Patent attributes
A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to control steering and acceleration/deceleration of the vehicle independently of an operation of a driver of the vehicle; and a mode decider configured to decide on any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle. The recognizer recognizes a sign existing within a reference range of a route along which the vehicle travels. The mode decider changes the driving mode of the vehicle from the second driving mode to the first driving mode when the driving mode of the vehicle is the second driving mode and when the number of signs recognized by the recognizer exceeds a first reference value.
