Provided are a vehicle control device, a vehicle control method, and a storage medium capable of performing more appropriate driving control in a branch section. A vehicle control device according to an embodiment is provided with: a recognition unit that recognizes a surrounding situation of a host vehicle on the basis of information obtained from at least one of a detection device and map information; and a driving control unit that generates a target trajectory of the host vehicle on the basis of the recognition result of the recognition unit, and controls one or both of the speed and steering of the host vehicle so that the host vehicle travels along the generated target trajectory. The driving control unit generates a target trajectory such that the degree of interference between a dividing line dividing the trunk road side and the branch lane side and the target trajectory of the host vehicle is reduced when the host vehicle changes a forward road from the trunk road side to the branch lane side in a branch section connecting the trunk road and the branch lane.

    提供能够在分支区间进行更恰当的驾驶控制的车辆控制装置、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,其基于从检知器件及地图信息中的至少一方得到的信息来识别本车辆的周边状况;以及驾驶控制部,其基于所述识别部的识别结果来生成所述本车辆的目标轨道,并控制所述本车辆的速度及转向中的一方或双方以使所述本车辆沿着所生成的目标轨道行驶,所述驾驶控制部在将干道与分支车道连接的分支区间中使所述本车辆从干道侧向分支车道侧变更前进道路的情况下,以将干道侧与分支车道侧划分的划分线同所述本车辆的目标轨道之间的干涉程度变小的方式生成所述目标轨道。


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    Title :

    VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM


    Additional title:

    车辆控制装置、车辆控制方法及存储介质


    Contributors:
    KATO DAICHI (author)

    Publication date :

    2023-10-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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