by selecting two other vehicles from the peripheral vehicles present in the lane L 2  and newly setting a target position TPs when a part of the peripheral vehicles is present in the set prohibition area RA or when the time-to-collision TTC (B) is equal to or less than the threshold value Th (B) or the time-to-collision TTC (C) is equal to or less than the threshold value Th (C). In this case, until the target position TPs is set, the lane change controller  142  may control the speed of the host vehicle M such that a current speed is maintained, or the host vehicle M may be accelerated or decelerated such that it moves toward the target position TPs. 
     The lane change controller  142  sets the target position TPs on the basis of the speed MV of the host vehicle M, a road shape, or the like when there are no peripheral vehicles in the lane L 2 , and when there is only one peripheral vehicle in the lane L 2 , sets the lane charge target position TPs at any position in front of or behind the peripheral vehicle. 
     The lane change controller  142  generates a target trajectory for causing the host vehicle M to move to the set target position TPs, and causes the host vehicle M to travel along the generated target trajectory. In this case, the lane change controller  142  does not perform lateral movement for a lane change but generates a target trajectory for performing lateral movement to the lane L 2  side afterward until a predetermined waiting distance DA is traveled from a point at which the turn signals  92 RF and  92 RR start blinking, or until a predetermined waiting time TA elapses from the point at which the turn signals  92 RF and  92 RR start blinking. By maintaining traveling in the lane L 1  until a predetermined waiting distance DA or a predetermined distance TA elapses from blinking of the turn signals  92 RF and  92 RR, it is possible to make it easy for the host vehicle M to change lanes and to allow observers (for example, the peripheral vehicles) to recognize a lane change destination before the lateral movement for a lane change is started. The lane change controller  142  causes the host vehicle M to start a lane change to the lane L 2  including the lateral movement at the time T 3 . 
     Here, the lane change controller  142  performs control for stopping a lane change when the execution conditions for the lane change by the lane change determiner  134  are not satisfied until the lane change is completed. The example of  FIG.  3    shows a situation in which the other vehicle m 1  traveling in the lane L 3  at a speed Vm 1  (T 3 ) at the time T 3  has changed lanes to the lane L 2  that is the same as a lane change destination while approaching the host vehicle M before reaching the time T 4 . In this situation, the lane change determiner  134  determines that it is not possible to cause the host vehicle M to change lanes to the lane L 2  because the execution condition  1  for the lane change described above is not satisfied at the time T 4 . 
     The lane change controller  142  stops the lane change when the lane change determiner  134  determines that it is not possible to perform the lane change before the lane change to the lane L 2  by the host vehicle M is completed. In this case, the lane change controller  142  causes the host vehicle M to continue traveling in the lane L 1  and prohibits a lane change by the second operation within a first period including a distance or a time from a time (a first time) at which the lane change is stopped. Specifically, the lane change controller  142  executes the lateral movement of the host vehicle M such that a reference point (for example, a center of gravity G or the center) of the host vehicle M passes through the center of the lane L 1  as shown in  FIG.  3   . In the examples of  FIGS.  3  and  4   , the reference point of the host vehicle M is positioned to pass through the center of the lane L 1  and the blinking of the turn signal  92  ends at the time T 5 . As a result, it is possible to avoid contact between the host vehicle M 1  and the other vehicle M 1 . 
     The lane change controller  142  causes the host vehicle M to continue traveling in the lane L 1  (to continue LKAS control), and prohibits the lane change by the second operation from the first time (the time T 4 ) at which it has stopped causing the host vehicle M to change lanes to a second time (the time T 6 ) at which a predetermined waiting time TB elapses therefrom. The predetermined waiting time TB is an example of a “first predetermined time.” The predetermined waiting time TB may also be a time from the time T 5  to the time T 6 . 
     The lane change controller  142  may prohibit the lane change by the second operation until the predetermined waiting distance DB, instead of the predetermined waiting time TB, is traveled from the first point (a point at which the host vehicle M is present at the time T 4 ) at which it has stopped causing the host vehicle M to change lanes. The predetermined waiting distance DB is an example of a “first predetermined distance.” The expression “within a first period” described above includes, for example, “within a first predetermined time” or “within a first predetermined distance.” The lane change controller  142  may also suppress the lane change by the second operation from starting until a predetermined distance is traveled from a point (a point at which the host vehicle M is present at the time T 5 ) at which the reference point of the host vehicle M is positioned at the center of the original lane L 1  after the lane change is stopped. 
     In this manner, it is possible to suppress lane change control from being executed a plurality of times in a short period by suppressing a start of a lane change until the predetermined waiting time TB elapses or the predetermined waiting distance DB is traveled even if the execution conditions for the lane change are satisfied again after the lane change controller has stopped causing the host vehicle M to change lanes. It is possible to suppress the vehicle system from inquiring of the occupant about whether to perform the lane change within a predetermined period despite a lane change caused by a request from the occupant having been stopped. 
     When the HMI controller  180  has stopped causing the host vehicle M to change lanes, the HMI controller  180  generates notification information including a reason for the stop, and outputs the generated notification information from the HMI  30  to notify the occupant of the host vehicle M.  FIG.  6    is a diagram which shows an example of an image IM 1  including information indicating the reason for having stopped causing the host vehicle M to change lanes. A layout of the image IM 1  and a display mode of displayed content or the like are not limited to the following examples. The same applies to description of subsequent images. The image IM 1  shown in  FIG.  6    includes, for example, a first display area A 11  and a second display area A 12 . The first display area A 11  displays information including a reason why driving control executed by automated driving is stopped. In the example of  FIG.  6   , the first display area A 11  displays text information indicating “The lane change has been stopped because another vehicle traveling in the lane that is a lane change destination is approaching.” The second display area A 12  displays information indicating that start of the lane change by the second operation is suppressed for a predetermined time. In the example of  FIG.  6   , the second display area A 12  displays text information indicating “A lane change due to a system request will not be executed until ‘*** seconds’ have elapsed.” The part “*** seconds” may be a fixed value or the number of seconds to be counted down according to a remaining time. The HMI controller  180  causes the display  34  to display the image IM 1  at a time (the time T 4 ) at which the execution conditions for a lane change are not satisfied and causing the host vehicle M to change lanes is stopped. The information displayed in the first display area A 11  and the information displayed in the second display area A 12  may also be displayed in different images. 
     The HMI controller  180  may generate a sound associated with the notification information displayed in the image IM 1  and output the generated sound through the speaker of the HMI  30 . The same applies to subsequent images. 
     The HMI controller  180  generates notification information indicating that it is possible to change lanes by the second operation at a time (for example, the time T 6 ) at which a time for suppressing the host vehicle M from changing lanes by the second operation has elapsed, and notifies the occupant of the generated notification information by outputting it from the HMI  30 .  FIG.  7    is a diagram which shows an example of an image IM 2  indicating that it is possible to change lanes by the second operation. In the image IM 2  shown in  FIG.  7   , for example, a third display area A 21  is included. Information regarding driving control that is released from suppression is displayed in the third display area A 21 . In the example of  FIG.  7   , text information indicating “It is possible to change lanes according to a system request” is displayed in the third display area A 21 . The HMI controller  180  causes, for example, the display  34  to display the image IM 2  until a predetermined time elapses from the time T 6 . 
     The lane change controller  142  may also cause the host vehicle M to change lanes using the first operation without suppressing the lane change when a lane change request from the occupant is received between the time T 4  and the time T 6 . As a result, it is possible to cause the host vehicle M to change lanes by prioritizing a request operation (intention) of the occupant of the host vehicle M without waiting for an elapse of a first period. 
     Change of First Period 
     The lane change controller  142  may change or set the first period described above on the basis of a traveling status, a road status, or the like of the host vehicle M. For example, the lane change controller  142  changes the first period in a lane change after the lane change once enters a stopped state. A specific example of changing or setting the first period (a predetermined waiting time TB or a predetermined waiting distance DB) will be described below.  FIG.  8    is a diagram for describing changing the predetermined waiting time TB or the predetermined waiting distance DB. In the example of  FIG.  8   , times T 11  to T 13  represent times when the traveling host vehicle M has reached corresponding points, and it is assumed that the time T 11  is the earliest, followed by the times T 12  and T 13  in that order. In the example of  FIG.  8   , it is assumed that the lane L 2  is the “host vehicle traveling lane” and the lane L 3  is the “adjacent lane.” In the example of  FIG.  8   , a state in which a lane change from the lane L 2  to the lane L 3  is started at the time of T 11 , and the lane change is stopped at the time T 12  when the lane change determiner  134  determines that the execution conditions for the lane change are not satisfied is shown. 
     In this case, when a lane change to another lane L 1  (an adjacent lane on the left side in the example of  FIG.  8   ) present in a direction opposite to an adjacent lane (an adjacent lane on the right side in the example of  FIG.  8   ) L 3  to which a lane change is stopped is performed on the basis of a position of the host vehicle M, the lane change controller  142  makes the first period shorter than when a lane change to the lane L 3  to which a lane change is stopped is performed again. Making the first period shorter may include eliminating the first period. In this manner, it is possible to perform appropriate lane change control according to a lane change destination by adjusting the predetermined waiting time TB or the predetermined waiting distance DB according to a direction in which a lane change is performed. 
     When a reason for changing lanes is, for example, guidance to a destination set by the navigation device  50  (guidance to reach the destination), the lane change controller  142  may also make the first period (the predetermined waiting time TB or the predetermined waiting distance DB) shorter than in the case of another reason. Another reason includes, for example, reasons for which no problems occur even if a lane change is not executed, such as a lane change for passing a preceding vehicle. When the reason for changing lanes is to go to a destination, it is possible to advance a timing for changing lanes by shortening the predetermined waiting time TB or the predetermined waiting distance DB and to more reliably change lanes. It is possible to change a route for arriving at a destination without executing a lane change or to reduce a significant delay in arrival time at a destination. 
     The lane change controller  142  may also set the predetermined waiting time TB and the predetermined waiting distance DB on the basis of the reason for having stopped causing the host vehicle M to change lanes from the host vehicle traveling lane to the adjacent lane. For example, when a speed VM of the host vehicle M that follows the preceding vehicle is decreased as the speed of the preceding vehicle is decreased, and a condition of the “execution condition 6” described above is not satisfied, the lane change controller  142  sets the predetermined waiting time TB or the predetermined waiting distance DB to be shorter than in the case of another reason. When a condition of the “execution condition 1” described above is not satisfied because an interrupting vehicle is approaching, the lane change controller  142  sets the predetermined waiting time TB or the predetermined waiting distance DB to be shorter than in the case of another reason (for example, conditions of execution conditions 2 to 5 are not satisfied). The lane change controller  142  may set the predetermined waiting time TB and the predetermined waiting distance DB to be longer than a reference value when a peripheral status recognized by the peripheral status recognizer  132  does not match the peripheral status of the host vehicle M acquired from the map information. 
     The lane change controller  142  may also set one or both of the predetermined waiting time TB and the predetermined waiting distance DB described above on the basis of the speed VM of the host vehicle M. In this case, the lane change controller  142  sets the predetermined waiting time TB and the predetermined waiting distance DB to be longer as the speed becomes faster. 
     The lane change controller  142  may also set one or both of the predetermined waiting time TB and the predetermined waiting distance DB on the basis of a road type or road status of a road on which the host vehicle M travels. The road type is, for example, a type such as a highway, a toll road, or a general road. The road status is, for example, a degree of traffic congestion, the number of lanes, a radius of curvature of a road, a degree of gradient, and the like. For example, when the host vehicle is traveling on a highway, the lane change controller  142  changes one or both of the predetermined waiting time TB and the predetermined waiting distance DB to be longer than when the host vehicle is traveling on a toll road or a general road. The lane change controller  142  sets one or both of the predetermined waiting time TB and the predetermined waiting distance DB to be longer as a degree of traffic congestion on a road increases. 
     When the lane change controller  142  has finished causing the host vehicle M to change lanes by, for example, the first operation, it may suppress a lane change by the second operation within a second period shorter than the first period from the completion. The second period includes, for example, a predetermined waiting time (hereinafter referred to as a predetermined waiting time TC) or a predetermined waiting distance (hereinafter referred to as a predetermined waiting distance DC). When the lane change is completed, since it is highly likely that conditions for performing a next lane change are satisfied, it is possible to more appropriately change lanes even though the predetermined waiting time TC or the predetermined waiting distance DC is set to be shortened. 
     The lane change controller  142  may also change the predetermined waiting times TA and TC or the predetermined waiting distances DA and DC instead of (or in addition to) the predetermined waiting time TB or the predetermined waiting distance DB. In this manner, it is possible to execute driving control at an appropriate timing by changing the predetermined waiting time or the predetermined waiting distance on the basis of the traveling status, road status, or the like of the host vehicle M. 
     Processing Flow 
       FIG.  9    is a flowchart which shows an example of a flow of processing executed by the automated driving controller  100  of the embodiment. In the following description, a flow of processing of driving control including lane change control by the first operation will be mainly described. The processing shown in  FIG.  9    is repeatedly executed while automated driving by the automated driving controller  100  is executed. 
     In the processing of  FIG.  9   , the lane change determiner  134  determines whether a lane change instruction according to an operation of the lane change start switch  32  or the turn signal lever  82  by the occupant is received (step S 100 ). When the lane change request by the occupant is received, the lane change determiner  134  acquires the peripheral status recognized by the peripheral status recognizer  132 , map information (the first map information  54 , the second map information  62 ), or the like (step S 110 ), and determines whether the execution conditions for a lane change to an adjacent lane according to the lane change request are satisfied on the basis of the acquired peripheral status or map information (step S 120 ). 
     When it is determined that the execution conditions for a lane change are satisfied, the lane change controller  142  starts control for causing the host vehicle M to change lanes (step S 130 ). Next, the lane change controller  142  determines whether to stop a lane change before completion of the lane change (step S 140 ). In processing of step S 140 , the lane change controller  142  determines to stop a lane change before the completion of the lane change when the lane change determiner  134  determines that the execution conditions for the lane change are not satisfied (in other words, when it is determined that stopping conditions for the lane change are satisfied) before the completion of the lane change to a target lane. When it is determined to stop a lane change before the completion of the lane change, the HMI controller  180  notifies the occupant of information regarding a reason for the stop (step S 150 ). Next, the lane change controller  142  executes driving control for the host vehicle M to return to the center of an original lane (step S 160 ), and suppresses lane change control according to a system request until a predetermined waiting time elapses or until a predetermined waiting distance is traveled (step S 170 ). In processing of step S 170 , when there is a lane change request from the occupant before the predetermined waiting time elapses or before the predetermined waiting distance is traveled, lane change control is started by giving priority to an intention of the occupant. 
     Next, the HMI controller  180  notifies the occupant of information indicating that suppression is released by outputting it from the HMI  30  after a predetermined time has elapsed or a predetermined distance has been traveled since the suppression was started (step S 180 ). 
     In the processing of step S 140 , when it is determined not to stop a lane change before the completion of the lane change, the HMI controller  180  notifies the occupant of information indicating that the lane change has been completed by outputting it from the HMI  30  after the lane change control by the lane change controller  142  has been completed (step S 190 ). In processing of step S 120 , when it is determined that the execution conditions for a lane change are not satisfied, the lane change controller  142  does not execute control for causing the host vehicle M to change lanes. In this case, the HMI controller  180  notifies the occupant of information indicating that the lane change cannot be executed by outputting it from the HMI  30  (step S 200 ). In processing of step S 200 , information regarding a reason why the lane change cannot be executed may also be notified of. Accordingly, the processing of this flowchart ends. In processing of step S 100 , when it is determined that a lane change request is not received from the occupant, the processing of this flowchart ends. 
     According to the embodiments described above, for example, the automated driving controller  100  includes a recognizer  130  configured to recognize a peripheral status of a host vehicle, and a driving controller (the first controller  120 , the second controller  160 ) configured to control one or both of steering and speed of the host vehicle M on the basis of the peripheral status recognized by the recognizer  130  or map information, the driving controller includes a lane change controller that causes a vehicle M to change lanes from a host vehicle traveling lane in which the vehicle M travels to an adjacent lane adjacent to the host vehicle traveling lane, the lane change controller has a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of recognition performed by the recognizer  130 , and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits a lane change by the second operation within a first period including a distance or time from a first time at which changing lanes is stopped, and thereby it is possible to execute more appropriate driving control. 
     Specifically, according to the embodiments, for example, even if a lane change according to a request from the occupant is stopped, it is possible to suppress suggesting a lane change from a system side within a predetermined time after the stop. According to the embodiments, it is possible to suppress lane change control from starting several times within a predetermined time after the stop. 
     Hardware Configuration 
       FIG.  10    is a diagram which shows an example of a hardware configuration of the automated driving controller  100  of the embodiment. As shown in  FIG.  10   , a computer of the automated driving controller  100  is configured by a communication controller  100 - 1 , a CPU  100 - 2 , an RAM  100 - 3  used as a working memory, a ROM  100 - 4  for storing a booting program, a storage device  100 - 5  such as a flash memory or an HDD, a drive device  100 - 6 , and the like being connected to each other by an internal bus or a dedicated communication line. The communication controller  100 - 1  communicates with components other than the automated driving controller  100 . A portable storage medium such as an optical disc (for example, a computer-readable non-transitory storage medium) is attached to the drive device  100 - 6 . The storage device  100 - 5  stores a program  100 - 5   a  executed by the CPU  100 - 2 . This program is expanded in the RAM  100 - 3  by a direct memory access (DMA) controller (not shown) or the like, and executed by the CPU  100 - 2 . The program  100 - 5   a  to which the CPU  100 - 2  refers may be stored in the portable storage medium attached to the drive device  100 - 6 , and may also be downloaded from another device via a network. As a result, a part or all of components of the automated driving controller  100  are realized. 
     The embodiments described above can be expressed as follows. 
     The vehicle control device is configured to include a storage device that stores a program, and a hardware processor, in which the hardware processor executes the program stored in the storage device, and thereby recognizing a peripheral status of a host vehicle, controlling one or both of steering and speed of the host vehicle on the basis of the recognized peripheral status or map information, and changing lanes from a host vehicle traveling lane in which the host vehicle travels to an adjacent lane adjacent to the host vehicle traveling lane, in which the control for changing lanes has a first operation of changing lanes according to a request from an occupant of the host vehicle and a second operation of changing lanes on the basis of a result of the recognition performed by the recognizer, and, when changing lanes is stopped at the time of execution of the first operation, causes the host vehicle to continue traveling in the host vehicle traveling lane and prohibits lane change by the second operation within a first period including a distance or time from a first time at which the lane change changing lanes is stopped. 
     A mode for implementing the present invention has been described using the embodiment. However, the present invention is not limited to such an embodiment, and various modifications and substitutions may be made within a range not departing from the gist of the present invention.