Determination device, determination method, and storage medium

A determination method comprising:

• by a computer,
• recognizing a surrounding situation including a first partition line that divides a travel lane of a host vehicle and other vehicles present around the host vehicle on the basis of an output of a detection device that has detected a surrounding situation of the host vehicle;
• recognizing a second partition line that divides lanes around the host vehicle based on map information, on the basis of position information of the host vehicle;
• performing correctness determination on whether at least one of the first partition line and the second partition line is correct on the basis of at least one of the first partition line and the second partition line and traveling trajectories of the other vehicles;
• and
• when a first other vehicle and a second other vehicle recognized by the first recognizer laterally move in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, not performing the correctness determination on the basis of the first other vehicle and the second other vehicle.

A computer-readable non-transitory storage medium that has stored a program causing a computer to execute:

• recognizing a surrounding situation including a first partition line that divides a travel lane of a host vehicle and other vehicles present around the host vehicle on the basis of an output of a detection device that has detected a surrounding situation of the host vehicle,
• recognizing a second partition line that divides lanes around the host vehicle based on map information, on the basis of position information of the host vehicle,
• performing correctness determination on whether at least one of the first partition line and the second partition line is correct on the basis of at least one of the first partition line and the second partition line and traveling trajectories of the other vehicles, and
• when a first other vehicle and a second other vehicle recognized by the first recognizer laterally move in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, the determiner does not perform the correctness determination on the basis of the first other vehicle and the second other vehicle.