US Patent 11402844 Vehicle control apparatus, vehicle control method, and storage medium

A vehicle control apparatus of an embodiment includes a recognizer which recognizes a surrounding environment of a host vehicle, and a driving controller which controls one or both of a speed and steering of the host vehicle on the basis of a recognition result of the recognizer to perform driving control, wherein the driving controller performs the driving control in at least any of a first driving state and a second driving state having a higher rate of automation or fewer tasks requested for an occupant of the host vehicle than the first driving state, and an operation environment in which route change of the host vehicle in the second driving state is executed is limited as compared to a case of the first driving state.