Vehicle control device, vehicle control method, and storage medium

A vehicle control method comprising:

• recognizing, by a computer, a surrounding environment including a structure of a road near a vehicle and another vehicle;
• deriving, by the computer, a total predicted probability that the other vehicle will travel in the future along each of routes which are assumed when a plurality of routes along which the other vehicle is able to travel are assumed on a road on which the other vehicle that has been recognized travels;
• and
• controlling, by the computer, behavior of the vehicle based on the total predicted probability,
• wherein the routes which are assumed include a route A along which the other vehicle goes straight, a route B along which the other vehicle turns left, and a route C which the other vehicle turns right,
• derive, by the computer, a first predicted probability, a second predicted probability, and a third predicted probability to each of the route A, the route B, and the route C, and
• perform, by the computer, a statistic process using the first predicted probability, the second predicted probability, and the third predicted probability corresponding to each of the route A, the route B, and the route C to derive a predicted probability of the route A, a predicted probability of the route B, and a predicted probability of the route C,
• the first predicted probability includes a probability A1 of the route A, a probability B1 of the route B, and a probability C1 of the route C,
• derive, by the computer, the probability A1 of the route A, the probability B1 of the route B, and the probability C1 of the route C based on a probability information,
• the probability information is information in which the probability A1, the probability B1, and the probability C1 and each of a combination of a type of a structure of the road on which the other vehicle is present and a position of the other vehicle in the road are associated with each other,
• the second predicted probability includes a probability A2 of the route A, a probability B2 of the route B, and a probability C2 of the route C derived from an explicit action explicitly indicated by the other vehicle,
• the third predicted probability includes a probability A3 of the route A, a probability B3 of the route B, and a probability C3 of the route C derived from an implicit action implicitly indicated by the other vehicle obtained from the surrounding environment,
• control speed of the vehicle based on the predicted probability of the route A, the predicted probability of the route B, and the predicted probability of the route C.

A non-transitory storage medium storing a program for causing a computer to:

• recognize a surrounding environment including a structure of a road near a vehicle and another vehicle;
• derive a total predicted probability that the other vehicle will travel in the future along each of routes which are assumed when a plurality of routes along which the other vehicle is able to travel are assumed on a road on which the other vehicle that has been recognized travels;
• and
• control behavior of the vehicle based on the total predicted probability,
• wherein the routes which are assumed include a route A along which the other vehicle goes straight, a route B along which the other vehicle turns left, and a route C which the other vehicle turns right,
• derive a first predicted probability, a second predicted probability, and a third predicted probability to each of the route A, the route B, and the route C, and
• perform a statistic process using the first predicted probability, the second predicted probability, and the third predicted probability corresponding to each of the route A, the route B, and the route C to derive a predicted probability of the route A, a predicted probability of the route B, and a predicted probability of the route C,
• the first predicted probability includes a probability A1 of the route A, a probability B1 of the route B, and a probability C1 of the route C,
• derive the probability A1 of the route A, the probability B1 of the route B, and the probability C1 of the route C based on a probability information,
• the probability information is information in which the probability A1, the probability B1, and the probability C1 and each of a combination of a type of a structure of the road on which the other vehicle is present and a position of the other vehicle in the road are associated with each other,
• the second predicted probability includes a probability A2 of the route A, a probability B2 of the route B, and a probability C2 of the route C derived from an explicit action explicitly indicated by the other vehicle,
• the third predicted probability includes a probability A3 of the route A, a probability B3 of the route B, and a probability C3 of the route C derived from an implicit action implicitly indicated by the other vehicle obtained from the surrounding environment,
• control speed of the vehicle based on the predicted probability of the route A, the predicted probability of the route B, and the predicted probability of the route C.