Determination device, determination method, and storage medium

A determination device comprising:

• a storage medium that stores computer-readable instructions;
• and
• a processor connected to the storage medium,
• wherein the processor executes the computer-readable instructions to
• recognize a road marking present in a moving direction of a vehicle, and
• determine whether the recognized road marking matches a map road marking based on map information stored in a storage unit, and
• when the vehicle approaches a curved road, the processor determines whether the recognized road marking matches the map road marking, with a restriction on a range of the recognized road marking to a range before a reference point that is determined taking into consideration a switching point to the curved road,
• wherein the processor sets the reference point as the switching point if the vehicle is a prescribed distance away from the switching point, or sets the reference point as a point that is positioned in the moving direction with respect to the switching point and obtained from a vehicle speed of the vehicle, if the vehicle is not the prescribed distance away from the switching point.

A determination method comprising:

• by a computer mounted in a vehicle,
• recognizing a road marking present in a moving direction of the vehicle;
• determining whether the recognized road marking matches a map road marking based on map information stored in a storage unit;
• and
• when the vehicle approaches a curved road, determining whether the recognized road marking matches the map road marking, with a restriction on a range of the recognized road marking to a range before a reference point that is determined taking into consideration a switching point to the curved road, and excludes a range beyond the reference point from a target of the determination even when the computer recognizes a road marking in the range beyond the reference point.

A computer-readable non-transitory storage medium storing a program for causing a computer mounted in a vehicle to:

• recognize a road marking present in a moving direction of the vehicle;
• determine whether the recognized road marking matches a map road marking based on map information stored in a storage unit;
• and
• when the vehicle approaches a curved road, determine whether the recognized road marking matches the map road marking, with a restriction on a range of the recognized road marking to a range before a reference point that is determined taking into consideration a switching point to the curved road, and excludes a range beyond the reference point from a target of the determination even when the computer recognizes a road marking in the range beyond the reference point.