A vehicle control device includes a first recognizer that recognizes a pair left and right road lane markings on the basis of an output from a detection device and outputs the left and right road lane markings as a first left road lane marking and a first right road lane marking, respectively, a second recognizer that recognizes a pair of left and right road lane markings on the basis of map information and outputs the left and right road lane markings as a second left road lane marking and a second right road lane marking, respectively, determiner that determines whether or not there is a deviation between the first left road lane marking and the second left road lane marking and a deviation between the first right road lane marking and the second right road lane marking, a setter that, in a case where the determiner determines that a deviation is present only in one of a pair of the first left road lane marking and the second left road lane marking and a pair of the first right road lane marking and the second right road lane marking, sets a position at which a predetermined width is offset from the other pair the one pair, as a center of a travel path on which the vehicle is to travel in the future, and a generator that generates the travel path on the basis of the center of the travel path set by the setter.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM
2022-08-25
Patent
Electronic Resource
English
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06V |
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