Patent Publication Number: US-2020298874-A1

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

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2019-051584, filed Mar. 19, 2019, the content of which is incorporated herein by reference. 
     BACKGROUND 
     Field of the Invention 
     The present invention relates to a vehicle control system, a vehicle control method, and a storage medium. 
     Description of Related Art 
     Research on automatic control of vehicles has advanced in recent years. In this regard, a technique of notifying a rider&#39;s terminal device of the position of a vehicle that has been parked by automated driving is known (for example, Japanese Unexamined Patent Application, First Publication No. 2017-182263). 
     SUMMARY 
     However, in the related art, when a vehicle is parked by automated driving, a rider may be required to operate a terminal device or to operate a certain operation device to instruct parking. These operations may be cumbersome and inconvenient. 
     Embodiments of the present invention have been made in view of such circumstances and it is an object of the present invention to provide a vehicle control system, a vehicle control method, and a storage medium that can improve convenience. A vehicle control system, a vehicle control method, and a storage medium according to the present invention employ the following configurations. 
     (1) A vehicle control system according to an aspect of the present invention includes a recognizer configured to recognize a surrounding environment of a vehicle, and a driving controller configured to automatically perform speed control and steering control of the vehicle on the basis of a recognition result of the recognizer, wherein the driving controller is configured to cause, after letting a user alight the vehicle, the vehicle to start traveling from a stopped state when the recognizer has recognized a specific operation that the alighted user performs on or toward a body of the vehicle. 
     (2) In the above aspect (1), the specific operation includes a gesture of the alighted user. 
     (3) In the above aspect (1), the specific operation includes knocking on the body of the vehicle. 
     (4) In the above aspect (3), the driving controller is configured to cause the vehicle to start traveling from a stopped state when the recognizer has recognized that the knocking has a predetermined rhythm or that the knocking includes a predetermined number of knocks. 
     (5) In the above aspect (3), the recognizer is configured to recognize the knocking detected by a sound detector configured to detect a sound in a passenger compartment of the vehicle. 
     (6) In the above aspect (1), the specific operation includes a stroking operation of the alighted user. 
     (7) In the above aspect (6), the recognizer is configured to recognize the stroking operation detected by a contact detector configured to detect touching of a person on the body of the vehicle. 
     (8) A vehicle control method according to an aspect of the present invention includes a computer recognizing a surrounding environment of a vehicle, automatically performing speed control and steering control of the vehicle on the basis of a result of the recognition, and causing, after letting a user alight the vehicle, the vehicle to start traveling from a stopped state upon recognizing a specific operation that the alighted user performs on or toward a body of the vehicle. 
     (9) A non-transitory computer-readable storage medium according to an aspect of the present invention stores a program that causes a computer to recognize a surrounding environment of a vehicle, automatically perform speed control and steering control of the vehicle on the basis of a result of the recognition, and cause, after letting a user alight the vehicle, the vehicle to start traveling from a stopped state upon recognizing a specific operation that the alighted user performs on or toward a body of the vehicle. 
     According to the above aspects (1) to (9), convenience can be improved. 
     According to the above aspects (2) to (7), the vehicle can be easily parked in the parking lot by automated driving. 
    
    
     
       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 schematically showing a scene in which a self-propelled parking event is performed. 
         FIG. 4  is a diagram showing an example of the configuration of a parking lot management device. 
         FIG. 5  is a diagram showing an example of an execution screen of an application for generating specific gesture information. 
         FIG. 6  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by a gesture. 
         FIG. 7  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by knocking. 
         FIG. 8  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by a stroking operation. 
         FIG. 9  is a diagram showing an example of an image of a passenger compartment captured by a vehicle interior camera and an image of a passenger compartment captured in the past. 
         FIG. 10  is a flowchart showing a flow of a series of processes for starting a self-propelled parking event relating to vehicle storage. 
         FIG. 11  is a flowchart showing a flow of a series of processes for stopping a self-propelled parking event relating to vehicle storage. 
         FIG. 12  is a diagram showing an example of the hardware configuration of an automated driving control device according to an embodiment. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     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. The following description will refer to the case in which left-hand traffic laws are applied, but the terms “left” and “right” simply need to be reversed when right-hand traffic laws are applied. 
     [Overall Configuration] 
       FIG. 1  is a configuration diagram of a vehicle system  1  using a vehicle control device according to an embodiment. A vehicle in which the vehicle system  1  is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled 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 using discharge power of a secondary battery or a fuel cell. The following description will refer to the case where the driving source of the vehicle M is a combination of the internal combustion engine and the electric motor. 
     The vehicle system  1  includes, for example, a camera  10 , a radar device  12 , a finder  14 , an object recognition device  16 , a failure detection device  18 , a communication device  20 , a human machine interface (HMI)  30 , vehicle sensors  40 , a navigation device  50 , a map positioning unit (MPU)  60 , a vehicle interior camera  70 , a specific contact operation detection device  72 , a remaining battery level detector  74 , a remaining fuel detector  76 , driving operators  80 , an automated driving control device  100 , a travel driving 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 or a serial communication line such as a controller area network (CAN) communication line, a wireless communication network, or the like. The components shown in  FIG. 1  are merely an example and some of the components may be omitted or other components 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 the vehicle in which the vehicle system  1  is mounted (hereinafter referred to as an own vehicle M) at an arbitrary location. For example, the camera  10  repeats imaging of the surroundings of the own vehicle M at regular intervals. The camera  10  may also be a stereo camera. 
     The radar device  12  radiates radio waves such as millimeter waves around the own vehicle M and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and orientation) of the object. The radar device  12  is attached to the own vehicle M at an arbitrary location. The radar device  12  may detect the position and velocity of an object using a frequency modulated continuous wave (FM-CW) method. 
     The finder  14  is a light detection and ranging (LIDAR) finder. The finder  14  illuminates the surroundings of the own vehicle M with light and measures scattered light. The finder  14  detects the distance to a target on the basis of a period of time from when light is emitted to when light is received. The light radiated is, for example, pulsed laser light. The finder  14  is attached to the own vehicle M at an arbitrary location. 
     The object recognition device  16  performs a sensor fusion process on results of detection by some or all of the camera  10 , the radar device  12 , and the finder  14  to recognize the position, type, speed, or the like of the object. The object recognition device  16  outputs the recognition result to the automated driving control device  100 . The object recognition device  16  may output detection results of 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 failure detection device  18  detects failures of components for detecting the surroundings of the own vehicle M (for example, the camera  10 , the radar device  12 , the finder  14 , and the object recognition device  16 ) among components included in the vehicle system  1 . Hereinafter, when failures of the components for detecting the surroundings of the own vehicle M (for example, the camera  10 , the radar device  12 , the finder  14 , and the object recognition device  16 ) are not distinguished from each other, each component will be referred to as a “detection device.” The failure detection device  18  determines that the detection device has failed, for example, when the output of a detection result of the detection device is interrupted, when a detection result of the detection device indicates an abnormal value, or when the detection device has stopped operating. The failure detection device  18  determines that the detection device has failed, for example, when the detection device has partly or wholly failed. The failure detection device  18  is an example of a “failure detector.” 
     For example, the communication device  20  communicates with other vehicles or a parking lot management device (which will be described later) present near the own vehicle M or communicates with various server devices using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), dedicated short range communication (DSRC) or the like. 
     The HMI  30  presents various types of information to a rider in the own vehicle M and receives an input operation from the rider. The HMI  30  includes various display devices, a speaker, a buzzer, a touch panel, switches, keys, and the like. 
     The vehicle sensors  40  include a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects the acceleration thereof, a yaw rate sensor that detects an angular speed thereof about the vertical axis, an orientation sensor that detects the orientation of the own vehicle M, or the like. 
     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 own vehicle M on the basis of signals received from GNSS satellites. The position of the own vehicle M may also be identified or supplemented by an inertial navigation system (INS) using the output of the vehicle sensors  40 . The navigation HMI  52  includes a display device, a speaker, a touch panel, a key, or the like. The navigation HMI  52  may be partly or wholly shared with the HMI  30  described above. For example, the route determiner  53  determines a route from the position of the own vehicle M identified by the GNSS receiver  51  (or an arbitrary input position) to a destination input by the rider (hereinafter referred to as an on-map route) using the navigation HMI  52  by referring to the first map information  54 . The first map information  54  is, for example, information representing shapes of roads by links indicating roads and nodes connected by the links. The first map information  54  may include curvatures of roads, point of interest (POI) information, or the like. The on-map route is output to the MPU  60 . The navigation device  50  may also perform route guidance using the navigation HMI  52  on the basis of the on-map route. The navigation device  50  may be realized, for example, by a function of a terminal device such as a smartphone or a tablet possessed by the rider (hereinafter referred to as a terminal device TM). The navigation device  50  may also transmit the current position and the destination to a navigation server via the communication device  20  and acquire a route equivalent to the on-map route from the navigation server. 
     The MPU  60  includes, for example, a recommended lane determiner  61  and holds second map information  62  in a storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the on-map route provided from the navigation device  50  into a plurality of blocks (for example, into blocks each 100 meters long in the direction in which the vehicle travels) and determines a recommended lane for each block by referring to the second map information  62 . The recommended lane determiner  61  determines the number of the lane from the left in which to travel. When there is a branch point on the on-map route, the recommended lane determiner  61  determines a recommended lane such that the own vehicle M can travel on a reasonable route for proceeding to the 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 of the centers of lanes or information of the boundaries of lanes. The second map information  62  may also include road information, traffic regulation information, address information (addresses/postal codes), facility information, telephone number information, or the like. The second map information  62  may be updated as needed by the communication device  20  communicating with another device. 
     The vehicle interior camera  70  is, for example, a digital camera using a solid-state imaging device such as a CCD or a CMOS. The vehicle interior camera  70  is a camera for imaging objects placed in the passenger compartment. The vehicle interior camera  70  is attached to, for example, arbitrary locations where it can image states of the passenger compartment of the own vehicle M. The vehicle interior camera  70  images the passenger compartment of the own vehicle, for example, at predetermined timings or periodically and repeatedly. The vehicle interior camera  70  may be a stereo camera. 
     The specific contact operation detection device  72  includes, for example, a sound detector that detects a knocking sound of the own vehicle M and a contact detector that detects an operation of stroking the own vehicle M. The sound detector is realized, for example, by a microphone installed in the passenger compartment and the contact detector is realized, for example, by a touch panel installed on the surface of the body of the own vehicle M. 
     The remaining battery level detector  74  detects a remaining level (for example, state of charge (SoC)) of a secondary storage battery that supplies power to the electric motor that is a driving source included in the own vehicle M. 
     The remaining fuel detector  76  detects a remaining amount of fuel (gasoline) used for combustion of the internal combustion engine of the own vehicle M or a remaining amount of fuel (for example, hydrogen, hydrocarbon, or alcohol) used for power generation of the fuel cell. Hereinafter, when the secondary storage battery and the fuel cell are not distinguished from each other, each will be referred to as a battery. 
     The driving operators  80  include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a different shaped steering member, a joystick, and other operators. Sensors for detecting the amounts of operation or the presence or absence of operation are attached to the driving operators  80 . Results of the detection are output to the automated driving control device  100  or some or all of the travel driving 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 a storage  180 . Each of the first controller  120  and the second controller  160  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 (including circuitry) such as large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU) or may be realized by hardware and software in cooperation. The program may be stored in advance in a storage device (a storage device having 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 then installed in the HDD or flash memory of the automated driving control device  100  by mounting the storage medium (the non-transitory storage medium) in a drive device. The storage  180  stores specific gesture information  182  and specific contact operation information  184 . Details of the specific gesture information  182  and the specific contact operation information  184  will be described later. 
       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 a behavior plan generator  140 . For example, the first controller  120  realizes a function based on artificial intelligence (AI) and a function based on a previously given model in parallel. For example, the function of “recognizing an intersection” is realized by performing recognition of an intersection through deep learning or the like and recognition based on previously given conditions (presence of a signal, a road sign, or the like for which pattern matching is possible) in parallel and evaluating both comprehensively through scoring. This guarantees the reliability of automated driving. 
     The recognizer  130  recognizes states such as the position, speed and acceleration of each object present near the own 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 recognized, for example, as a position in an absolute coordinate system whose origin is at a representative point on the own vehicle M (such as the center of gravity or the center of a drive shaft thereof), and used for control. The position of the object may be represented by a representative point on the object such as the center of gravity or a corner thereof or may be represented by an expressed region. The “states” of the object may include an acceleration or jerk of the object or a “behavior state” thereof (for example, whether or not the object is changing or is going to change lanes). 
     The recognizer  130  recognizes, for example, a lane in which the own vehicle M is traveling (a travel lane). For example, the recognizer  130  recognizes the travel lane, for example, by comparing a pattern of road lane lines (for example, an arrangement of solid and broken lines) obtained from the second map information  62  with a pattern of road lane lines near the own vehicle M recognized from an image captured by the camera  10 . The recognizer  130  may recognize the travel lane by recognizing travel boundaries (road boundaries) including road lane lines, road shoulders, curbs, a median strip, guardrails, or the like, without being limited to road lane lines. This recognition may be performed taking into consideration a position of the own vehicle M acquired from the navigation device  50  or a result of processing by the INS. The recognizer  130  recognizes temporary stop lines, obstacles, red lights, toll gates, and other road phenomena. 
     When recognizing the travel lane, the recognizer  130  recognizes the position or attitude of the own vehicle M with respect to the travel lane. For example, the recognizer  130  may recognize both a deviation from the lane center of the reference point of the own vehicle M and an angle formed by the travel direction of the own vehicle M relative to an extension line of the lane center as the relative position and attitude of the own vehicle M with respect to the travel lane. Alternatively, the recognizer  130  may recognize the position of the reference point of the own vehicle M with respect to one of the sides of the travel lane (a road lane line or a road boundary) or the like as the relative position of the own vehicle M with respect to the travel lane. 
     The recognizer  130  recognizes an object present in the passenger compartment of the own vehicle M on the basis of the image captured by the vehicle interior camera  70 . For example, the function of “recognizing an object present in the passenger compartment” is realized by recognizing an object by deep learning or the like. The recognizer  130  recognizes, on the basis of a sound detected by the microphone, the generation position of a knocking sound due to the rider knocking on the own vehicle M, the rhythm of the knocking sound, the number of knocks heard in the knocking sound within a predetermined time, and the like. The recognizer  130  recognizes an operation of stroking the own vehicle M detected by the touch panel. 
     The recognizer  130  includes a parking space recognizer  132  that is activated in a self-propelled parking event that will be described later. Details of the functions of the parking space recognizer  132  will be described later. 
     The behavior plan generator  140  generates a target trajectory along which the own vehicle M will travel in the future automatically (independently of the driver&#39;s operation), basically such that the own vehicle M travels in the recommended lane determined by the recommended lane determiner  61  and copes with situations occurring near the own vehicle M. The target trajectory includes, for example, a speed element. The target trajectory is expressed, for example, by an arrangement of points (trajectory points) which are to be reached by the own vehicle M in order. The trajectory points are points to be reached by the own vehicle M at intervals of a predetermined travel distance (for example, at intervals of about several meters) along the road. Apart from this, a target speed and a target acceleration for each predetermined sampling time (for example, every several tenths of a second) are determined as a part of the target trajectory. The trajectory points may be respective positions at the predetermined sampling times which the own vehicle M is to reach at the corresponding sampling times. In this case, information on the target speed or the target acceleration is represented with the interval between the trajectory points. 
     When generating the target trajectory, the behavior plan generator  140  may set an automated driving event. Examples of the automated driving event include a constant-speed travel event, a low-speed following travel event, a lane change event, a branching event, a merging event, a takeover event, and a self-propelled parking event that is an event of performing parking by unmanned driving in valet parking or the like. The behavior plan generator  140  generates a target trajectory according to an activated event. The behavior plan generator  140  includes a self-propelled parking controller  142  that is activated when a self-propelled parking event is performed. Details of the functions of the self-propelled parking controller  142  will be described later. 
     The second controller  160  controls the travel driving force output device  200 , the brake device  210 , and the steering device  220  such that the own vehicle M passes through the target trajectory generated by the behavior plan generator  140  at scheduled times. 
     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 behavior plan generator  140  and stores it in a memory (not shown). The speed controller  164  controls the travel driving force output device  200  or the brake device  210  on the basis of a speed element pertaining to the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  according to the degree of bending of the target trajectory stored in the memory. The processing of the speed controller  164  and the steering controller  166  is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering controller  166  performs the processing by combining feedforward control according to the curvature of the road ahead of the own vehicle M and feedback control based on deviation from the target trajectory. A combination of the behavior plan generator  140  and the second controller  160  is an example of the “driving controller.” 
     The travel driving force output device  200  outputs a travel driving force (torque) required for the vehicle to travel to driving wheels. The travel driving 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 them. The ECU controls the above constituent elements according to information input from the second controller  160  or information input from the driving operators  80 . 
     The brake device  210  includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the second controller  160  or information input from the driving operators  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 for transferring a hydraulic pressure generated by an operation of the brake pedal included in the driving operators  80  to the cylinder via a master cylinder. The brake device  210  is not limited to that configured as described above and may be an electronically controlled hydraulic brake device that controls an actuator according to 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, for example, applies a force to a rack-and-pinion mechanism to change the direction of steering wheels. The steering ECU drives the electric motor according to information input from the second controller  160  or information input from the driving operators  80  to change the direction of the steering wheels. 
     [Self-Propelled Parking Event—at the Time of Vehicle Storage] 
     The self-propelled parking controller  142  causes the own vehicle M to be parked in a parking space, for example, on the basis of information that has been acquired from the parking lot management device  400  through the communication device  20 .  FIG. 3  is a diagram schematically showing a scene in which a self-propelled parking event is performed. Gates  300 -in and  300 -out are provided on a route from a road Rd to a facility to be visited and a route from the facility to be visited to the road Rd, respectively. The own vehicle M advances to a stop area  310  through the gate  300 -in by manual driving or automated driving. The stop area  310  faces an alighting/boarding area  320  connected to the facility to be visited. An eave for blocking rain and snow is provided in the alighting/boarding area  320 . 
     After letting the rider alight in the stop area  310 , the own vehicle M starts a self-propelled parking event of performing automated driving to move to a parking space PS in the parking lot PA. Details of a start trigger of the self-propelled parking event relating to vehicle storage will be described later. Upon starting the self-propelled parking event, the self-propelled parking controller  142  transmits a parking request to the parking lot management device  400  by controlling the communication device  20 . Then, the own vehicle M moves from the stop area  310  to the parking lot PA while following guidance of the parking lot management device  400  or performing detecting by itself. 
       FIG. 4  is a diagram showing an example of the 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 information such as parking lot map information  432  and a parking space state table  434 . 
     The communicator  410  wirelessly communicates with the own vehicle M and other vehicles. The controller  420  guides the vehicle to the parking space PS on the basis of the information acquired by the communicator  410  and the information stored in storage  430 . The parking lot map information  432  is information geometrically representing the structure of the parking lot PA. The parking lot map information  432  includes coordinates of each parking space PS. The parking space state table  434  is, for example, a table in which a state indicating whether a parking space is empty or full (occupied) and a vehicle ID that is identification information of a vehicle parked in the parking space if the parking space is full are associated with each parking space ID that is identification information of the parking space PS. 
     When the communicator  410  has received a parking request from a vehicle, the controller  420  refers to the parking space state table  434  to extract an empty parking space PS, acquires the position of the extracted parking space PS from the parking lot map information  432 , and transmits a suitable route to the acquired position of the parking space PS to the vehicle using the communicator  410 . Based on the positional relationships of a plurality of vehicles, the controller  420  instructs a specific vehicle to stop, slow down or the like as necessary such that vehicles do not proceed to the same position at the same time. 
     In the vehicle that has received the route (hereinafter assumed to be an own vehicle M), the self-propelled parking controller  142  generates a target trajectory based on the route. When approaching the target parking space PS, the parking space recognizer  132  recognizes a parking frame line or the like defining the parking space PS to recognize a detailed position of the parking space PS and provides the recognized detailed position of the parking space PS to the self-propelled parking controller  142 . Upon receiving this, the self-propelled parking controller  142  corrects the target trajectory and causes the own vehicle M to be parked in the parking space PS. 
     [Self-Propelled Parking Event—at the Time of Vehicle Retrieval] 
     The self-propelled parking controller  142  and the communication device  20  remain in operation while the own vehicle M is parked. The self-propelled parking controller  142  activates the system of the own vehicle M to move the own vehicle M to the stop area  310 , for example, when the communication device  20  has received a pick-up request from the terminal device TM of the rider. At this time, the self-propelled parking controller  142  transmits a start request to the parking lot management device  400  by controlling the communication device  20 . Based on the positional relationships of a plurality of vehicles, the controller  420  of the parking lot management device  400  instructs a specific vehicle to stop, slow down or the like as necessary such that vehicles do not proceed to the same position at the same time, similar to the case of vehicle storage. When the own vehicle M is caused to move to the stop area  310  and the rider boards the own vehicle M, the self-propelled parking controller  142  stops operating. Thereafter, manual driving or automated driving based on another functional unit is started. 
     The self-propelled parking controller  142  is not limited to the above description but may find an empty parking space by itself on the basis of detection results of the camera  10 , the radar device  12 , the finder  14 , or the object recognition device  16  without depending on communication and cause the own vehicle M to be parked in the found parking space. 
     [Start Trigger of Self-Propelled Parking Event Relating to Vehicle Storage] 
     A start trigger of the self-propelled parking event relating to vehicle storage may be, for example, an operation performed by the rider or may be a predetermined signal wirelessly received from the parking lot management device  400 . The following description will refer to the case where the start trigger of the self-propelled parking event relating to vehicle storage is (1) a gesture of the rider with respect to the own vehicle M or (2) knocking of the rider on the own vehicle M. 
     [(1) Gesture of Rider with Respect to Own Vehicle M] 
     When the self-propelled parking event relating to vehicle storage is started, the own vehicle M is stopped in the stop area  310  and the rider alights the own vehicle M in the alighting/boarding area  320 . For example, when the rider has alighted, the recognizer  130  recognizes a movement of a body of the rider such as a hand, the head or the torso (hereinafter referred to as a gesture) on the basis of an image showing surroundings of the own vehicle M that the camera  10  has captured after all doors of the own vehicle M are closed. “When the rider has alighted” means a predetermined time (for example, several tens of seconds to several minutes) after the rider alights the own vehicle M and closes the doors of the own vehicle M or a period until the rider is a predetermined distance (for example, several meters to several tens of meters) or more from the own vehicle M after alighting the own vehicle M. The recognizer  130  starts a self-propelled parking event relating to vehicle storage on the basis of the recognized gesture and the specific gesture information  182 . The specific gesture information  182  is information in which information indicating a gesture of a rider and a command executed in the own vehicle M (a command to start a self-propelled parking event relating to vehicle storage in this example) are associated with each other. The gesture of the rider is, for example, a body movement such as waving a hand at the vehicle or indicating a travel direction of the own vehicle M with a hand or a finger. The following description will refer to the case where the specific gesture information  182  is information in which a “command to start a self-propelled parking event relating to vehicle storage” and a “gesture of waving a hand” are associated with each other. The gesture of the rider with respect to the own vehicle M is an example of a “specific operation that the rider performs toward the body of the vehicle.” 
     The specific gesture information  182  is, for example, information in which a plurality of gestures recognizable by the recognizer  130  are associated with commands that can be executed according to the gestures. The specific gesture information  182  may be generated by the rider of the own vehicle M associating a gesture with a command A command that can be executed according to a gesture is, for example, a command that can be executed even when the rider of the own vehicle M is not in the own vehicle M.  FIG. 5  is a diagram showing an example of an execution screen IM 1  of an application for generating the specific gesture information  182 . When generating the specific gesture information  182 , the automated driving control device  100  executes the application for generating the specific gesture information  182  and causes the HMI  30  to display the execution screen IM 1 . The execution screen IM 1  includes a message MS 1  asking the rider of the own vehicle M which gesture is to be associated with a command and buttons B 1  to B 3  for selecting a gesture that can be associated with the command (that is, a gesture that can be recognized by the recognizer  130 ). The message MS 1  has, for example, content such as “Select a gesture for executing a ‘command to start a self-propelled parking event relating to vehicle storage.’” A gesture that can be associated with this command is, for example, “waving a hand” or “pointing in the travel direction.” The rider of the own vehicle M selects a gesture on the basis of the execution screen IM 1  displayed on the HMI  30  and the automated driving control device  100  associates the gesture selected by the rider with the command to generate the specific gesture information  182 . 
     The process of generating the specific gesture information  182  may be performed in the terminal device TM of the rider of the own vehicle M. In this case, the automated driving control device  100  receives the specific gesture information  182  generated by the terminal device TM of the rider via the network and stores the received specific gesture information  182  in the storage  180 . 
       FIG. 6  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by a gesture. In  FIG. 6 , the rider performs a gesture of waving his or her hand at the own vehicle M after alighting the own vehicle M in the alighting/boarding area  320 . The recognizer  130  recognizes that the rider is performing a gesture of waving his or her hand at the own vehicle M on the basis of an image of surroundings of the own vehicle M captured by the camera  10 . The recognizer  130  searches the specific gesture information  182  using content of the recognized gesture and specifies a command “to start a self-propelled parking event relating to vehicle storage” associated with the “gesture of waving a hand at the own vehicle M.” The self-propelled parking controller  142  performs a self-propelled parking event relating to vehicle storage when the recognizer  130  has recognized the command “to start a self-propelled parking event relating to vehicle storage.” 
     [(2) Knocking of Rider on Own Vehicle M] 
       FIG. 7  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by knocking. 
     When the self-propelled parking event relating to vehicle storage is started, the own vehicle M is stopped in the stop area  310  and the rider alights the own vehicle M in the alighting/boarding area  320 . For example, when the rider has alighted, the recognizer  130  recognizes knocking of the rider on the basis of a sound that the specific contact operation detection device  72  (the microphone) has detected after all doors of the own vehicle M are closed. The recognizer  130  starts a self-propelled parking event relating to vehicle storage on the basis of the recognized knocking and the specific contact operation information  184 . The specific contact operation information  184  includes, for example, information including a record in which information indicating knocking of the rider and a command executed in the own vehicle M (a command to start a self-propelled parking event relating to vehicle storage in this example) are associated with each other. The information indicating knocking of the rider is, for example, information indicating a predetermined rhythm or a predetermined number of knocks. The following description will refer to the case where the specific contact operation information  184  is information including a record in which a command to start a self-propelled parking event relating to vehicle storage and two consecutive knocks are associated with each other. Knocking of the rider on the own vehicle M is an example of a “specific operation that the rider performs on the body of the vehicle.” 
     The command that can be executed according to knocking is, for example, a command that can be executed even when the rider of the own vehicle M is not in the own vehicle M. When generating the specific contact operation information  184 , the automated driving control device  100  executes an application for generating the specific contact operation information  184 . 
     Subsequent processing is the same as that when the specific gesture information  182  is generated and therefore description thereof will be omitted. 
     In  FIG. 7 , the rider performs two consecutive knocks on the own vehicle M after alighting the own vehicle M in the alighting/boarding area  320 . The recognizer  130  recognizes that the rider has performed two consecutive knocks on the basis of a sound detected by the specific contact operation detection device  72 . The recognizer  130  searches the specific contact operation information  184  using content of the recognized knocking and specifies a command “to start a self-propelled parking event relating to vehicle storage” associated with “two consecutive knocks.” The self-propelled parking controller  142  performs a self-propelled parking event relating to vehicle storage when the recognizer  130  has recognized the command “to start a self-propelled parking event relating to vehicle storage.” 
     [(3) Stroking Operation of Rider on Own Vehicle M] 
       FIG. 8  is a diagram showing an example of a scene in which a self-propelled parking event relating to vehicle storage is started by a stroking operation. When the self-propelled parking event relating to vehicle storage is started, the own vehicle M is stopped in the stop area  310  and the rider alights the own vehicle M in the alighting/boarding area  320 . For example, when the rider has alighted, the recognizer  130  recognizes a stroking operation of the rider on the basis of a detection result of the specific contact operation detection device  72  (the touch panel) after all doors of the own vehicle M are closed. The recognizer  130  starts a self-propelled parking event relating to vehicle storage on the basis of the recognized stroking operation and the specific contact operation information  184 . The specific contact operation information  184  includes, for example, information including a record in which information indicating a stroking operation of the rider and a command executed in the own vehicle M (a command to start a self-propelled parking event relating to vehicle storage in this example) are associated with each other. The following description will refer to the case where the specific contact operation information  184  is information including a record in which a command to start a self-propelled parking event relating to vehicle storage and a stroking operation are associated with each other. A stroking operation of the rider on the own vehicle M is an example of a “specific operation that the rider performs on the body of the vehicle.” 
     The command that can be executed according to a stroking operation is, for example, a command that can be executed even when the rider of the own vehicle M is not in the own vehicle M. When generating the specific contact operation information  184 , the automated driving control device  100  executes an application for generating the specific contact operation information  184 . Subsequent processing is the same as that when the specific gesture information  182  is generated and therefore description thereof will be omitted. 
     In  FIG. 8 , the rider performs a stroking operation on the own vehicle M after alighting the own vehicle M in the alighting/boarding area  320 . The recognizer  130  recognizes that the rider has performed a stroking operation on the basis of a detection result of the specific contact operation detection device  72 . The recognizer  130  searches the specific contact operation information  184  using content of the recognized stroking operation and specifies a command “to start a self-propelled parking event relating to vehicle storage” associated with the “stroking operation.” The self-propelled parking controller  142  performs a self-propelled parking event relating to vehicle storage when the recognizer  130  has recognized the command “to start a self-propelled parking event relating to vehicle storage.” 
     [Conditions for Stopping Self-Propelled Parking Event Relating to Vehicle Storage] 
     Here, even when an instruction to start a self-propelled parking event relating to vehicle storage has been issued, the self-propelled parking controller  142  does not perform the self-propelled parking event (cancels start of the self-propelled parking event or stops the self-propelled parking event even after the event is started) if a predetermined condition indicating that automatic parking is inappropriate is satisfied. 
     The predetermined condition under which the self-propelled parking controller  142  stops the self-propelled parking event is that at least one of the following conditions is satisfied.
         (1) It has been recognized that the terminal device TM of the rider is left behind in the passenger compartment of the own vehicle M.   (2) A travelable distance based on the remaining energy of the own vehicle M is equal to or less than a reference.   (3) A failure of a detection device whose result is referred to by the recognizer  130  has been detected.   (4) It has been recognized that a person is present in the passenger compartment of the own vehicle M.
 
[(1) when it has been Recognized that the Terminal Device TM of the Rider is Left Behind in the Passenger Compartment of the Own Vehicle M]
       

     The recognizer  130  extracts a difference between two images, for example, on the basis of a past image of the passenger compartment captured by the vehicle interior camera  70  and an image of the passenger compartment captured when the rider has alighted. The past image of the passenger compartment is, for example, an image captured in a state where no rider is in the own vehicle M and no luggage is loaded in the own vehicle M. Feature data (including a compressed image) of the past image of the passenger compartment or an image extracted for comparison is stored in the storage  180 . When a difference has been extracted between the two images or their characteristic data, the recognizer  130  recognizes an object present at a location where the difference has occurred. The self-propelled parking controller  142  does not perform a self-propelled parking event relating to vehicle storage when the recognition result of the recognizer  130  indicates that the object present at the location where the difference has occurred is the terminal device TM of the rider of the own vehicle M. 
       FIG. 9  is a diagram showing an example of an image (IM 2 ( t )) of the passenger compartment captured by the vehicle interior camera  70  and an image (IM 2 ( t− 1)) of the passenger compartment captured in the past. The recognizer  130  extracts a difference between the image (IM 2 ( t )) of the passenger compartment captured when the rider has alighted and the past image (IM 2 ( t− 1)). In  FIG. 9 , the recognizer  130  extracts a difference that has occurred at the position of an area AR in the image (IM 2 ( t )) of the passenger compartment. The recognizer  130  recognizes an object present at the position of the area AR in the image (IM 2 ( t )) of the passenger compartment. When the recognition result of the recognizer  130  indicates that the object present at the position of the area AR is the terminal device TM, the self-propelled parking controller  142  does not perform the self-propelled parking event relating to vehicle storage. 
     When the rider of the own vehicle M retrieves the own vehicle M from the parking lot PA through a self-propelled parking event relating to vehicle retrieval, the rider transmits a pick-up request using the terminal device TM. However, the rider may not be able to transmit a pick-up request when the terminal device TM was left behind in the passenger compartment of the own vehicle M at the time of vehicle storage thereof. When the terminal device TM is left behind in the passenger compartment of the own vehicle M, the self-propelled parking controller  142  can prompt the rider to carry the terminal device TM without performing the self-propelled parking event relating to vehicle storage. 
     The above description refers to the case where the recognizer  130  recognizes that the terminal device TM is left behind in the own vehicle M on the basis of an image of the passenger compartment captured by the vehicle interior camera  70 . However, the present invention is not limited to this. For example, the recognizer  130  may recognize that the terminal device TM is left behind in the own vehicle M when a change in the weight of the own vehicle M (hereinafter referred to as a vehicle weight) has been recognized on the basis of a detection result of a detector that detects the vehicle weight. When the terminal device TM has a communication function using a non-contact chip such as that of radio frequency identifier (RFID) authentication, the recognizer  130  may recognize that the terminal device TM is left behind in the own vehicle M if communication between the terminal device TM and the automated driving control device  100  is being performed using the communication function even after the rider alights the own vehicle M. 
     When the recognizer  130  has recognized that the terminal device TM is left behind in the own vehicle M, the automated driving control device  100  may control in-vehicle equipment of the own vehicle M to notify the rider that the terminal device TM is left behind. For example, the automated driving control device  100  may control a headlight, a turn signal, and the like to notify the rider by light, control an audio mounted in the own vehicle M to notify the rider by sound, control a wiper driver to notify the rider by movement of wipers, or control the travel driving force output device  200  such that the own vehicle M moves (for example, makes a vibrating or wiggling, back and forth movement) to notify the rider by the movement. 
     [(2): When the Travelable Distance Based on the Remaining Energy of the Own Vehicle M is Equal to or Less than a Reference] 
     The self-propelled parking controller  142  calculates a travelable distance of the own vehicle M, for example, on the basis of a remaining battery capacity detected by the remaining battery level detector  74  and information indicating power consumption of the own vehicle M. The self-propelled parking controller  142  also calculates a travelable distance of the own vehicle M on the basis of a remaining amount of fuel detected by the remaining fuel detector  76  and information indicating fuel consumption of the own vehicle M. The self-propelled parking controller  142  does not perform the self-propelled parking event relating to vehicle storage when the total sum of the calculated travelable distances is equal to or less than a reference. The reference is, for example, a distance obtained by summing the distances of a route from the stop area  310  to the parking lot PA, a route for traveling to a parking space PS in the parking lot PA, and a route from the parking space PS to the stop area  310 . Thereby, the self-propelled parking controller  142  can curb the own vehicle M from stopping in the middle of storage in the parking lot PA or retrieval from the parking lot PA. 
     When the own vehicle M includes only the internal combustion engine as a driving source, the own vehicle M may not include the remaining battery level detector  74 . When the own vehicle M includes only the electric motor as a driving source, the own vehicle M may not include the remaining fuel detector  76 . In this case, the self-propelled parking controller  142  may determine whether or not to perform the self-propelled parking event relating to vehicle storage on the basis of only the travelable distance calculated based on the detection result of the remaining battery level detector  74  or only the travelable distance calculated based on the detection result of the remaining fuel detector  76  and the reference. In the following description, the remaining capacity of the battery and the remaining amount of fuel will be referred to as “remaining energy” when they are not distinguished from each other. 
     [(3): When a Failure of a Detection Device Whose Result is Referred to by the Recognizer  130  is Detected] 
     The self-propelled parking controller  142  does not perform the self-propelled parking event relating to vehicle storage, for example, when the failure detection device  18  has detected a failure of a detection device. As described above, the recognizer  130  recognizes states of an object present near the own vehicle M such as the position, speed, and acceleration thereof on the basis of information input from the camera  10 , the radar device  12 , and the finder  14  via the object recognition device  16 . Therefore, when a detection device has failed, the self-propelled parking controller  142  cannot cause the own vehicle M to be parked in a parking space PS through a self-propelled parking event. Since the self-propelled parking controller  142  does not perform a self-propelled parking event relating to vehicle storage when the failure detection device  18  has detected a failure of a detection device, the self-propelled parking controller  142  can perform a self-propelled parking event relating to vehicle storage only when the own vehicle M can be safely parked in the parking lot PA by automated driving. 
     [(4): when it has been Recognized that a Person is Present in the Passenger Compartment of the Own Vehicle M] 
     The recognizer  130  extracts a difference between two images, for example, on the basis of a past image of the passenger compartment captured by the vehicle interior camera  70  and an image of the passenger compartment captured when the rider has alighted. When a difference has been extracted between the two images, the recognizer  130  recognizes an object present at a location where the difference has occurred. The self-propelled parking controller  142  does not perform a self-propelled parking event relating to vehicle storage when the recognition result of the recognizer  130  indicates that the object present at the location where the difference has occurred is a person. 
     Here, when a plurality of riders board the own vehicle M and some of the riders are infants or elderly persons, an infant or an elderly person may be left behind in the own vehicle M after the other riders alight in the alighting/boarding area  320 . When it is difficult for the rider left behind to alight by himself (that is, when the rider left behind is an infant or an elderly person), parking of the own vehicle M in the parking lot PA through a self-propelled parking event may harm the health of the rider. The self-propelled parking controller  142  does not perform a self-propelled parking event relating to vehicle storage when a rider is left behind in the own vehicle M, thus ensuring the safety of the rider. The above processing allows a rider who has already alighted the own vehicle M to recognize that the self-propelled parking event has not been performed (stopped) and to notice the rider left behind in the own vehicle M. Stopping of the self-propelled parking event may be clearly indicated to the rider who has already alighted the own vehicle M not only by the own vehicle M having not started the self-propelled parking event (the parking operation) but also, for example, by not blinking of a blinking light body that should blink when a self-propelled parking event is started or by a physical movement such as not folding of mirrors of the own vehicle M. 
     [Operation Flow] 
       FIG. 10  is a flowchart showing a flow of a series of processes for starting a self-propelled parking event relating to vehicle storage. First, the self-propelled parking controller  142  determines whether or not a recognition result of the recognizer  130  indicates that the own vehicle M is stopped in the stop area  310  (step S 100 ). 
     The self-propelled parking controller  142  waits until a recognition result of the recognizer  130  indicates that the own vehicle M is stopped in the stop area  310 . When the recognizer  130  has recognized that the own vehicle M is stopped in the stop area  310 , the self-propelled parking controller  142  determines whether or not a recognition result of the recognizer  130  indicates that all doors of the own vehicle M are closed (step S 102 ). 
     The self-propelled parking controller  142  waits until all doors of the own vehicle M are closed. 
     After all doors of the own vehicle M stopped in the stop area  310  are closed, the self-propelled parking controller  142  determines whether or not the recognizer  130  has recognized that a rider who has alighted the own vehicle M has performed a gesture associated with a “command to start a self-propelled parking event relating to vehicle storage” (step S 104 ). When the recognizer  130  has recognized that the rider who has alighted the own vehicle M has performed the gesture associated with the “command to start a self-propelled parking event relating to vehicle storage,” the self-propelled parking controller  142  performs the self-propelled parking event relating to vehicle storage (step S 108 ). 
     When the recognizer  130  has not recognized that the gesture has been performed, the self-propelled parking controller  142  determines whether or not the recognizer  130  has recognized that a rider who has alighted the own vehicle M has performed knocking associated with the “command to start a self-propelled parking event relating to vehicle storage” (step S 106 ). When the recognizer  130  has recognized that the rider who has alighted the own vehicle M has performed the knocking associated with the “command to start a self-propelled parking event relating to vehicle storage,” the self-propelled parking controller  142  performs the self-propelled parking event relating to vehicle storage (step S 108 ). 
     When the recognizer  130  has recognized none of the gesture and the knock, the self-propelled parking controller  142  determines whether or not a predetermined time has elapsed after all doors of the own vehicle M stopped in the stop area  310  are closed (step S 110 ). The self-propelled parking controller  142  waits until the predetermined time elapses after all doors of the own vehicle M stopped in the stop area  310  are closed. The self-propelled parking controller  142  performs a self-propelled parking event relating to vehicle storage upon determining that the predetermined time has elapsed after all doors of the own vehicle M stopped in the stop area  310  are closed (step S 108 ). 
     When the recognizer  130  has recognized neither the gesture nor the knock, the self-propelled parking controller  142  may not perform the self-propelled parking event relating to vehicle storage. In this case, the process of step S 110  is omitted. 
       FIG. 11  is a flowchart showing a flow of a series of processes for stopping a self-propelled parking event relating to vehicle storage. The flowchart shown in  FIG. 11  shows processing that the self-propelled parking controller  142  performs during execution of a self-propelled parking event relating to vehicle storage. First, the recognizer  130  obtains an image of the passenger compartment captured by the specific contact operation detection device  72  (step S 200 ). 
     The self-propelled parking controller  142  determines whether or not a recognition result of the recognizer  130  indicates that the terminal device TM is left behind in the passenger compartment (step S 202 ). When the self-propelled parking controller  142  has determined that the terminal device TM is left behind in the passenger compartment, the process proceeds to step S 216 . 
     Next, the self-propelled parking controller  142  obtains, for example, at least one of a remaining battery capacity detected by the remaining battery level detector  74  and a remaining amount of fuel detected by the remaining fuel detector  76  (step S 204 ). The self-propelled parking controller  142  determines whether or not a travelable distance of the own vehicle M calculated based on the acquired remaining battery capacity, information indicating power consumption of the own vehicle M, the acquired remaining amount of fuel, and information indicating fuel consumption of the own vehicle M is equal to or less than a reference (step S 206 ). When the travelable distance of the own vehicle M is equal to or less than the reference, the self-propelled parking controller  142  advances the process to step S 216 . 
     When the travelable distance of the own vehicle M is greater than the reference, the self-propelled parking controller  142  acquires a detection result of the failure detection device  18  (step S 208 ). The self-propelled parking controller  142  determines whether or not the failure detection device  18  has detected a failure of a detection device (step S 210 ). 
     When the failure detection device  18  has detected a failure of a detection device, the self-propelled parking controller  142  advances the process to step S 216 . 
     When the failure detection device  18  has detected no failures of detection devices, the self-propelled parking controller  142  determines whether or not a recognition result of the recognizer  130  indicates that a person is present in the passenger compartment (step S 212 ). When a recognition result of the recognizer  130  indicates that a person is present in the passenger compartment, the self-propelled parking controller  142  advances the process to step S 216 . 
     The self-propelled parking controller  142  performs a self-propelled parking event relating to vehicle storage (step S 214 ) when none of the condition that it has been recognized that the terminal device TM of the rider is left behind in the passenger compartment of the own vehicle M (condition  1 ), the condition that a travelable distance based on the remaining energy of the own vehicle M is equal to or less than a reference (condition  2 ), the condition that a failure of a detection device whose result is referred to by the recognizer  130  has been detected (condition  3 ), and the condition that it has been recognized that a person is present in the passenger compartment of the own vehicle M (condition  4 ) is satisfied. 
     The self-propelled parking controller  142  does not perform a self-propelled parking event relating to vehicle storage (step S 216 ) when any of the condition that it has been recognized that the terminal device TM of the rider is left behind in the passenger compartment of the own vehicle M (condition  1 ), the condition that a travelable distance based on the remaining energy of the own vehicle M is equal to or less than a reference (condition  2 ), the condition that a failure of a detection device whose result is referred to by the recognizer  130  has been detected (condition  3 ), and the condition that it has been recognized that a person is present in the passenger compartment of the own vehicle M (condition  4 ) is satisfied. After step S 216 , the self-propelled parking controller  142  returns to step S 200  to determine again whether or not the conditions  1  to  4  are satisfied and performs a self-propelled parking event relating to vehicle storage (step S 214 ) when none of the conditions  1  to  4  is satisfied. 
     Summary of Embodiment 
     As described above, the automated driving control device  100  according to the present embodiment includes the recognizer  130  that recognizes a surrounding environment of the own vehicle M and a driving controller (the behavior plan generator  140  and the second controller  160  in this example) that automatically performs speed control and steering control of the own vehicle M on the basis of the recognition result of the recognizer  130 , wherein the self-propelled parking controller  142  causes, after letting a rider alight the own vehicle M, the own vehicle M to travel and be parked in a parking lot (the parking lot PA) when the recognizer  130  has recognized a specific operation that the alighted rider has performed on or toward the body of the vehicle, whereby it is possible to improve convenience. The recognizer  130  may perform any one of gesture recognition and knocking recognition and may change the recognition target and the priority of recognition on the basis of the weather. For example, based on the weather, the recognizer  130  preferentially recognizes a gesture instead of knocking when it rains since the body of the vehicle gets wet in the rain and preferentially recognizes knocking instead of a gesture when there is fog since it is difficult to recognize a gesture on the basis of an image in the fog. 
     The automated driving control device  100  according to the present embodiment includes the recognizer  130  that recognizes a surrounding situation of the own vehicle M and a driving controller (the behavior plan generator  140  and the second controller  160  in this example) that automatically performs speed control and steering control of the own vehicle M on the basis of the recognition result of the recognizer  130 , and a determiner (the self-propelled parking controller  142  in this example) that determines whether or not a predetermined condition indicating that automatic parking is inappropriate is satisfied when a rider has alighted the own vehicle M, wherein the self-propelled parking controller  142  causes, upon determining that the predetermined condition is not satisfied, the own vehicle M to start traveling from a stopped state and then be parked in the parking lot and does not cause, upon determining that the predetermined condition is satisfied, the own vehicle M to travel and then be parked in the parking lot (the parking lot PA), whereby it is possible to curb the occurrence of inconvenience due to careless automatic control of the own vehicle M with surroundings of the own vehicle M not being monitored by the rider. In automatic parking assist with the user (a rider or a candidate rider) having a duty to monitor the surroundings, the user watches parking of the own vehicle M until it is completed. On the other hand, in automatic parking with the user having no duty to monitor the surroundings, the user does not watch parking of the own vehicle M until it is completed. Therefore, after automatic parking starts, it is difficult to cope with abnormality even if the user notices the abnormality. Thus, by not starting automatic parking on the basis of satisfaction of the predetermined condition before automatic parking starts, it is possible to curb the occurrence of inconvenience. 
     [Hardware Configuration] 
       FIG. 12  is a diagram showing an example of the hardware configuration of the automated driving control device  100  according to an embodiment. As shown, the automated driving control device  100  is configured such that 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  storing a boot program or the like, a storage device  100 - 5  such as a flash memory or a hard disk drive (HDD), a drive device  100 - 6 , or the like are connected to each other via an internal bus or a dedicated communication line. The communication controller  100 - 1  performs communication with components other than the automated driving control device  100 . The storage device  100 - 5  stores a program  100 - 5   a  to be executed by the CPU  100 - 2 . This program is loaded in the RAM  100 - 3  by a direct memory access (DMA) controller (not shown) or the like and then executed by the CPU  100 - 2 . Thereby, some or all of the recognizer  130 , the behavior plan generator  140 , and the self-propelled parking controller  142  are realized. 
     The embodiments described above can be expressed as follows. 
     An automated driving control device including: a storage device configured to store a program; and a hardware processor, wherein the hardware processor is configured to execute the program stored in the storage device to: recognize a surrounding situation of a vehicle; automatically perform speed control and steering control of the vehicle on the basis of a result of the recognition; determine whether or not a predetermined condition indicating that automatic parking is inappropriate is satisfied when a user has alighted the vehicle; cause, upon determining that the predetermined condition is not satisfied, the vehicle to start traveling from a stopped state and then be parked in a parking lot with surroundings of the vehicle not being monitored by the user or a person other than the user; and does not cause, upon determining that the predetermined condition is satisfied, the vehicle to start traveling from a stopped state and then be parked in a parking lot with surroundings of the vehicle not being monitored by the user or a person other than the user. 
     The embodiments described above can also be expressed as follows. 
     An automated driving control device including: a storage device configured to store a program; and a hardware processor, wherein the hardware processor is configured to execute the program stored in the storage device to: recognize a surrounding environment of a vehicle; automatically perform speed control and steering control of the vehicle on the basis of a result of the recognition; and cause, after letting a user alight the vehicle, the vehicle to start traveling from a stopped state upon recognizing a specific operation that the alighted user performs on or toward a body of the vehicle. 
     While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered as limiting. Additions, omissions, substitutions, and other modifications can be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered as being limited by the foregoing description, and is only limited by the scope of the appended claims.