A vehicle control device, a vehicle control method, and a storage medium capable of more accurately determining a driving lane of a vehicle even if a road on which the vehicle is driven is a two-way traffic section. A vehicle control device is provided with: a driving control unit that controls one or both of the steering and the speed of a vehicle on the basis of a surrounding situation recognized by a recognition unit; an acquisition unit that acquires map information including lane information around the vehicle and reference information for specifying the position of the vehicle; and a specifying unit that specifies a travel lane of the vehicle on the basis of information on a road on which the vehicle travels acquired from the map information on the basis of the reference information, and the types of the road division lines that are recognized by the recognition unit and divide each of the one or more lanes around the vehicle. When the determination unit determines that the road is a two-way passage section on the basis of at least one of the road information and the type of the road division line, the determination unit determines the travel lane without using the information of the line type of at least the two-way passage division line of the result of the recognition of the surroundings of the vehicle recognized by the recognition unit.

    即便在车辆行驶的道路是双向通行区间也能更准确确定车辆的行驶车道的车辆控制装置、车辆控制方法及存储介质。车辆控制装置具备:驾驶控制部,基于识别部识别到的周边状况控制车辆的转向及速度的一方或双方;取得部,取得包含车辆的周边的车道信息的地图信息及用于确定车辆的位置的参照信息;确定部,根据基于参照信息从地图信息取得的车辆行驶的道路的信息及识别部识别到的对车辆的周边的一个以上的车道分别划分的道路划分线的类别来确定车辆的行驶车道,确定部在基于道路的信息和道路划分线的类别的至少一方判定为道路是双向通行区间的情况下不使用识别部识别到的车辆的周边的识别结果的至少双向通行用的划分线的线种类的信息而确定行驶车道。


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    Titel :

    VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM


    Weitere Titelangaben:

    车辆控制装置、车辆控制方法及存储介质


    Beteiligte:
    OGURO CHIHIRO (Autor:in) / KATO DAICHI (Autor:in)

    Erscheinungsdatum :

    2023-09-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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