A vehicle control device, a vehicle control method, and a storage medium capable of improving a determination rate of a driving lane of a vehicle. A vehicle control device according to an embodiment includes: a recognition unit that recognizes a surrounding situation of a vehicle; a driving control unit that controls one or both of the steering and the speed of the vehicle on the basis of the surroundings recognized by the 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, which is acquired from the map information on the basis of the reference information, and on the basis of the category of a division line that is recognized by the recognition unit and that divides each of one or more lanes in the vicinity of the vehicle. The determination unit determines a traveling lane of the vehicle with respect to a specific road division line among the division lines recognized by the recognition unit without using at least the information of the category.
能提高车辆的行驶车道的确定率的车辆控制装置、车辆控制方法及存储介质。实施方式的车辆控制装置具备:识别部,其识别车辆的周边状况;驾驶控制部,其基于由识别部识别到的周边状况来控制车辆的转向及速度中的一方或双方;取得部,其取得包含车辆的周边的车道信息的地图信息、以及用于确定车辆的位置的参照信息;以及确定部,其根据基于所述参照信息从所述地图信息取得的所述车辆所行驶的道路的信息、以及由所述识别部识别到的对所述车辆的周边的一个以上的车道分别进行划分的划分线的类别,来确定所述车辆的行驶车道,所述确定部关于由所述识别部识别到的所述划分线中的特定道路划分线,至少不使用所述类别的信息而确定所述车辆的行驶车道。
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM
车辆控制装置、车辆控制方法及存储介质
2023-09-26
Patent
Electronic Resource
Chinese
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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