A vehicle control device that can appropriately recognize a direction of a vehicle is provided. The vehicle control device includes: an image acquirer configured to acquire an image obtained by imaging a space outside of a vehicle; an object detector configured to detect, through image processing, a plurality of types of objects including a road structure and a moving object shown in the image; a reference line setter configured to select one type of object from the plurality of types of objects and to set a reference line based on a direction of the selected type of object; and a vehicle direction estimator configured to estimate an angle which is formed by the reference line and a traveling direction line of the vehicle as a direction of the vehicle relative to a lane in which the vehicle is traveling or is scheduled to travel.
Vehicle control device, vehicle control method, and storage medium
2024-03-19
Patent
Elektronische Ressource
Englisch
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