Patent Publication Number: US-2020290649-A1

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

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     Priority is claimed on Japanese Patent Application No. 2019-045101, filed Mar. 12, 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 
     In recent years, studies of automated vehicle control have been conducted. In relation to these, a technology for automatically returning a vehicle from a parking lot is known (for example, see Japanese Unexamined Patent Application, First Publication No. 2018-180831). 
     SUMMARY 
     In the technology of the related art, an instruction for a vehicle to return is requested in some cases by operating a smartphone or a smart key at the time of return, and thus convenience is not sufficient. 
     An aspect of the present invention is devised in view of such circumstances and an objective of the present invention is to provide a vehicle control system, a vehicle control method, and a storage medium capable of improving convenience. 
     A vehicle control system, a vehicle control method, and a storage medium according to the present invention adopt the following configurations. 
     (1) According to an aspect of the present invention, a vehicle control system includes: a recognizer configured to recognize a surrounding environment of a vehicle; a driving controller configured to perform at least one of speed control and steering control of the vehicle according to a recognition result of the recognizer; and a receiver configured to receive a trigger transmitted from a vehicle exterior device in response to occurrence of a predetermined event to a user who is outside of the vehicle. The driving controller is configured to cause the vehicle to automatically travel to a boarding position of the user in response to the reception of the trigger by the receiver. 
     (2) In the vehicle control system according to the aspect (1), the trigger may include one or more triggers. The driving controller may cause the vehicle to automatically travel to the boarding position of the user when the receiver receives all of the triggers in response to the occurrence of the predetermined event. 
     (3) The vehicle control system according to the aspect (2) may further include an air conditioning controller configured to control an air conditioning device of the vehicle. The air conditioning controller may start an operation of the air conditioning device when the receiver receives a first trigger. 
     (4) In the vehicle control system according to any one of the aspects (1) to (3), the driving controller may cause the vehicle to automatically travel to the boarding position of the user according to a tendency of a time necessary for the user to board the vehicle from the reception of the trigger by the receiver. 
     (5) The vehicle control system according to any one of the aspects (1) to (4) may further include a receiver configured to receive a designation of an event in which the trigger is generated by the user. 
     (6) The vehicle control system according to any one of the aspects (1) to (4) may further include an extractor configured to extract a candidate for an event in which the trigger is generated according to an action of the user; a proposer configured to propose the candidate for the event extracted by the extractor; and a receiver configured to receive a designation of the event by the user. 
     (7) The vehicle control system according to any one of the aspects (1) to (6) may further include an air conditioning controller configured to control an air conditioning device of the vehicle; and a predictor configured to predict a boarding time of the user according to a timing at which the receiver receives the trigger. The air conditioning controller may start an operation of the air conditioning device such that a comfortable temperature is achieved at the boarding time predicted by the predictor. 
     (8) The vehicle control system according to any one of the aspects (1) to (7) may further include a congestion information acquirer configured to acquire congestion information related to a way to a destination of the user or congestion information related to a way to the boarding position of the user; and an output controller configured to output various kinds of information to a terminal device owned by the user. The output controller may output information for prompting to change a boarding time of the user to the terminal device when the receiver receives the trigger and congestion is predicted according to the congestion information acquired by the congestion information acquirer. 
     (9) According to another aspect of the present invention, there is provided a vehicle control method causing a computer: to recognize a surrounding environment of a vehicle; to perform at least one of speed control and steering control of the vehicle according to a recognition result; to receive a trigger transmitted from a vehicle exterior device in response to occurrence of a predetermined event to a user who is outside of the vehicle; and to cause the vehicle to automatically travel to a boarding position of the user in response to the reception of the trigger. 
     (10) According to still another aspect of the present invention, there is provided a computer-readable non-transitory storage medium that stores a program causing a computer: to recognize a surrounding environment of a vehicle; to perform at least one of speed control and steering control of the vehicle according to a recognition result; to receive a trigger transmitted from a vehicle exterior device in response to occurrence of a predetermined event to a user who is outside of the vehicle; and to cause the vehicle to automatically travel to a boarding position of the user in response to the reception of the trigger. 
     According to the aspects (1) to (10), it is possible to improve convenience. 
     According to the aspect (3) and (7), it is possible to improve comfort when an occupant boards a vehicle. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a diagram showing a configuration of a vehicle control system in which a vehicle control device is used according to a first embodiment. 
         FIG. 2  is a diagram showing a functional configuration of first and second controllers. 
         FIG. 3  is a diagram showing an example of a boarding event and a vehicle exterior device. 
         FIG. 4  is a diagram schematically showing a scenario in which an autonomous parking event is performed. 
         FIG. 5  is a diagram showing an example of a configuration of a parking lot management device. 
         FIG. 6  is a diagram showing an example of content of trigger information. 
         FIG. 7  is a flowchart showing a flow of a series of autonomous parking event processes related to a return according to the first embodiment. 
         FIG. 8  is a diagram showing a configuration of a vehicle control system according to a second embodiment. 
         FIG. 9  is a diagram showing an example of content of trigger history information. 
         FIG. 10  is a diagram showing an example of a functional configuration of a terminal device. 
         FIG. 11  is a diagram showing an example of an execution screen of a vehicle cooperation application. 
         FIG. 12  is a diagram showing another example of an execution screen of a vehicle cooperation application. 
         FIG. 13  is a flowchart showing a flow of a series of start trigger addition processes according to the second embodiment. 
         FIG. 14  is a diagram showing a configuration of a vehicle control system according to a third embodiment. 
         FIG. 15  is a diagram showing another example of an execution screen of a vehicle cooperation application. 
         FIG. 16  is a flowchart showing a flow of a series of start trigger addition processes according to the third embodiment. 
         FIG. 17  is a diagram showing an example of a hardware configuration of an automated driving control device according to an embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     First Embodiment 
     Hereinafter, a first embodiment of a vehicle control system, a vehicle control method, and a storage medium according to the present invention will be described with reference to the drawings. Hereinafter, a case in which laws and regulations for left-hand traffic are applied will be described. However, when laws and regulations for right-hand traffic are applied, the left and right may be reversed. 
     Overall Configuration 
       FIG. 1  is a diagram showing a configuration of a vehicle control system  1  in which a vehicle control device is used according to a first embodiment. A vehicle in which the vehicle control system  1  is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. A driving source of the vehicle includes an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, and a combination thereof. The electric motor operates using power generated by a power generator connected to the internal combustion engine or power discharged from a secondary cell or a fuel cell. 
     The vehicle control 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 navigation device  50 , a map positioning unit (MPU)  60 , an air conditioner  70 , a driving operator  80 , an automated driving control device  100 , a travel driving power output device  200 , a brake device  210 , and a steering device  220 . The devices and units are connected to one another via a multiplex communication line such as a controller area network (CAN) communication line, a serial communication line, or a wireless communication network. The configuration shown in  FIG. 1  is merely exemplary, a part of the configuration may be omitted, and another configuration may be further added. 
     The camera  10  is, for example, a digital camera that uses a solid-state image sensor such as a charged coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera  10  is mounted on any portion of a vehicle in which the vehicle control system  1  is mounted (hereinafter referred to as an own vehicle M). For example, the camera  10  repeatedly images the surroundings of the own vehicle M periodically. The camera  10  may be a stereo camera. 
     The radar device  12  radiates radio waves such as millimeter waves to the surroundings of the own vehicle M and detects radio waves (reflected waves) reflected from an object to detect at least a position (a distance and an azimuth) of the object. The radar device  12  is mounted on any portion of the own vehicle M. The radar device  12  may detect a position and a speed of an object in conformity with a frequency modulated continuous wave (FM-CW) scheme. 
     The finder  14  is a light detection and ranging (LIDAR) finder. The finder  14  radiates light to the surroundings of the own vehicle M and measures scattered light. The finder  14  detects a distance to a target based on a time from light emission to light reception. The radiated light is, for example, pulsed laser light. The finder  14  is mounted on any portions of the own vehicle M. 
     The object recognition device  16  performs a sensor fusion process on detection results from some or all of the camera  10 , the radar device  12 , and the finder  14  and recognizes a position, a type, a speed, and the like of an object. The object recognition device  16  outputs a 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  without any change. The object recognition device  16  may be excluded from the vehicle control system  1 . 
     The communication device  20  communicates with other vehicles around the own vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), dedicated short range communication (DSRC) or the like or communicates with a parking lot management device (to be described below) or various server devices. 
     The HMI  30  presents various types of information to an occupant P of the own vehicle M and receives input operations by the occupants. For example, the HMI  30  includes various display devices, speakers, buzzers, touch panels, switches, and keys. 
     The vehicle sensor  40  includes a vehicle speed sensor that detects a speed of the own vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around a vertical axis, and an azimuth sensor that detects a direction of the own vehicle M. 
     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  retains first map information  54  in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver  51  specifies a position of the own vehicle M based on signals received from GNSS satellites. The position of the own vehicle M may be specified or complemented 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, and a key. The navigation HMI  52  may be partially or entirely common to the above-described HMI  30 . The route determiner  53  determines, for example, a route from a position of the own vehicle M specified by the GNSS receiver  51  (or any input position) to a destination input by an occupant using the navigation HMI  52  (hereinafter referred to as a route on a map) 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 links indicating roads and nodes connected by the links. The first map information  54  may include curvatures of roads and point of interest (POI) information. 
     The route on the map is output to the MPU  60 . The navigation device  50  may perform route guidance using the navigation HMI  52  based on the route on the map. The navigation device  50  may be realized by, for example, a function of a terminal device (hereinafter referred to as a terminal device  500 ) such as a smartphone or a tablet terminal possessed by an occupant. The navigation device  50  may transmit a present position and a destination to a navigation server via the communication device  20  to acquire the same route as the route on the map from the navigation server. 
     The MPU  60  includes, for example, a recommended lane determiner  61  and retains second map information  62  in a storage device such as an HDD or a flash memory. The recommended lane determiner  61  divides the route on the map provided from the navigation device  50  into a plurality of blocks (for example, divides the route in a vehicle movement direction for each 100 [m]) and determines a recommended lane for each block with reference to the second map information  62 . The recommended lane determiner  61  determines in which lane the vehicle travels from the left. When there is a branching location in the route on the map, the recommended lane determiner  61  determines a recommended lane so that the own vehicle M can travel in a reasonable route to move to a branching destination. 
     The second map information  62  is map information that has higher precision than the first map information  54 . The second map information  62  includes, for example, information regarding the middles of lanes or information regarding boundaries of lanes. The second map information  62  may include road information, traffic regulation information, address information (address and postal number), facility information, and telephone number information. The second map information  62  may be updated frequently by communicating with another device using the communication device  20 . 
     The air conditioner  70  adjusts an environment of vehicle interior by adjusting an air state in the vehicle interior of the own vehicle M. An operation of the air conditioner  70  is controlled by the automated driving control device  100 . For example, an operation of the air conditioner  70  is controlled to a cooling operation, a heating operation, a maintenance operation, an outside temperature maintenance operation, or a stopping operation by the automated driving control device  100 . The maintenance operation is an operation of maintaining a temperature of the vehicle interior of the own vehicle M and the outside temperature maintenance operation is an operation of matching the temperature of the vehicle interior of the own vehicle M with the outside air. The air conditioner  70  is assumed to include a heater in the description. However, the heater may be separate from the air conditioner  70 . In the following description, the vehicle interior of the own vehicle M is simply referred to as a “vehicle interior.” The air conditioner  70  is an example of an “air conditioning device.” 
     The driving operator  80  includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a heteromorphic steering wheel, a joystick, and other operators. A sensor that detects whether there is an operation or an operation amount is mounted in the driving operator  80  and a detection result is output to the automated driving control device  100  or some or all of the travel driving power 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 , a trigger acquirer  170 , an air conditioning controller  171 , and a storage  180 . Each of the these functional units is realized, for example, by causing a hardware processor such as a central processing unit (CPU) to execute a program (software). Some or all of the constituent elements may be realized by hardware (a circuit unit including circuitry) such as a large scale integration (LSI), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU) or may be realized by software and hardware in cooperation. 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 storage medium (a non-transitory storage medium) detachably mounted on a DVD, a CD-ROM, or the like so that the storage medium is mounted on a drive device to be installed on the HDD or the flash memory of the automated driving control device  100 . The storage  180  stores trigger information  182 . 
     The details of the trigger information  182  will be described later. 
       FIG. 2  is a diagram showing a functional configuration of a first controller  120  and a 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 by artificial intelligence (AI) and a function by a model given in advance in parallel. For example, a function of “recognizing an intersection” may be realized by performing recognition of an intersection by deep learning or the like and recognition based on a condition given in advance (a signal, a road sign, or the like which can be subjected to pattern matching) in parallel, scoring both the recognitions, and performing evaluation comprehensively. Thus, reliability of automated driving is guaranteed. 
     The recognizer  130  recognizes states such as positions, speeds, or acceleration of objects around the own vehicle M based on information input from the camera  10 , the radar device  12 , and the finder  14  via the object recognition device  16 . For example, the positions of the objects are recognized as positions on the absolute coordinates in which a representative point (a center of gravity, a center of a driving shaft, or the like) of the own vehicle M is the origin and are used for control. The positions of the objects may be represented as representative points such as centers of gravity, corners, or the like of the objects or may be represented as expressed regions. A “state” of an object may include acceleration or jerk of the object or an “action state” (for example, whether a vehicle is changing a lane or is attempting to change the lane). 
     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 by comparing patterns of road mark lines (for example, arrangement of solid lines and broken lines) obtained from the second map information  62  with patterns of road mark lines around the own vehicle M recognized from images captured by the camera  10 . The recognizer  130  may recognize a travel lane by mainly recognizing runway boundaries (road boundaries) including road mark lines or shoulders, curbstones, median strips, and guardrails without being limited to road mark lines. In this recognition, the position of the own vehicle M acquired from the navigation device  50  or a process result by INS may be added. The recognizer  130  recognizes temporary stop lines, obstacles, red signals, toll gates, and other road events. 
     The recognizer  130  recognizes a position or a posture of the own vehicle M with respect to the travel lane when the recognizer  130  recognizes the travel lane. For example, the recognizer  130  may recognize a deviation from the middle of a lane of a standard point of the own vehicle M and an angle formed with a line extending along the middle of a lane in the movement direction of the own vehicle M as a relative position and posture of the own vehicle M to the travel lane. Instead of this, the recognizer  130  may recognize a position or the like of the standard point of the own vehicle M with respect to a side end portion (a road mark line or a road boundary) of any travel lane as the relative position of the own vehicle M to the travel lane. 
     The recognizer  130  includes a parking space recognizer  132  that is activated in an autonomous parking event to be described below. The details of the function of the parking space recognizer  132  will be described later. 
     The action plan generator  140  generates a target trajectory along which the own vehicle M travels in future automatically (irrespective of an operation of a driver or the like) so that the own vehicle M is traveling along a recommended lane determined by the recommended lane determiner  61  and can handle a surrounding situation of the own vehicle M in principle. The target trajectory includes, for example, a speed component. For example, the target trajectory is expressed by arranging spots (trajectory points) at which the own vehicle M will arrive in sequence. The trajectory point is a spot at which the own vehicle M will arrive for each predetermined travel distance (for example, about several [m]) in a distance along a road. Apart from the trajectory points, target acceleration and a target speed are generated as parts of the target trajectory for each of predetermined sampling times (for example, about a decimal point of a second). The trajectory point may be a position at which the own vehicle M will arrive at the sampling time for each predetermined sampling time. In this case, information regarding the target acceleration or the target speed is expressed according to an interval between the trajectory points. 
     The action plan generator  140  may set an automated driving event when the target trajectory is generated. As the automated driving event, there are a constant speed traveling event, a low speed track traveling event, a lane changing event, a branching event, a joining event, a takeover event, an autonomous parking event in which traveling and parking are performed in valet parking through automated driving, and the like. The action plan generator  140  generates the target trajectory in accordance with an activated event. The action plan generator  140  includes an autonomous parking controller  142  that is activated when an autonomous parking event is performed. The details of a function of the autonomous parking controller  142  will be described later. 
     The second controller  160  controls the travel driving power output device  200 , the brake device  210 , and the steering device  220  so that the own vehicle M passes along the target trajectory generated by the action plan generator  140  at a scheduled time. 
     Referring back 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 regarding the target trajectory (trajectory points) generated by the action plan generator  140  and stores the information in a memory (not shown). The speed controller  164  controls the travel driving power output device  200  or the brake device  210  based on a speed element incidental to the target trajectory stored in the memory. The steering controller  166  controls the steering device  220  in accordance with a curve state of the target trajectory stored in the memory. Processes of the speed controller  164  and the steering controller  166  are realized, for example, by combining feed-forward control and feedback control. For example, the steering controller  166  performs the feed-forward control in accordance with a curvature of a road in front of the own vehicle M and the feedback control based on separation from the target trajectory in combination. A combination of the action plan generator  140  and the second controller  160  is an example of a “driving controller.” 
     The trigger acquirer  170  acquires (receives) a trigger transmitted by the vehicle exterior device TM in response to occurrence of a boarding event. The boarding event is a predetermined event equivalent to a boarding request for the occupant P outside of the own vehicle M to board the own vehicle M. The automated driving control device  100  and the vehicle exterior device TM communicate with each other via a network NW. The network NW includes, for example, some or all of a wide area network (WAN), a local area network (LAN), the Internet, a dedicated line, a wireless base station, a provider, and the like. The trigger acquirer  170  is an example of a “receiver.” 
       FIG. 3  is a diagram showing an example of a boarding event and the vehicle exterior device TM. The vehicle exterior device TM includes, for example, a personal computer (hereinafter referred to as a personal computer PC) that is used in a company by the occupant P, and a boarding event related to the personal computer PC includes an event in which the occupant P finishes his or her work and turns off the personal computer PC. The personal computer PC generates a trigger in response to starting of a process of turning off power and transmits the generated trigger to the automated driving control device  100  of the occupant P registered in advance. 
     The vehicle exterior device TM includes, for example, an exit gate GT that is provided in a company of the occupant P or in a theme park in which the occupant P visits and a collection server device SV 1  that collects passage information of the exit gate GT, and a boarding event related to the exit gate GT includes passage of the exit gate GT when the occupant P leaves from the company or the theme park. The exit gate GT supplies the collection server device SV 1  with information indicating passage of the occupant P with identification information with which a person with a staff identity card of the company or an admission ticket of the theme park can be identified. The collection server device SV 1  stores vehicle information in which an owner of a vehicle is associated with an address of the automated driving control device  100  equipped in the vehicle. Thus, when information indicating passage of the occupant P is acquired from the exit gate GT, the collection server device SV 1  searches for the vehicle information using the identification information of the occupant P as a searching key while generating a trigger, specifies the address of the automated driving control device  100  equipped in the own vehicle M, and transmits the generated trigger to the automated driving control device  100 . 
     The vehicle exterior device TM includes, for example, an illumination switching device SW that is provided in a home of the occupant P and a collection server device SV 2  that collects a state of the illumination switching device SW, and a boarding event related to the illumination switching device SW includes an event of turning off an illumination of a room when the occupant P goes out from his or her home. The illumination switching device SW supplies the collection server device SV 2  with information indicating that an operation of turning off an illumination is performed. The collection server device SV 2  stores the address of the automated driving control device  100  equipped in the own vehicle M. When the information indicating that the operation of turning off an illumination is performed on the illumination switching device SW is acquired, the collection server device SV 2  generates a trigger and transmits the generated trigger to the automated driving control device  100 . The collection server device SV 2  is realized by, for example, a home energy management system (HEMS) server device. In this case, the illumination switching device SW may be an HEMS device other than an illumination. 
     The vehicle exterior device TM includes, for example, the terminal device  500  owned by the occupant P, and a boarding event related to the terminal device  500  include settlement performed with an electronic money by the occupant P using the terminal device  500 . In the terminal device  500 , the address of the automated driving control device  100  equipped in the own vehicle M is stored. The terminal device  500  generates a trigger in response to settlement with electronic money and transmits the generated trigger to the automated driving control device  100 . 
     In the following description, when the personal computer PC, the exit gate GT, the illumination switching device SW, and the terminal device  500  are not distinguished from each other, the personal computer PC, the exit gate GT, the illumination switching device SW, and the terminal device  500  are simply referred to as the vehicle exterior device TM. The above-described vehicle exterior device TM is merely an exemplary example and the present invention is not limited thereto. 
     The automated driving control device  100  may acquire a trigger directly from the vehicle exterior device TM via the network NW or may acquire a trigger via a sever device collecting triggers which are transmitted to the automated driving control device  100 . For example, a trigger supplied by the vehicle exterior device TM may be collected by a server device equipped in a company providing a service related to the trigger and the trigger may be supplied to the automated driving control device  100  of the own vehicle M owned by an owner using the service. The automated driving control device  100  can recognize a type of transmitted trigger (for example, the vehicle exterior device TM providing the trigger). For example, a trigger transmitted from the vehicle exterior device TM includes information with which a transmitter (that is, the vehicle exterior device TM) can be identified, and thus the automated driving control device  100  recognizes the vehicle exterior device TM based on the acquired trigger. 
     Referring back to  FIG. 2 , the air conditioning controller  171  starts an operation of the air conditioner  70  in response to a trigger acquired by the trigger acquirer  170 . Hereinafter, the air conditioning controller  171  adjusts a vehicle interior environment by controlling the air conditioner  70  such that a temperature inside the own vehicle M becomes an appropriate temperature based on an outside temperature detected by an exterior air sensor (not shown) included in the own vehicle M. The controlling of the air conditioner  70  such that a temperature inside the own vehicle M becomes an appropriate temperature is, for example, controlling of a temperature inside the own vehicle M to a higher temperature through a heating operation when an outside temperature is lower than a predetermined temperature, and is controlling of a temperature inside the own vehicle M to a lower temperature through a cooling operation when the outside temperature is higher than the predetermined temperature. 
     The travel driving power output device  200  outputs a travel driving force (torque) for traveling the vehicle to a driving wheel. The travel driving power output device  200  includes, for example, a combination of an internal combustion engine, an electric motor and a transmission, and an electronic controller (ECU) controlling these units. The ECU controls the foregoing configuration in accordance with 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 electronic motor that generates a hydraulic pressure to the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the second controller  160  or information input from the driving operator  80  such that a brake torque in accordance with a brake operation is output to each wheel. The brake device  210  may include a mechanism that transmits a hydraulic pressure generated in response to an operation of the brake pedal included in the driving operator  80  to the cylinder via a master cylinder as a backup. The brake device  210  is not limited to the above-described configuration and may be an electronic control type hydraulic brake device that controls an actuator in accordance with information input from the second controller  160  such that a hydraulic pressure of the master cylinder is transmitted to the cylinder. 
     The steering device  220  includes, for example, a steering ECU and an electric motor. 
     The electric motor works a force to, for example, a rack and pinion mechanism to change a direction of a steering wheel. The steering ECU drives the electric motor to change the direction of the steering wheel in accordance with information input from the second controller  160  or information input from the driving operator  80 . 
     Autonomous Parking Event: at Time of Entrance 
     For example, the autonomous parking controller  142  parks the own vehicle M in a parking space based on information acquired from a parking lot management device  400  through the communication device  20 .  FIG. 4  is a diagram schematically showing a scenario in which an autonomous 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. The own vehicle M passes through the gate  300 -in through manual driving or automated driving and moves to a stopping area  310 . The stopping area  310  faces a boarding area  320  connected to the facility to be visited. In the boarding area  320 , an eave for avoiding rain and snow is provided in the stopping area  310 . 
     After an occupant gets out of a vehicle in the stopping area  310 , the own vehicle M performs automated driving and starts an autonomous parking event for moving to a parking space PS in a parking area PA. The details of a trigger to start the autonomous parking event related to an entrance will be described later. When the autonomous parking event starts, the autonomous parking controller  142  controls the communication device  20  such that a parking request is transmitted to the parking lot management device  400 . Then, the own vehicle M moves in accordance with guidance of the parking lot management device  400  or moves while performing sensing by itself from the stopping area  310  to the parking area PA. 
       FIG. 5  is a diagram showing 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 information such as parking lot map information  432  and a parking space state table  434 . 
     The communicator  410  communicates with the own vehicle M and other vehicles wirelessly. The controller  420  guides a vehicle to the parking space PS based on information acquired by the communicator  410  and information stored in the storage  430 . The parking lot map information  432  is information that geometrically represents a structure of the parking area PA. The parking lot map information  432  includes coordinates of each parking space PS. In the parking space state table  434 , for example, a state which indicates a vacant state and a full (parking) state and a vehicle ID which is identification information of a vehicle parked in the case of the full state are associated with a parking space ID which is identification information of the parking space PS. 
     When the communicator  410  receives a parking request from a vehicle, the controller  420  extracts the parking space PS of which a state is a vacant 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 suitable route to the acquired position of the parking space PS to the vehicle through the communicator  410 . The controller  420  instructs a specific vehicle to stop or move slowly, as necessary, based on a positional relation between a plurality of vehicles so that the vehicles do not simultaneously move to the same position. 
     In a vehicle receiving the route (hereinafter, assumed to be the own vehicle M), the autonomous parking controller  142  generates a target trajectory based on the route. When the own vehicle M approaches the parking space PS which is a target, the parking space recognizer  132  recognizes parking frame lines or the like marking the parking space PS, recognizes a detailed position of the parking space PS, and supplies the detailed position of the parking space PS to the autonomous parking controller  142 . The autonomous parking controller  142  receives the detailed position of the parking space PS, corrects the target trajectory, and parks the own vehicle M in the parking space PS. 
     Autonomous Parking Event: Time of Return 
     The autonomous parking controller  142  and the communication device  20  are maintained in an operation state even while the own vehicle M is parked. For example, when the communication device  20  receives a pickup request from the terminal device  500  of an occupant, the autonomous parking controller  142  activates a system of the own vehicle M and causes the own vehicle M to move to the stopping area  310 . At this time, the autonomous parking controller  142  controls the communication device  20  such that a launch request is transmitted to the parking lot management device  400 . The controller  420  of the parking lot management device  400  instructs a specific vehicle to stop or move slowly, as necessary, based on a positional relation between a plurality of vehicles so that the vehicles do not simultaneously moves to the same position, as in the time of entrance. When the own vehicle M is caused to move to the stopping area  310  and picks up the occupant, the autonomous parking controller  142  stops the operation. Thereafter, manual driving or automated driving by another functional unit starts. 
     The present invention is not limited to the above description, and the autonomous parking controller  142  may find an empty parking space by itself based on a detection result by the camera  10 , the radar device  12 , the finder  14 , or the object recognition device  16  irrespective of communication and may cause the own vehicle M to park in the found parking space. 
     Start Trigger of Autonomous Parking Event Related to Return 
     When a trigger is acquired by the trigger acquirer  170 , the autonomous parking controller  142  starts an autonomous parking event related to a return based on the trigger information  182 .  FIG. 6  is a diagram showing an example of content of the trigger information  182 . The trigger information  182  is information in which one or more triggers are associated with a start time of the autonomous parking event related to a return (hereinafter simply referred to as a “start time”). Hereinafter, in the trigger information  182 , one trigger or two triggers are assumed to be associated with a start time. When two triggers are associated, a trigger first acquired by the trigger acquirer  170  is referred to as a “first trigger” and a trigger acquired after the first trigger is referred to as a “second trigger.” 
     The trigger information  182  is generated in association with, for example, a trigger and a start time designated in advance by the occupant P. For example, the occupant P designates a trigger and a start time at which an autonomous parking event related to a return is started with a trigger by using a vehicle cooperation application for designating a boarding event using the autonomous parking event applied to the return in the terminal device  500  as the start trigger. In this case, the terminal device  500  is an example of a “receiver.” 
     The automated driving control device  100  may execute the application and the HMI  30  may receive an operation by the occupant P designating a trigger and a start time at which an autonomous parking event related to a return starts by the trigger. In this case, the HMI  30  is an example of a “receiver.” 
     In  FIG. 6 , a trigger TG 1  acquired from the terminal device  500  in response to settlement with electronic money performed in a convenience store and “the time of acquisition of trigger” which is a start time of the autonomous parking event related to the return are associated with each other. A trigger TG 2  which is a first trigger and is acquired from the personal computer PC which has been turned off, a trigger TG 3  which is a second trigger and is acquired from the exit gate GT recognizing exit of the occupant P, and “the time of acquisition of the second trigger” which is a start time are associated with each other. A trigger TG 4  which is the first trigger and is acquired from the terminal device  500  in response to settlement with electronic money performed in a hospital, a trigger TG 5  which is the second trigger and is acquired from the terminal device  500  in response to settlement with electronic money performed in a pharmacy, and “after  10  minutes from the acquisition of the second trigger” which is a start time are associated with each other. A trigger TG 6  which is the first trigger and is acquired from the illumination switching device SW that has turned off an illumination in a room on the second floor, a trigger TG 7  which is the second trigger and is acquired from the illumination switching device SW that has turned off an illumination of a room on the first floor, and “the time of acquisition of the second trigger” which is a start time are associated with each other. 
     As shown in  FIG. 6 , the start time may be, for example, the time of acquisition of a trigger or a time at which a predetermined time has passed from acquisition of a trigger. The automated driving control device  100  may include a predictor that predicts a start time associated with a designated trigger based on a tendency of a time at which the occupant P boards the own vehicle M after the autonomous parking event related to a return is executed by the designated trigger. The tendency of the time at which the occupant P boards the own vehicle M is, for example, a tendency for the occupant P to board immediately after the trigger acquirer  170  acquires the trigger or a tendency for the occupant P to board after the trigger acquirer  170  acquires the trigger and several minutes have passed. In this case, the predictor may associate a predicted start time with a trigger and generate (update) the trigger information  182 . 
     When a plurality of triggers are associated with the start time, the air conditioning controller  171  may start an operation of the air conditioner  70  at a timing at which the trigger acquirer  170  acquires the first trigger. Thus, the air conditioning controller  171  adjusts the temperature inside the own vehicle M at the time of the occupant P boarding the own vehicle M to an appropriate temperature, and thus can improve comfort at the time of the occupant P boarding the own vehicle M. The air conditioning controller  171  may operate the air conditioner  70  in accordance with a boarding time of the occupant P predicted by the predictor. Thus, the air conditioning controller  171  can improve comfort at the time of the occupant P boarding the own vehicle M at a more appropriate timing. 
     Operation Flow 
       FIG. 7  is a flowchart showing a flow of a series of autonomous parking event processes related to a return according to the first embodiment. First, the trigger acquirer  170  determines whether a trigger is acquired from the vehicle exterior device TM (step S 100 ). The trigger acquirer  170  waits until the trigger is acquired from the vehicle exterior device TM. When it is determined that the trigger acquirer  170  acquires the first trigger, the air conditioning controller  171  determines whether another trigger is associated with the acquired trigger (that is, the acquired trigger is the first trigger) based on the trigger information  182  (step S 102 ). When it is determined that the other trigger is associated with the acquired trigger, the autonomous parking controller  142  determines whether the trigger acquirer  170  acquires all the triggers (step S 104 ). The autonomous parking controller  142  waits until it is determined that the trigger acquirer  170  acquires all the triggers. When it is determined that the trigger acquirer  170  acquires all the triggers, the autonomous parking controller  142  starts the autonomous parking event related to the return at the start time associated with the trigger based on the trigger information  182  (step S 108 ). 
     Summary of First Embodiment 
     As described above, the automated driving control device  100  according to the embodiment includes the recognizer  130  that recognizes a surrounding environment of the own vehicle M; the driving controller (in the example, the action plan generator  140  and the second controller  160 ) that automatically performs at least one of speed control and steering control of the own vehicle M based on a recognition result of the recognizer  130 ; and the trigger acquirer  170  that acquires a trigger transmitted from the vehicle exterior device TM in response to occurrence of a predetermined event (a boarding event) to a user of the own vehicle M. The driving controller causes the own vehicle M to automatically travel to a boarding position of the occupant P in response to the acquisition of the trigger by the trigger acquirer  170 . Thus, since the own vehicle M can be caused to pick up the occupant P without an operation being performed by the occupant P, it is possible to improve convenience for the occupant P. 
     The trigger includes the first trigger and the second trigger transmitted by the vehicle exterior device TM in response to occurrence of an event occurring later than the first trigger. When the trigger acquirer  170  acquires both the first trigger and the second trigger, the driving controller causes the own vehicle M to automatically travel to the boarding position of the occupant P. Thus, since the occupant P can be picked up with higher precision, it is possible to improve convenience for the occupant P. 
     The automated driving control device  100  according to the embodiment further includes the air conditioning controller  171  that controls the air conditioning device (in the example, the air conditioner  70 ) of the own vehicle M. The air conditioning controller  171  starts an operation of the air conditioner  70  when the trigger acquirer  170  acquires the first trigger. Thus, the air conditioning controller  171  can start air adjustment inside the own vehicle M at a timing at which a possibility of the occupant P heading for the own vehicle M is high and the occupant P has not yet boarded the own vehicle M and can adjust a temperature inside the own vehicle M to an appropriate temperature at a timing at which the occupant P boards the own vehicle M. 
     In the automated driving control device  100  according to the embodiment, the driving controller causes the own vehicle M to automatically travel to the boarding position of the occupant P based on a tendency of a time necessary for the occupant P to board the own vehicle M from the acquisition of the trigger by the trigger acquirer  170 . Thus, since the occupant P is picked up at an appropriate timing without designating (or updating) a start time of the autonomous parking event related to a return set with the trigger information  182  by the occupant P, it is possible to improve convenience for the occupant P. 
     Second Embodiment 
     Hereinafter, a second embodiment of a vehicle control system, a vehicle control method, and a storage medium according to the present invention will be described with reference to the drawings. In the second embodiment, a process in which the automated driving control device  101  proposes a boarding event for recommending use as a trigger of an autonomous parking event related to a return to the occupant P will be described. The same reference numerals as those of the configurations of the above-described embodiment are given and description thereof will be omitted. 
       FIG. 8  is a diagram showing a configuration of a vehicle control system  2  according to the second embodiment. The vehicle control system  2  includes, for example, the terminal device  500  in addition to the configuration of the vehicle control system  1  and includes an automated driving control device  101  instead of (or in addition to) the automated driving control device  100  in the configuration of the vehicle control system  1 . The configuration shown in  FIG. 8  is merely exemplary and a part of the configuration may be omitted or another configuration may further be added. 
     The automated driving control device  101  includes, for example, the first controller  120 , the second controller  160 , a trigger acquirer  170 , an air conditioning controller  171 , an extractor  172 , a proposer  173 , and a storage  181 . Each of the functional units is realized, for example, by causing a hardware processor such as a CPU to execute a program (software). Some or all of the constituent elements may be realized by hardware (a circuit unit including circuitry) such as an LSI, an ASIC, an FPGA, or a GPU or may be realized by software and hardware in cooperation. 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  101  or may be stored in a storage medium (a non-transitory storage medium) detachably mounted on a DVD, a CD-ROM, or the like so that the storage medium is mounted on a drive device to be installed on the HDD or the flash memory of the automated driving control device  101 . 
     The storage  181  stores the trigger information  182  and trigger history information  184 .  FIG. 9  is a diagram showing an example of content of the trigger history information  184 . The trigger history information  184  is, for example, information in which an acquisition date and time of a trigger acquired by the trigger acquirer  170 , a boarding event at the time of generation of the trigger, and a boarding date and time at which the occupant P boards the own vehicle M are associated with each other. The trigger history information  184  is updated, for example, when a trigger is acquired by the trigger acquirer  170 . 
     For example, the extractor  172  extracts candidates for the boarding event based on an action of the occupant P. For example, when a boarding event for generating a trigger not included in the trigger history information  184  based on the trigger history information  184  occurs and a case in which the occupant P boards the own vehicle M within a predetermined time after the occurrence of the boarding event occurs at a predetermined ratio or more, the extractor  172  extracts the boarding event as a boarding event of a start rigger candidate of the autonomous parking event related to a return. The predetermined time is, for example, a time of about several [minutes] to tens of [minutes] and the predetermined ratio is, for example, a ratio of 50 [%] or more. The trigger history information  184  may be stored in the storage  181 , may be stored in a device that collects a trigger of the vehicle exterior device TM, or may be stored in a device that collects a trigger transmitted to the automated driving control device  101 . 
     For example, the proposer  173  proposes to use the boarding event extracted by the extractor  172  as a start trigger of the autonomous parking event related to a return. For example, the proposer  173  transmits information indicating the boarding event extracted by the extractor  172  to the terminal device  500 . 
       FIG. 10  is a diagram showing an example of a functional configuration of the terminal device  500 . The terminal device  500  includes, for example, a communicator  510 , an input  520 , a display  530 , an application executor  540 , a display controller  550 , and a storage  560 . The communicator  510 , the input  520 , the display  530 , the application executor  540 , and the display controller  550  are realized, for example, by causing a hardware processor such as a CPU to execute a program (software). Some or all of the constituent elements may be realized by hardware (a circuit unit including circuitry) such as an LSI, an ASIC, an FPGA, or a GPU or may be realized by software and hardware in cooperation. For example, the above-described 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 included in the terminal device  500  or may be stored in a storage medium (a non-transitory storage medium) detachably mounted on a DVD, a CD-ROM, or the like so that the storage medium is mounted on a drive device to be installed on the storage  560 . 
     For example, the communicator  510  performs communication with the own vehicle M or another external device via a LAN, a WAN, or a network of the Internet. 
     For example, the input  520  receives an input by a user operating various keys, a button, or the like. The display  530  is, for example, a liquid crystal display (LCD). The input  520  may be integrated with the display  530  as a touch panel. 
     The application executor  540  is realized by executing a vehicle cooperation application  562  stored in the storage  560 . The vehicle cooperation application  562  is, for example, an application program that communicates with the own vehicle M via a network and transmits an entrance instruction or a return instruction in automated travel or response data to a communication state request from the own vehicle M to the own vehicle M. The vehicle cooperation application  562  may acquire information transmitted by the own vehicle M and perform control such that the display  530  is caused to display the information. The vehicle cooperation application  562  may register the terminal device  500  or the occupant P for the own vehicle M or may perform a process related to other vehicle cooperation. 
     The vehicle cooperation application  562  may be activated or ended through an operation by the occupant P or may be activated or ended by turning on or off the terminal device  500 . In this case, the vehicle cooperation application  562  transmits information related to the activation or the end of the application to the own vehicle M after the vehicle cooperation application  562  is activated or before the vehicle cooperation application  562  is ended. 
     The display controller  550  controls content to be displayed on the display  530  or a timing to be displayed on the display  530 . For example, the display controller  550  generates an image for displaying information executed by the application executor  540  on the display  530  and causes the display  530  to display the generated image. The display controller  550  may generate a sound associated with a part or all of the content to be displayed on the display  530  and output the generated sound from a speaker (not shown) of the terminal device. The display controller  550  may cause the display  530  to display an image received from the own vehicle M or may cause the speaker to output the sound received from the own vehicle M. 
     The storage  560  is realized by, for example, an HDD, a flash memory, an EEPROM, a ROM, a RAM, or the like. In the storage  560 , for example, the vehicle cooperation application  562  and other information are stored. 
     The vehicle cooperation application  562  performs, for example, a process of proposing to use a boarding event as a start trigger of the autonomous parking event related to a return to the occupant P based on information indicating the boarding event received from the proposer  173  and a process of receiving a designation of a boarding event designated by the occupant P in response to the proposal.  FIG. 11  is a diagram showing an example of an execution screen IM 1  of a vehicle cooperation application  562 . The execution screen IM 1  is a screen that is displayed on the display  530  by the vehicle cooperation application  562  when information indicating the boarding event is received from the proposer  173 . The execution screen IM 1  includes, for example, a message MS 1  prompting the occupant P to use a boarding event extracted by the extractor  172  as a start trigger of the autonomous parking event related to a return, buttons B 1  and B 2  for selecting the boarding event with which the trigger extracted by the extractor  172  is generated, and a button B 3  for ending a process of selecting a boarding event. The message MS 1  is, for example, a message “There is a tendency to board after the following event is performed. Please select an event added as a welcoming trigger.” or the like. As the boarding event with which a trigger is generated, “Turning off illumination of a living room” is associated with the button B 1  and “Turning off a television” is associated with the button B 2 . 
     The occupant P designates a boarding event serving as a start trigger of the autonomous parking event related to the return, for example, by pressing any button B between the buttons B 1  and B 2 . For example, the terminal device  500  receives the designated boarding event based on an operation performed on the vehicle cooperation application  562 . When the boarding event is designated, the terminal device  500  transmits the information indicating the trigger generated with the boarding event to the automated driving control device  101 . When the information indicating the trigger is acquired from the terminal device  500 , the proposer  173  recognizes that the trigger is used as the start trigger of the autonomous parking event related to the return and adds the trigger to the trigger information  182 . 
     The terminal device  500  may receive a designation of the boarding event without using a proposal of the boarding event from the proposer  173 .  FIG. 12  is a diagram showing another example of an execution screen IM 2  of the vehicle cooperation application  562 . The execution screen IM 2  is a screen that is displayed on the display  530  by the vehicle cooperation application  562  when a process of designating the boarding event used as the start trigger of the autonomous parking event related to the return by the occupant P is performed. The execution screen IM 2  includes, for example, a message MS 2  for prompting the occupant P to select the boarding event for generating a trigger used as the start trigger of the autonomous parking event related to the return, buttons B 1  and B 2  indicating selectable boarding events, and a button B 3  for ending the process of selecting a boarding event. The message MS 2  is, for example, a message “You can use execution of the following event as a welcoming trigger. Please select an event which you desire to use as trigger.” or the like. For example, the vehicle cooperation application  562  allows the occupant P to select a boarding event by displaying boarding events usable as the start trigger as the buttons B on the execution screen IM 2  with reference to the trigger history information  184  stored in the storage  181  of the automated driving control device  101 . In the storage  560 , boarding events generally used as triggers may be displayed as the buttons B on the execution screen IM 2  and the occupant P may be allowed to select a boarding event. In this case, the vehicle cooperation application  562  does not use the trigger history information  184  in a proposal of the boarding event. 
     Operation Flow 
       FIG. 13  is a flowchart showing a flow of a series of start trigger addition processes according to the second embodiment. The extractor  172  extracts candidates for the boarding event used as the start trigger of the autonomous parking event related to a return based on the trigger history information  184  (step S 200 ). The proposer  173  proposes the candidates for the boarding event extracted by the extractor  172  to the occupant P (step S 202 ). For example, the proposer  173  proposes the boarding event to the occupant P by transmitting information indicating the candidates for the boarding event extracted by the extractor  172  to the terminal device  500  and presenting the candidates to the occupant P by the vehicle cooperation application  562  executed in the terminal device  500 . The proposer  173  determines whether the designation of the boarding event is received in the terminal device  500  (step S 204 ). For example, the proposer  173  determines whether the information indicating the boarding event designated by the terminal device  500  is received. When the proposer  173  determines that the designation of the boarding event is not received, the process ends. When the proposer  173  determines that the designation of the boarding event is received, the proposer  173  adds the trigger generated with the boarding event to the trigger information  182  (step S 206 ). 
     Summary of Second Embodiment 
     As described above, the vehicle control system  2  according to the embodiment includes the extractor  172  that extracts candidates for a boarding event based on an action of the occupant P, the proposer  173  that proposes to use the candidates for the boarding event extracted by the extractor  172  as a start trigger of the autonomous parking event related to a return, and the receiver (in the example, the terminal device  500 ) that receives a designation of the boarding event by the occupant P or further includes the receiver (in the example, the terminal device  500 ) that receives a designation of the boarding event by the occupant P. Thus, since the own vehicle M can be caused to pick up the occupant P based on a boarding event appropriate for a desire of the occupant P, it is possible to improve convenience for the occupant P. 
     Third Embodiment 
     Hereinafter, a third embodiment of a vehicle control system, a vehicle control method, and a storage medium according to the present invention will be described with reference to the drawings. In the third embodiment, a process in which an automated driving control device  102  prompts to change a start time of an autonomous parking event related to a return in response to congestion will be described. The same reference numerals as those of the configurations of the above-described embodiment are given and description thereof will be omitted. 
       FIG. 14  is a diagram showing a configuration of a vehicle control system  3  according to the third embodiment. The vehicle control system  3  includes, for example, the automated driving control device  102  instead of (or in addition to) the automated driving control device  101  in the configuration of the vehicle control system  2 . The configuration shown in  FIG. 14  is merely exemplary and a part of the configuration may be omitted or another configuration may further be added. 
     The automated driving control device  102  includes, for example, the first controller  120 , the second controller  160 , the trigger acquirer  170 , the air conditioning controller  171 , the extractor  172 , the proposer  173 , a congestion information acquirer  174 , an output controller  175 , and the storage  181 . 
     For example, when the trigger acquirer  170  acquires a start trigger of the autonomous parking event related to a return, the congestion information acquirer  174  acquires congestion information related to a way to a location for which the occupant P heads with the own vehicle M (that is, a destination) in accordance with the boarding event with which the trigger is generated. The congestion information is, for example, information in which a place where congestion occurs is associated with a time at which the congestion occurs in that place or information in which a place where congestion is predicted to occur is associated with a time at which the congestion is predicted to occur in that place. The congestion information is stored in, for example, a server device that collects congestion information of each place and the congestion information acquirer  174  searches the server device using a destination as a searching key to acquire state information. 
     When the trigger acquirer  170  acquires a trigger and congestion is predicted in a way to a destination of the occupant P based on the congestion information acquired by the congestion information acquirer  174 , the output controller  175  outputs information prompting to change a boarding time of the occupant P to the terminal device  500 . 
     The vehicle cooperation application  562  performs, for example, a process of proposing a change in a boarding time of the occupant P to the occupant P based on information for prompting to change the boarding time of the occupant P received from the output controller  175  and a process of receiving a designation of a boarding time designated by the occupant P in response to a proposal.  FIG. 15  is a diagram showing another example of an execution screen IM 3  of the vehicle cooperation application  562 . The execution screen IM 3  is a screen that is displayed on the display  530  by the vehicle cooperation application  562  when the information for prompting to change the boarding time of the occupant P is received from the output controller  175 . The execution screen IM 3  includes, for example, a message MS 3  indicating prediction of congestion in the way to the destination, a message MS 4  for prompting the occupant P to change the boarding time, a button B 4  for ending the process of changing the boarding time, a box BX for receiving the changed boarding time, and a button B 5  for determining the changed boarding time. The message MS 3  is, for example, a message “Congestion is predicted” or the like. The message MS 4  is, for example, a message “Do you want to change boarding time?” or the like. When the changed boarding time is received in the vehicle cooperation application  562 , the autonomous parking controller  142  starts the autonomous parking event related to the return at that boarding time. 
     Operation Flow 
       FIG. 16  is a flowchart showing a flow of a series of start trigger addition processes according to the third embodiment. First, the trigger acquirer  170  determines whether to acquire a trigger from the vehicle exterior device TM (step S 300 ). The trigger acquirer  170  waits until the trigger is acquired from the vehicle exterior device TM. The congestion information acquirer  174  acquires congestion information when the trigger acquirer  170  acquires the trigger (step S 302 ). The output controller  175  determines whether the congestion is predicted in the way to the destination of the occupant P based on the congestion information acquired by the congestion information acquirer  174  (step S 304 ). When the output controller  175  determines that no congestion is predicted in the way to the destination of the occupant P, the output controller  175  ends the process. When the congestion is predicted in the way to the destination of the occupant P, the output controller  175  outputs the information for prompting to change the boarding time of the occupant P to the terminal device  500  (step S 306 ). The autonomous parking controller  142  determines whether a change in the boarding time is received in the vehicle cooperation application  562  in response to the output of the information to the terminal device  500  by the output controller  175  (step S 308 ). When the autonomous parking controller  142  determines that the change in the boarding time is not received, the process ends. When the autonomous parking controller  142  determines that the change in the boarding time is received, the autonomous parking event related to the return is started at the changed boarding time (step S 310 ). 
     Congestion to Boarding Position 
     As described above, when the congestion is predicted in the way to the destination of the occupant P, the output controller  175  outputs the information for prompting to change the boarding time of the occupant P to the terminal device  500 , but the present invention is not limited thereto. For example, the congestion information acquirer  174  may acquire congestion information related to a way from the parking lot PA to a boarding position (in the example, the boarding area  320 ) of the occupant P. In this case, when congestion is predicted in the way to the boarding position of the occupant P, the output controller  175  may output information for prompting to change the boarding time of the occupant P to the terminal device  500 . 
     Summary of Third Embodiment 
     As described above, the vehicle control system  3  according to the embodiment further includes the congestion information acquirer  174  that acquires the congestion information related to the way to the destination of the occupant P and the output controller  175  that outputs various kinds of information to the terminal device  500  owned by the occupant P. When the trigger acquirer  170  acquires the trigger and the congestion is predicted based on the congestion information acquired by the congestion information acquirer  174 , the output controller  175  outputs the information for prompting to change the boarding time of the occupant P to the terminal device  500 . Thus, it is possible to improve convenience for the occupant P. 
     Hardware Configuration 
       FIG. 17  is a diagram showing an example of a 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  that is used as a working memory, a read-only memory (ROM)  100 - 4  that stores 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 , and the like are connected to each other via an internal bus or a dedicated communication line. The communication controller  100 - 1  performs communication with constituent element other than the automated driving control device  100 . The storage device  100 - 5  stores a program  100 - 5   a  that is executed by the CPU  100 - 2 . The program is loaded on the RAM  100 - 3  by a direct memory access (DMA) controller (not shown) to be executed by the CPU  100 - 2 . Thus, some or all of the recognizer  130 , the action plan generator  140 , and the autonomous parking controller  142  are realized. 
     The above-described embodiment can be expressed as follows: 
     the automated driving control device including a storage device that stores a program and a hardware processor, the automated driving control device causing the hardware processor to execute the program stored in the storage device, 
     to recognize a surrounding environment of a vehicle; 
     to perform at least one of speed control and steering control of the vehicle based on a recognition result; 
     to acquire a trigger generated by a vehicle exterior device in response to occurrence of a predetermined event to a user of the vehicle who is outside of the vehicle; and 
     to cause the vehicle to cause the vehicle to automatically travel to a boarding position of the user in response to the acquisition of the trigger. 
     While preferred embodiments of the invention have been described and shown 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.