Honda Motor Co., Ltd.
VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Abstract:

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.