Patent Publication Number: US-11377098-B2

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

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2019-032949, filed Feb. 26, 2019, the content of which is incorporated herein by reference. 
     BACKGROUND 
     Field 
     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 automatic control of vehicles has advanced. A parking management device which creates, if an exit request signal that requests an exit from parking is received, an exit traveling route from a parking position of a vehicle required to exit to a boarding area and transmits information of the exit traveling route to the vehicle in automated valet parking using this technology has been disclosed (Japanese Unexamined Patent Application, First Publication No. 2018-97536). 
     SUMMARY 
     However, the device described above does not consider a case in which a user tries to get on a vehicle in front of a specified area. 
     The present invention has been made in view of such circumstances, and an object thereof is to provide a vehicle control device, a vehicle control method, and a storage medium which can realize a behavior of a vehicle in accordance with a behavior of a user. 
     (1): A vehicle control device according to one aspect includes a detector configured to detect a specific operation performed on a vehicle from an outside of the vehicle, a vicinity situation recognizer configured to recognize a vicinity situation of the vehicle, and a driving controller configured to control steering, and acceleration or deceleration of the vehicle on the basis of the vicinity situation recognized by the vicinity situation recognizer, wherein, when the specific operation is detected by the detector before the vehicle arrives at a boarding area in automated exit processing, the driving controller is configured to bring the vehicle into a stopped state, the boarding area being area in which a user of the vehicle is allowed to get on the vehicle, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing the user to get on the vehicle in the boarding area. 
     (2): In the aspect of (1) described above, when the specific operation is detected by the detector, the driving controller is configured to bring the automated exit processing into the stopped state. 
     (3): In the aspect of (1) or (2) described above, the specific operation is an operation of opening a door of the vehicle or an operation of unlocking a door lock of the door accompanied by contact of the user to the door of the vehicle. 
     (4): In the aspect of any one of (1) to (3) described above, even when the vicinity situation recognizer is configured to recognize that the user has performed a gesture to cause the vehicle to stop in an area before arriving at the boarding area, the vehicle is brought into the stopped state. 
     (5): In the aspect of any one of (1) to (4) described above, the vehicle control device further includes an acquirer configured to acquire a restart signal for causing traveling of the vehicle to restart from a terminal device held by the user, in which the detector detects that the user has got on the vehicle, and the driving controller is configured to cause the traveling of the vehicle to restart when the acquirer acquires the restart signal after the detector does not detect that the user has got on the vehicle any longer in a stopped state of the vehicle. 
     (6): In the aspect of any one of (1) to (4) described above, a boarding determiner configured to determine whether a driver or a user different from the driver has got on the vehicle is further included, in which the detector detects an open or closed state of a door of the vehicle, and the driving controller is configured to maintain a stopped state of the vehicle even after the detector detects that the door of the vehicle has been closed when the boarding determiner determines that the user different from the driver has got on the vehicle in the stopped state of the vehicle. 
     (7): In the aspect of any one of (1) to (4) described above, a boarding determiner configured to determine whether a driver has got on the vehicle is further included, in which the detector detects an open or closed state of a door of the vehicle, and the driving controller is configured to cause traveling of the vehicle to restart when the boarding determiner determines that the driver has got on the vehicle and the detector detects that the door of the vehicle is closed. 
     (8): In the aspect of (6) described above, a first operator that is an accelerator pedal, a steering hole, or a brake pedal, and a controller configured to control the vehicle on the basis of an operation performed on the first operator are further included, in which the controller is configured to not cause the operation performed on the first operator to be reflected in the control of the vehicle after the traveling of the vehicle is restarted. 
     (9): In the aspect of (7) described above, a first operator that is an accelerator pedal or a steering hole, a second operator that is a brake pedal, and a controller configured to control the vehicle on the basis of the operation performed on the first operator or a second operator are further included, in which the controller is configured to cause the operation performed on the first operator to be reflected in the control of the vehicle after the vehicle has stopped on the basis of the operation performed on the second operator in the boarding area or after the operation is performed on the second operator while the vehicle is stopped in the boarding area. 
     (10): In the aspect of any one of (1) to (9) described above, the driving controller is configured to bring the automated exit processing into a completed state when the detector detects the specific operation after the vehicle has entered the boarding area in the automated exit processing. 
     (11): In the aspect of (10) described above, the driving controller is configured to not cause the automated exit processing to restart when a request for the automated exit processing is acquired after the automated exit processing is brought into the completed state, and is configured to cause the automated exit processing to restart when the request for the automated exit processing is acquired after a request for automated entrance processing for causing the vehicle to enter a parking lot after the automated exit processing is brought into the completed state. 
     (12): A vehicle control method includes, by a computer, detecting a specific operation performed on a vehicle from outside the vehicle, recognizing a vicinity situation of the vehicle, controlling steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation, and bringing the vehicle into a stopped state when the specific operation is detected before the vehicle arrives at a boarding area in automated exit processing, the boarding area being area in which a user of the vehicle is allowed to get on the vehicle, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing the user to get on the vehicle in the boarding area. 
     (13): A non-transitory computer-readable storage medium that stores a computer program to be executed by a computer to perform at least: detect a specific operation performed on a vehicle from outside the vehicle, recognize a vicinity situation of the vehicle, control steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation, and bring the vehicle into a stopped state when the specific operation is detected before the vehicle arrives at a boarding area in automated exit processing the boarding area being area in which a user of the vehicle is allowed to get on the vehicle, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing the user to get on the vehicle in the boarding area. 
     According to (1) to (4), (12), and (13), it is possible to realize a behavior of the vehicle in accordance with an action of the user. 
     According to (5), furthermore, when a restart signal is acquired, traveling of the vehicle is restarted, and thus it is possible to improve convenience for the user. 
     According to (6), furthermore, when a user different from the driver has got on the vehicle, the stopped state of the vehicle is maintained, and thus the safety in the traveling of the vehicle is further improved. For example, since traveling is not performed when a user different from the driver gets on the vehicle and the driver monitoring the vicinity situation is not present in the vehicle, and thus the safety in the traveling of the vehicle is further improved. 
     According to (7), furthermore, when the driver has got on the vehicle, the traveling of the vehicle is restarted, and thus it is possible to improve the convenience of the user while improving the safety in the traveling of the vehicle. For example, when the driver who monitors the vicinity situation is present in the vehicle, traveling starts and both safety and convenience are achieved. 
     According to (8), furthermore, since the operation performed on the first operator is not reflected in the control of the vehicle after the traveling of the vehicle is restarted, it is possible to automatically control the vehicle with a behavior in accordance with the vicinity situation. For example, since the control of the vehicle according to an operation of the driver is suppressed before the automated exit processing ends, a traffic order between a plurality of vehicles in automated exit processing performed by the vehicles is further maintained. 
     According to (9), furthermore, when the driver is in a state of being capable of controlling the vehicle, the driver can control the vehicle, and thus it is possible to improve the convenience of the driver. 
     According to (10), when the getting-on/off area has a certain size, the user can easily cause the vehicle to automatically park in the getting-on/off area. 
     According to (11), when a request for automated exit processing is made after a request for automated entrance processing has been acquired, control is unified to restart the automated exit processing, and thus a processing load of the vehicle control device can be reduced. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a configuration diagram of a vehicle system using 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 which schematically shows a scene in which an autonomous parking event is executed. 
         FIG. 4  is a diagram which shows an example of a configuration of a parking lot management device. 
         FIG. 5  is a flowchart which shows an example of a flow of processing executed by an automated driving control device. 
         FIG. 6  is a diagram which shows an example of a scene in which automated exit processing is restarted. 
         FIG. 7  is a flowchart which shows another example of a flow of processing executed by the automated driving control device. 
         FIG. 8  is a flowchart which shows an example of a flow of processing executed by an automated driving control device of a second embodiment. 
         FIG. 9  is a diagram which shows another example of the scene in which an automated exit processing is restarted. 
         FIG. 10  is a diagram which shows an example of functional constituents centering on an automated driving control device of a third embodiment. 
         FIG. 11  is a diagram which shows a part of the functional constituents of a vehicle system of a fourth embodiment. 
         FIG. 12  is a diagram which shows functional constituents of a first controller of the fourth embodiment. 
         FIG. 13  is flowchart which shows an example of a flow of processing executed by the vehicle system. 
         FIG. 14  is a flowchart which shows another example of the flow of processing executed by the vehicle system. 
         FIG. 15  is a diagram which shows another example of the scene in which automated exit processing is restarted. 
         FIG. 16  is a diagram which shows an example of a hardware configuration of the automated driving control device of the embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a storage medium will be described with reference to the drawings. 
     [Overall Configuration] 
       FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. A vehicle on which the vehicle system  1  is mounted is, for example, two-wheel, three-wheel, or four-wheel vehicle, and a driving source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine, or electric power discharged from a secondary battery or a fuel cell. 
     The vehicle system  1  includes, for example, a camera  10 , a radar device  12 , a finder  14 , an object recognition device  16 , a communication device  20 , a human machine interface (HMI)  30 , a vehicle sensor  40 , a door sensor  42 , a key communicator  44 , a touch sensor  46 , a seat sensor  48 , a navigation device  50 , a map positioning unit (MPU)  60 , a driving operator  80 , an automated driving control device  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. 
     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 (hereinafter, a host vehicle M) on 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 vicinity 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 vicinity 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 finder  14  is a light detection and range (LIDAR). The finder  14  radiates light to the vicinity of the host vehicle M and measures scattered light. The finder  14  detects a distance to the object on the basis of time from light emission and light reception. The radiated light is, for example, pulsed laser light. The finder  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 finder  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 control device  100 . The object recognition device  16  may output the results of detection by the camera  10 , the radar device  12 , and the finder  14  to the automated driving control device  100  as they are. 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), or the like, and communicates with another vehicle or a parking lot management device (to be described below) present in the vicinity of the host vehicle M or various types of server devices. 
     The HMI  30  presents various types of information to a user of the host vehicle M and receives an input operation from the user. The HMI  30  includes various display devices, speakers, buzzers, touch panels, switches, keys, 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 an angular speed around a vertical axis, an orientation sensor that detects a direction of the host vehicle M. 
     The door sensor  42  detects whether a door of the host vehicle M is open or closed. The door sensor  42  outputs, for example, an ON signal to the automated driving control device  100  when the door is open, and outputs an OFF signal to the automated driving control device  100  when the door is closed. The door sensor  42  may detect which of a plurality of doors of the host vehicle M is open or closed. 
     The key communicator  44  communicates with a communicator of a terminal device (for example, a portable device or a smart key such as an FOB key) held by the user. For example, the key communicator  44  transmits a request signal at predetermined intervals. When the terminal device is present within a transmission range of the request signal, the terminal device receives the request signal and transmits a response signal to the key communicator  44  in response to the reception. 
     The touch sensor  46  is provided near a door knob or a door knob outside the host vehicle M. The touch sensor detects, for example, that the door knob or a predetermined position near the door knob is touched by a person such as the user. For example, if a person touches the door knob, the touch sensor  46  detects that the door knob is touched on the basis of a change in capacitance caused by the touch. 
     The seat sensor  48  is provided, for example, at least in a driver&#39;s seat among seats of the vehicle. The seat sensor  48  includes one or more pressure detecting devices, and detects whether the user is sitting on the driver&#39;s seat on the basis of a result of detection by the pressure detecting device described above. In the present embodiment, it is assumed that the seat sensor  48  is provided in a passenger seat and a rear seat in addition to the driver&#39;s seat. 
     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 the position of the host vehicle M on the basis of a signal received from a GNSS satellite. 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 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 user 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 curvature of a road, 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 be realized by, for example, a function of a terminal device such as a smart phone or a tablet terminal owned by the user. 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 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, information on a center of a lane or information on a boundary of the lane. The second map information  62  may include road information, traffic regulation information, address information (addresses/postal codes), facility information, telephone number information, and the like. The second map information  62  may be updated at any time by the communication device  20  communicating with another device. 
     The driving operator  80  includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a modified steer, a joystick, and other operators. A sensor that detects an operation amount or a presence or absence of an operation is attached to the driving operator  80 , and this detection result is output to the automated driving control device  100  or some or all of the traveling drive force output device  200 , the brake device  210 , and the steering device  220 . 
     The automated driving control device  100  includes, for example, a first controller  120 , a second controller  160 , and an information processor  170 . Each of these functional parts is realized, for example, by 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), and a graphics processing unit (GPU), and may also be realized by a cooperation of software and hardware. The program 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 control device  100 , or may be stored in a detachable storage medium such as a DVD or a CD-ROM and installed in the HDD or the flash memory of the automated driving control device  100  by the storage medium (the non-transitory storage medium) being mounted on a drive device. 
       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 recognizer  130  is an example of a vicinity situation recognizer.” 
     The recognizer  130  recognizes situations such as the position, speed and acceleration of the object in the vicinity of the host vehicle M on the basis of information input from the camera  10 , the radar device  12 , and the finder  14  via the object recognition device  16 . The position of the object is, for example, recognized as a position on absolute coordinates having the origin at a representative 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. A “state” of the object may include the acceleration or jerk of the object, or an “action state” (for example, whether a lane is changed or is intended to be changed). 
     The recognizer  130  recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizer  130  recognizes a traveling lane by comparing a pattern (for example, an array of solid lines and dashed lines) of a road section line obtained from the second map information  62  with a pattern of a road section line in the vicinity of the host vehicle M recognized from an image captured by the camera  10 . The recognizer  130  may recognize a traveling lane by recognizing not only a road section line but also a traveling road boundary (road boundary) including road section lines, road shoulders, curbs, median strips, 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 the INS may be added. The recognizer  130  recognizes temporary stop lines, obstacles, red light, tollgates, or other road events. 
     When a traveling lane is recognized, the recognizer  130  recognizes the position and posture of the host vehicle M with respect to the traveling lane. The recognizer  130  may recognize, for example, a deviation of a reference point of the host vehicle M from a lane center and an angle formed with respect to a line connecting the lane centers in a traveling direction of the host vehicle M as the relative position and posture of the host vehicle M with respect to the traveling lane. Instead, the recognizer  130  may recognize a position and the like of the reference point of the host vehicle M with respect to either side end (a road section line or a road boundary) of the traveling lane as the relative position of the host vehicle M with respect to the traveling lane. 
     The recognizer  130  includes, for example, a parking space recognizer  132  and a boarding determiner  134  to be described below, which are started in an autonomous parking event. Details of functions of the parking space recognizer  132  will be described below. 
     The boarding determiner  134  determines whether the user is sitting on a driver&#39;s seat on the basis of a result of detection by the seat sensor  48 . The boarding determiner  134  determines whether the user is sitting on a seat other than the driver&#39;s seat on the basis of a result of the detection by the seat sensor  48 . When the user is sitting on the driver&#39;s seat or other seats, it means that the user is in the host vehicle M. When the user is sitting on the driver&#39;s seat, it means the driver is in the host vehicle M, and, when the user is not sitting on the driver&#39;s seat, it means that the driver is not in the host vehicle M. 
     In principle, the action plan generator  140  travels on a recommended lane determined by the recommended lane determiner  61 , and furthermore, generates a target trajectory in which the host vehicle M will automatically (without depending on an operation of the driver) travel to be able to cope with the vicinity situation of the host vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a sequence of points (orbit points) to be reached by the host vehicle M. The orbit 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 separately from this, a target speed and a target acceleration for each predetermined sampling time (for example, about 0 commas [sec]) are generated as a part of the target trajectory. The orbit points may be positions to be reached by the host vehicle M at corresponding sampling times for each corresponding sampling time. In this case, the information on the target speed and the target acceleration is expressed by an interval between the orbit points. 
     The action plan generator  140  may set an automated driving event in generation of a target trajectory. Examples of the automated driving event include a constant-speed traveling event, a low-speed following traveling event, a lane change event, a branching event, a merging event, a takeover event, an autonomous parking event in which unmanned traveling and parking are performed in valet parking and the like. The action plan generator  140  generates a target trajectory in accordance with a started event. The action plan generator  140  includes an autonomous parking controller  142  which is started when an autonomous parking event is executed. Details of functions of the autonomous parking 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. 
     Returning to  FIG. 2 , 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 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 curvature of a road in front of the host vehicle M and the feedback control based on a deviation from the target trajectory. 
     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 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 driving operator  80  such that a brake torque associated with 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 included in the driving operator  80  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 the steering wheel by, for example, applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor and changes the direction of the steering wheel according to the information input from the second controller  160  or the information input from the driving operator  80 . 
     [Autonomous Parking Event-at the Time of Entrance] 
     The autonomous parking controller  142  causes the host vehicle M to park in a parking space on the basis of, for example, information acquired from the parking lot management device  400  by the communication device  20 .  FIG. 3  is a diagram which schematically shows a scene in which an autonomous parking event is executed. In a route from a road Rd to a visiting destination facility, gates  300 -in and  300 -out are provided. The host vehicle M proceeds to the stop area  310  by passing through the gate  300 -in by manual driving or automated driving. The stop area  310  faces a getting-on/off area  320  connected to the visiting destination facility. The getting-on/off area  320  is provided with an eave for avoiding rain and snow. The stop area  310  is an example of the “boarding area.” 
     The host vehicle M starts an autonomous parking event in which unmanned (or manned) automated driving and moving to a parking space PS in the parking lot PA are performed after the user is dropped at the stop area  310 . A start trigger of the autonomous parking event may be, for example, certain operations performed by the user, or may be a reception of a predetermined signal wirelessly from the parking lot management device  400 . The autonomous parking controller  142  controls the communication device  20  such that it transmits a parking request to the parking lot management device  400  when the autonomous parking event is started. Then, the host vehicle M moves from the stop area  310  to the parking lot PA according to a guidance of the parking lot management device  400  or while performing sensing by itself. 
       FIG. 4  is a diagram which shows an example of a configuration of the parking lot management device  400 . The parking lot management device  400  includes, for example, a communicator  410 , a controller  420 , and a storage  430 . The storage  430  stores parking lot map information  432  and information on a parking space state table  434  and the like. 
     The communicator  410  wirelessly communicates with the host vehicle M and other vehicles. The controller  420  guides a vehicle to the parking space PS on the basis of information acquired by the communicator  410  and information stored in the storage  430 . The parking lot map information  432  is information in which a structure of the parking lot PA is geometrically represented. The parking lot map information  432  includes coordinates for each parking space PS. The parking space state table  434  is a table in which, for example, information indicating an empty state or information indicating a full (parking) state is associated with a parking space ID that is identification information of the parking space PS. When a parking space is in the full state, a vehicle ID that is identification information of a parking vehicle is associated with the parking space ID. 
     If the communicator  410  receives a parking request from a vehicle, the controller  420  extracts a parking space PS which is in the empty state with reference to the parking space state table  434 , acquires a position of the extracted parking space PS from the parking lot map information  432 , and transmits a preferred route to the position of the acquired parking space PS to the vehicle using the communicator  410 . The controller  420  instructs a specific vehicle to stop or slow down when necessary on the basis of a positional relationship of a plurality of vehicles such that vehicles do not proceed to the same position at the same time. 
     In the vehicle that has received the route (hereinafter, referred to as the host vehicle M), the autonomous parking controller  142  generates a target trajectory based on the route. If a target parking space PS is approached, the parking space recognizer  132  recognizes a parking frame line or the like that partitions off the parking space PS, and recognizes a detailed position of the parking space PS to provide it to the autonomous parking controller  142 . The autonomous parking controller  142  corrects the target trajectory after receiving this and causes the host vehicle M to park in the parking space PS. 
     [Autonomous Parking Event-at the Time of Exit] 
     The autonomous parking controller  142  and the communication device  20  maintain an operating state even while the host vehicle M parks. The autonomous parking controller  142  causes a system of the host vehicle M to start and causes the host vehicle M to move to the stop area  310 , for example, when the communication device  20  receives a pick-up request from a terminal device of the user. In the following description, this processing may be referred to as “automated exit processing.” At this time, the autonomous parking controller  142  controls the communication device  20  such that it transmits a departure request to the parking lot management device  400 . The controller  420  of the parking lot management device  400  instructs a specific vehicle to stop or slow down when necessary on the basis of the positional relationship of a plurality of vehicles such that the vehicles do not proceed to the same position at the same time. If the host vehicle M is moved to the stop area  310  to allow the user to board, the autonomous parking controller  142  stops operating, and thereafter, manual driving or automated driving performed by another functional part is started. 
     The autonomous parking controller  142  is not limited to the description above, and may find a parking space in the empty state by itself on the basis of a result of detection performed by the camera  10 , the radar device  12 , the finder  14 , or the object recognition device  16  independently of communication, and cause the host vehicle M to park in the found parking space. 
     The autonomous parking controller  142  includes, for example, a signal acquirer  144 . The signal acquirer  144  acquires a restart signal from the terminal device held by the user after the autonomous parking event at the time of an exit is brought into the stopped state. The restart signal is signal in which for causing the autonomous parking event at the time of an exit in the stopped state to restart. The details will be described below. In the following description, the autonomous parking event at the time of an exit may be referred to as “automated exit processing” in some cases. 
     When a specific operation is performed on the host vehicle M from outside the host vehicle M, the information processor  170  detects that the specific operation has been performed. The specific operation is an operation of opening the door of the host vehicle M or an operation of unlocking the door lock of the door accompanied by contact of the user with the door of the host vehicle M. A combination of the information processor  170  and the door sensor  42  or a combination of the information processor  170 , the key communicator  44 , and the touch sensor  46  is an example of the “detector.” 
     The information processor  170  acquires a result of detection performed by the door sensor  42 , and determines whether the door of the host vehicle M is open or closed on the basis of the acquired result of detection. That is, when it is determined that the door of the host vehicle M is open, the information processor  170  determines that a specific operation has been performed. 
     The information processor  170  acquires a result of detection performed by the touch sensor  46 , and determines whether a person has touched the door knob or a predetermined position near the door knob of the host vehicle M on the basis of the acquired result of detection. The information processor  170  acquires a result of detection performed by the seat sensor  48 , and determines whether the user is sitting on the driver&#39;s seat, the passenger seat, or the rear seat on the basis of the result of detection. 
     The information processor  170  acquires identification information of the terminal device acquired by the key communicator  44  communicating with the terminal device. The information processor  170  determines whether the identification information acquired by the key communicator  44  coincides with identification information stored in the storage device (not shown). The information processor  170  performs control such that the door lock is changed from a locked state to an unlocked state when it is determined that the two pieces of identification information described above coincide with each other and a person touches the door knob. An operation of the user changing to this unlocked state is an example of the “specific operation.” For example, the information processor  170  transmits an instruction signal to a lock controller (not shown) that controls the door lock so as to set the door lock to be open. The lock controller performs control such that the door lock is set from the locked state to the unlocked state when the instruction signal described above is acquired. 
     [Processing of Stopping Automated Exit Processing] 
       FIG. 5  is a flowchart which shows an example of a flow of processing executed by the automated driving control device  100 . The present processing is processing executed when the host vehicle M parks in the parking lot PA. 
     First, the autonomous parking controller  142  determines whether a pick-up request has been acquired (step S 100 ). When a pick-up request has been acquired, the autonomous parking controller  142  starts traveling towards the getting-on/off area  320  from the parking lot PA (step S 102 ). That is, the automated exit processing is started. 
     Next, the information processor  170  determines whether the specific operation has been performed (step S 104 ). When it is determined that the specific operation has not been performed, the autonomous parking controller  142  continues the automated exit processing (step S 106 ). Next, the autonomous parking controller  142  determines whether the host vehicle M has reached the getting-on/off area  320  (the stop area  310 ) (step S 108 ). When it has not reached the getting-on/off area  320 , the procedure returns to the processing of step S 102 . When it has reached the getting-on/off area  320 , processing of one routine of the present flowchart ends. 
     When it is determined that the specific operation has been performed, the autonomous parking controller  142  stops the automated exit processing (step S 110 ). As a result, the host vehicle M stops traveling of the host vehicle M before arriving at the getting-on/off area  320 . When the specific operation has been performed, the autonomous parking controller  142  may cause the host vehicle M to slow down and then stop. The information processor  170  determines whether the user is not in the host vehicle M (step S 112 ). When it is determined that the user is not in the host vehicle M, the information processor  170  determines whether the door of the host vehicle M is closed (step S 114 ). 
     When the door of the host vehicle M is closed (for example, when all the doors of the host vehicle M are closed), the autonomous parking controller  142  determines whether a restart signal has been acquired (step S 116 ). When the restart signal has been acquired, the autonomous parking controller  142  causes the stopped automated exit processing to restart (step S 118 ), and proceeds to the processing of step S 108 . That is, the autonomous parking controller  142  causes the automated exit processing to restart when the restart signal is acquired after it is no longer detected that the user has got on the host vehicle M in a stopped state of the automated exit processing. If the automated exit processing is restarted, for example, the autonomous parking controller  142  causes a traveling of the host vehicle M to restart. When a negative determination result is obtained in the processing of steps S 112 , S 114 , and S 116 , the procedure returns to the processing of step S 110 . As a result, processing of one routine of the present flowchart ends. 
     Some of the processing of the present flowchart may be omitted, or an order of each piece of processing may be changed. When the recognizer  130  has recognized that the user has performed a gesture to stop the host vehicle M in an area (an area different from the stop area  310 ) before arriving at the getting-on/off area  320 , the automated exit processing (the traveling of the vehicle) is set to be in the stopped state. For example, “processing of determining whether the user has performed a gesture to stop the host vehicle M in the area before arriving at the getting-on/off area  320 ” may be performed instead of “processing of determining whether the specific operation has been performed” in the processing of step S 104 . 
       FIG. 6  is a diagram which shows an example of a scene in which the automated exit processing is restarted. For example, when the user has performed a specific operation, the automated exit processing is in the stopped state at a time T. The user stops the specific operation and transmits a restart signal to the automated driving control device  100  using the holding terminal device at a time T+1. At a time T+2, the automated driving control device  100 , if the restart signal is acquired, causes the automated exit processing to restart and starts traveling toward the getting-on/off area  320 . As a result, the user can get on the host vehicle M in the getting-on/off area  320 . 
     Here, as shown in  FIG. 6 , when another vehicle is stopped at the stop area  310  of the getting-on/off area  320  and the stop area  310  is congested, the user waiting in the getting-on/off area  320  may approach the host vehicle M before reaching the getting-on/off area  320  and perform the specific operation. In a vehicle of a comparative example, control of a case in which the specific operation described above is performed has not been considered. For this reason, the vehicle of the comparative example cannot realize a behavior in accordance with the action of the user. 
     On the other hand, the automated driving control device  100  of the present embodiment can restart the automated exit processing when the specific operation has been performed and the user has acquired a restart signal while the user is not in the host vehicle M. As described above, the automated driving control device  100  can realize the behavior of the vehicle in accordance with the action of the user. 
     In the example of  FIG. 5  described above, when the host vehicle M has reached the getting-on/off area  320 , it is described that the processing ends, but, when the host vehicle M has arrived at the getting-on/off area  320  (has entered the getting-on/off area  320 ), the processing of the flowchart shown in  FIG. 7  may be performed. 
       FIG. 7  is a flowchart which shows another example of a flow of processing executed by the automated driving control device  100 . Since processing of step S 100  to step S 118  in  FIG. 7  is the same as the processing with the same step numbers in  FIG. 5 , these types of processing will not be listed in  FIG. 7  and descriptions thereof will be omitted. 
     In  FIG. 7 , the automated driving control device  100  sets the automated exit processing to be in a completed state when the specific operation is detected after the host vehicle M has entered the stop area  310 , and does not cause the automated exit processing to restart when a request for the automated exit processing is acquired after the automated exit processing is in the completed state, but causes the automated exit processing to restart when the request for the automated exit processing is acquired after a request for automated entrance processing for causing the vehicle to enter a parking lot in an unmanned manner is acquired after the automated exit processing is in the completed state. 
     When the vehicle has reached the getting-on/off area  320 , the information processor  170  determines whether the specific operation has been performed (step S 120 ). When the specific operation has not been performed, the information processor  170  determines whether the host vehicle M has stopped at a predetermined position (step S 122 ). The predetermined position is a predetermined position in the stop area  310 , and is a position at which the automated driving control device  100  has determined to pick up the user on the basis of the vicinity situation. When the host vehicle M stops at the predetermined position, processing of one routine of the present flowchart ends. When the host vehicle M does not stop at the predetermined position, the automated driving control device  100  continues control to cause the host vehicle M to proceed toward the predetermined position (step S 124 ), and returns to the processing of step S 120 . 
     When the specific operation is performed in step S 120  (for example, when the specific operation is performed before the vehicle stops at the predetermined position), the host vehicle M stops, and furthermore the information processor  170  sets the automated exit processing to be in the completed state (step S 126 ). For example, when the specific operation is performed, the information processor  170  writes an automated exit completion flag indicating that the automated exit processing has been completed in the storage device. As a result, even if the host vehicle M receives the pick-up request (the request for the automated exit processing), the host vehicle M does not execute the automated exit processing. 
     Next, the information processor  170  determines whether a parking request (a request for automated entrance processing) has been received (step S 128 ). When the parking request is received, the information processor  170  controls the host vehicle M such that the host vehicle can receive the pick-up request (step S 130 ). For example, the information processor  170  deletes the written automated exit completion flag and controls the host vehicle M such that the host vehicle can receive the pick-up request. The information processor  170  does not perform the automated exit processing when the pick-up request is acquired while it cannot receive the pick-up request, and performs the automated exit processing when the pick-up request is acquired while it can receive the pick-up request. 
     For example, it is assumed that the automated exit processing is completed by the specific operation and the vehicle has parked in the stop area  310 . In this state, if the user transmits a parking request to the host vehicle M and transmits a pick-up request to the host vehicle M after having completed his requirement, the host vehicle M automatically moves near the user and picks-up the user. 
     According to the processing described above, when the stop area  310  has a certain size, the user can easily cause the host vehicle M to perform autonomous parking in the stop area  310 . When a pick-up request is made after a parking request is acquired, control is unified to restart the automated exit processing, and thus a processing load of the vehicle system  1  is reduced. 
     According to the first embodiment described above, the automated driving control device  100  sets the automated exit processing to be in the stopped state when the specific operation is detected by the information processor  170  before the host vehicle M arrives at the getting-on/off area in the automated exit processing for causing the host vehicle M to exit from the parking lot in the unmanned manner and allowing the user to get on the vehicle in the getting-on/off area where the user of the host vehicle M is allowed to get on. As a result, it is possible to realize the behavior of the vehicle in accordance with the action of the user. 
     According to the first embodiment described above, the automated driving control device  100  causes the automated exit processing to restart when a restart signal is acquired by the autonomous parking controller  142  in a case in which the information processor  170  does not detect that the user has got on the host vehicle M while the automated exit processing is in the stopped state. As a result, the vehicle starts traveling toward the getting-on/off area  320 , and reaches the getting-on/off area  320 . Then, the user can get on the host vehicle M. As described above, the automated driving control device  100  can realize the behavior f of the vehicle in accordance with the action of the user. 
     Second Embodiment 
     Hereinafter, a second embodiment will be described. In the first embodiment, when the specific operation is performed, the automated driving control device  100  has caused the automated exit processing to restart when a restart signal is acquired while the user is not in the host vehicle M. In the second embodiment, the automated driving control device  100  restarts the automated exit processing when the driver has got on the vehicle. In the following description, a difference from the first embodiment will be mainly described. 
     [Processing of Stopping Automated Exit Processing] 
       FIG. 8  is a flowchart which shows an example of a flow of processing executed by the automated driving control device  100  of the second embodiment. A difference from the flowchart of  FIG. 5  will be mainly described. In the flowchart of  FIG. 7 , the processing of step S 113  is performed instead of the processing of step S 112  in the flowchart of  FIG. 5 . In the flowchart of  FIG. 8 , the processing of step S 116  in the flowchart of  FIG. 5  will be omitted. 
     When it is determined that the specific operation has been performed in step S 104 , the autonomous parking controller  142  stops the automated exit processing (step S 110 ). Next, the information processor  170  determines whether the driver has got on the host vehicle M (step S 113 ). When it is determined that the driver has got on the host vehicle M, the information processor  170  determines whether the door of the host vehicle M is closed (step S 114 ). 
     When the door of the host vehicle M is closed, the autonomous parking controller  142  causes the stopped automated exit processing to restart (step S 118 ), and proceeds to the processing of step S 108 . When a negative determination result is obtained in the processing of step S 113  or S 116 , the procedure returns to the processing of step S 110 . As a result, processing of one routine of the present flowchart ends. Some of the processing of the present flowchart may be omitted and an order of each processing may be changed. 
     In the present flowchart, it is assumed that processing of determining whether the autonomous parking controller  142  has acquired a restart signal is omitted between step S 114  and step S 118 , but the processing may be executed without being omitted. The autonomous parking controller  142  may determine whether a predetermined signal is output and causes the automated exit processing to restart when the predetermined signal is output between step S 114  and step S 118 . The predetermined signal is a signal output by a predetermined operation performed on the HMI  30  in the vehicle compartment by the driver. In the processing of step S 113 , it may be determined whether a user different from the driver has got on the vehicle. 
       FIG. 9  is a diagram which shows another example of the scene in which an automated exit processing is restarted. The description of  FIG. 9  is based on a premise that the automated exit processing is performed while the stop area  310  is congested in the same manner as  FIG. 6 , but illustration of another vehicle stopping in the getting-on/off area  320  will be omitted for simplification. For example, when the user has performed the specific operation at the time T, the automated exit processing is in the stopped state. If the driver gets on the host vehicle M at the time T+1, the host vehicle M restarts the automated exit processing after a predetermined time after the user gets on. That is, the host vehicle M starts traveling towards the getting-on/off area  320 . The automated driving control device  100  stops at the stop area  310  of the getting-on/off area  320  due to the restarted automated exit processing at the time T+2. As a result, another user different from the driver can get on the host vehicle M in the getting-on/off area  320 . 
     According to the second embodiment described above, the automated driving control device  100  maintains the stopped state of the automated exit processing even though a user different from the driver gets on the vehicle and the door of the host vehicle M is closed in the stopped state of the automated exit processing. The automated driving control device  100  causes the automated exit processing to restart when the driver gets on the host vehicle M and the door of the host vehicle M is closed in the stopped state of the automated exit processing. As a result, the driver or the user can get on the host vehicle M at a position associated with the type of user. As described above, the automated driving control device  100  can realize the behavior of the vehicle in accordance with the action of the user. 
     Third Embodiment 
     Hereinafter, a third embodiment will be described. In the second embodiment, the automated driving control device  100  determines whether the driver is in the vehicle on the basis of a result of detection by the seat sensor  48 . In the third embodiment, the automated driving control device  100  determines whether the driver is in the vehicle on the basis of an image in which the user sitting on the driver&#39;s seat is captured. In the following description, a difference from the second embodiment will be mainly described. 
       FIG. 10  is a diagram which shows an example of functional constituents centering on an automated driving control device  100 A of the third embodiment. In  FIG. 10 , functional constituents other than the automated driving control device  100  shown in  FIG. 1  of the first embodiment will be omitted. In the third embodiment, a vehicle system  1 A includes an on-vehicle camera  49 . In the third embodiment, for example, the seat sensor  48  will be omitted. 
     The on-vehicle camera  49  is, for example, a digital camera using a solid-state imaging device such as a CCD or a CMOS. The on-vehicle camera  49  is a camera for imaging a user sitting on the driver&#39;s seat or a user in a vehicle compartment. The on-vehicle camera  49  is attached to an arbitrary part at which the user sitting on the driver&#39;s seat or the user in the vehicle compartment can be imaged. The on-vehicle camera  49  images an interior of the vehicle compartment of the host vehicle M at a predetermined timing or in a periodically repeated manner. The on-vehicle camera  49  may also be a stereo camera. 
     The automated driving control device  100 A further includes a storage  190  in addition to the functional constituents of the automated driving control device  100  of the first embodiment. The storage  190  stores user information  192 . The user information  192  includes a feature amount extracted from an image in which an image of a driver set in advance is captured. 
     The boarding determiner  134  acquires an image acquired by the on-vehicle camera  49  (an image in which an image of the user sitting on the driver&#39;s seat is captured), and extracts a feature amount from the acquired image. The boarding determiner  134  determines whether a feature amount matching the extracted feature amount is included in the user information  192 . When it is determined that the feature amount matching the extracted feature amount is included in the user information  192 , the boarding determiner  134  determines that the driver has got on the host vehicle M. 
     According to the third embodiment described above, the same effects as in the second embodiment are achieved. 
     Fourth Embodiment 
     Hereinafter, a fourth embodiment will be described. In the fourth embodiment, the automated driving control device  100  controls the traveling drive force output device  200  or the steering device  220  without depending on an operation performed on a driving operator by the driver when a predetermined condition is not satisfied, and controls the traveling drive force output device  200  or the steering device  220  on the basis of an operation performed on the driving operator by the driver when the predetermined condition is satisfied. 
     The predetermined condition is, for example, that the brake pedal is operated to stop the host vehicle M at the stop area  310  of the getting-on/off area  320  or that the brake pedal is operated while the host vehicle M is stopped at the stop area  310  of the getting-on/off area  320 . In the following description, a difference from the first embodiment is mainly described. When the traveling drive force output device  200 , the brake device  210 , and the steering device  220  are not distinguished, they may be simply referred to as “target devices.” 
       FIG. 11  is a diagram which shows some of the functional constituents of the vehicle system  1 B of the fourth embodiment. In the example of  FIG. 11 , descriptions of constituents other than the automated driving control device  100 , the traveling drive force output device  200 , the brake device  210 , and the steering device  220  will be omitted. The vehicle system  1 B includes a driving operator  80 A instead of the driving operator  80 . 
     The driving operator  80 A includes, for example, an accelerator pedal  82 , a steering wheel  84 , and a brake pedal  86 . The accelerator pedal, the steering wheel, or the brake pedal is an example of the “first operator.” The brake pedal  86  is an example of the “second operator.” 
       FIG. 12  is a diagram which shows functional constituents of the first controller  120  of the fourth embodiment. A difference from the first controller  120  of the first embodiment will be described. The autonomous parking controller  142  included in the first controller  120  of the fourth embodiment further includes an override controller  146  in addition to the signal acquirer  144 . 
     The override controller  146  controls the brake device  210  according to information input on the basis of an operation of the brake pedal  86  regardless of whether the predetermined condition is satisfied when the automated exit processing is performed. The override controller  146  controls the brake device  210  according to the information input on the basis of the operation of the brake pedal  86  in the stop area  310  when the automated exit processing is performed. 
     When the automated exit processing is performed, the override controller  146  controls the target devices according to information input on the basis of an operation of the accelerator pedal  82  or the steering wheel  84  when the predetermined condition is satisfied. 
     When the automated exit processing is performed, the override controller  146  instructs the traveling drive force output device  200  and the steering device  220  to execute control based on information output to the second controller  160  when the predetermined condition is not satisfied. As a result, an operation received by the accelerator pedal  82  or the steering wheel  84  is not reflected in control of the traveling drive force output device  200  and the steering device  220 . 
     [Flowchart] 
       FIG. 13  is a flowchart which shows an example of a flow of processing executed by the vehicle system  1 B. The present processing is, for example, processing executed after the automated exit processing is stopped. 
     First, the autonomous parking controller  142  determines whether a restart signal has been acquired (step S 200 ). When the restart signal has been acquired, the override controller  146  determines whether the brake pedal  86  has been operated (step S 202 ). When the brake pedal  86  has not been operated, processing of one routine of the present flowchart ends. 
     When the brake pedal  86  is operated, the override controller  146  causes the brake device  210  to perform control in accordance with the operation of the brake pedal  86  (step S 204 ). As a result, the brake device  210  controls a braking force on the basis of the operation of the brake pedal  86 . 
     Next, the override controller  146  determines whether the host vehicle M has stopped on the basis of the operation of the brake pedal  86  (step S 206 ). When the host vehicle M has not stopped, the processing of one routine of the present flowchart ends. When the host vehicle M has stopped, the override controller  146  sets a valid flag (step S 208 ). As a result, the processing of one routine of the present flowchart ends. 
       FIG. 14  is a flowchart which shows another example of the flow of processing executed by the vehicle system  1 B. The present processing is, for example, processing executed after the automated exit processing is stopped. 
     First, the autonomous parking controller  142  determines whether a restart signal is acquired (step S 300 ). When the restart signal is acquired, the override controller  146  determines whether the accelerator pedal  82 , the steering wheel  84 , or the brake pedal is operated (step S 302 ). When the accelerator pedal  82 , the steering wheel  84 , or the brake pedal is operated, the override controller  146  determines whether the valid flag is set (step S 304 ). The valid flag is processing set in the processing of step S 208  of  FIG. 13 . 
     When the valid flag is set, the override controller  146  causes the traveling drive force output device  200 , the steering device  220 , or the brake device  210  to execute control in accordance with the operation on the accelerator pedal  82 , the steering wheel  84 , or the brake pedal (step S 306 ). When the valid flag is not set, the override controller  146  does not cause the traveling drive force output device  200  or the steering device  220  to execute control in accordance with the operation on the accelerator pedal  82  or the steering wheel  84  (step S 308 ). As a result, the processing of the present flowchart ends. 
       FIG. 15  is a diagram which shows another example of the scene in which the automated exit processing is restarted. Description of  FIG. 15  is performed on the premise that the stop area  310  of the getting-on/off area  320  is congested as in  FIG. 6 , but illustration of other vehicles which are stopped at the stop area  310  will be omitted for simplification. For example, when the user has performed a specific operation at a time T, the automated exit processing is in the stopped state. If the driver gets on the host vehicle M at a time T+1, the host vehicle M restarts the automated exit processing after a predetermined time since the driver has gotten on the host vehicle. That is, the host vehicle M starts traveling toward the getting-on/off area  320 . 
     At a time T+2, the driver operates the brake pedal  86  and causes the host vehicle M to stop at the stop area  310 . Thereafter, the override controller  146  causes the operation of the driver to be reflected in control of the target devices. As a result, the driver can operate the accelerator pedal  82  or the steering wheel  84  in addition to the operation on the brake pedal  86  to cause the host vehicle M to travel, as at a time T+3. That is, an override is executed. 
     According to the fourth embodiment described above, the automated driving control device  100  does not cause an operation performed on the accelerator pedal  82  or the steering wheel  84  to be reflected in the control of the host vehicle M after the automated exit processing is restarted. The automated driving control device  100  causes the operation performed on the accelerator pedal  82  or the steering wheel  84  to be reflected in the control of the host vehicle M after the host vehicle M has stopped on the basis of the operation performed on the brake pedal  86  at the stop area  310  or after the operation on the brake pedal  86  is performed while the host vehicle M is stopped at the stop area  310 . As a result, it is possible to realize the behavior of the vehicle in accordance with the action of the user. 
     The first embodiment to fourth embodiment described above may be arbitrarily combined and performed. 
     [Hardware Configuration] 
       FIG. 16  is a diagram which shows an example of a hardware configuration of the automated driving control device  100  of the embodiments. As shown in  FIG. 16 , the automated driving control device  100  is configured to include a communication controller  100 - 1 , a CPU  100 - 2 , a random access memory (RAM)  100 - 3  used as a working memory, a read only memory (ROM)  100 - 4  that stores a booting program and the like, a storage device  100 - 5  such as a flash memory or a hard disk drive (HDD), a drive device  100 - 6 , and the like being connected to one another by an internal bus or a dedicated communication line. The communication controller  100 - 1  communicates with components other than the automated driving control device  100 . 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 . As a result, some or all of the first controller  120 , the second controller  160 , and the information processor  170  are realized. 
     The embodiments described above can be expressed as follows. 
     A vehicle control device is configured to include a storage device in which a program is stored, and a hardware processor, to detect a specific operation performed on a vehicle from outside the vehicle, to control steering and acceleration or deceleration of the vehicle on the basis of the recognized vicinity situation, and to bring the vehicle into a stopped state when the specific operation is detected by the detector before the vehicle arrives at a boarding area in automated exit processing, the boarding area being area in which a user of the vehicle is allowed to get on the vehicle, the automated exit processing being process in which the vehicle is caused to exit from a parking lot and allowing the user to get on the vehicle in the boarding area. 
     As described above, the forms for implementing the present invention have been described using the embodiments. However, the present invention is not limited to such embodiments, and various modifications and substitutions may be added in a range not departing from the gist of the present invention.