# US 2024/0199010 A1 · Vehicle control device, vehicle control method, and storage medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2024/0199010 A1 - Document ID: US20240199010A1 - Status: Published application - Kind: A1 - Application number: 18/539,537 - Filed: 2023-12-14 - Published: 2024-06-20 - Earliest claimed: 2022-12-20 - Assignees: Honda Motor Co., Ltd. - Applicants: Honda Motor Co., Ltd. - Inventors: Takahiro Shimizu; Sho Tamura - Web page: https://patentgrep.com/patent/US20240199010A1 ## CPC - B60W 30/12: Lane keeping - B60W 60/0053: {from vehicle to occupant} - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/30: Road curve radius - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2556/40: High definition maps - B60W 2710/20: Steering systems - B60W 2720/10: Longitudinal speed - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract According to an embodiment, a vehicle control device includes a first recognizer configured to recognize a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle, a second recognizer configured to recognize a second marking for defining the travel lane on the basis of position information and map information of the vehicle, a corrector configured to correct the second marking on the basis of road gradient information of a travel direction of the vehicle, and a lane decider configured to decide on a travel lane of the vehicle on the basis of a comparison result between the first marking and the second marking corrected by the corrector. ## Claims ### Claim 1 A vehicle control device comprising: a first recognizer configured to recognize a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle; a second recognizer configured to recognize a second marking for defining the travel lane on the basis of position information and map information of the vehicle; a corrector configured to correct the second marking on the basis of road gradient information of a travel direction of the vehicle; and a lane decider configured to decide on a travel lane of the vehicle on the basis of a comparison result between the first marking and the second marking corrected by the corrector. ### Claim 2 (depends on 1) The vehicle control device according to claim 1, wherein the corrector corrects a position of the second marking on the basis of road gradient information of the second marking included in the map information. ### Claim 3 (depends on 1) The vehicle control device according to claim 1, wherein the corrector corrects the travel lane of the vehicle defined by the second marking on the basis of the road gradient information. ### Claim 4 (depends on 1) The vehicle control device according to claim 1, further comprising a driving controller configured to execute driving control for controlling one or both of steering and a speed of the vehicle on the basis of the travel lane decided on by the lane decider, wherein the driving control includes a first driving mode and a second driving mode having a heavier task imposed on a driver of the vehicle than the first driving mode or having a lower driving assistance degree for the driver than the first driving mode, and wherein the driving controller switches the driving mode from the first driving mode to the second driving mode when a deviation degree between the first marking and the second marking is greater than or equal to a threshold value in a state in which the first driving mode is being executed. ### Claim 5 (depends on 1) The vehicle control device according to claim 1, wherein the corrector corrects the second marking when a gradient degree included in the road gradient information is greater than or equal to a threshold value. ### Claim 6 (depends on 1) The vehicle control device according to claim 1, wherein the corrector suppresses correction of the second marking when the vehicle is located in a gradient segment and a gradient change point is not located within a prescribed distance in the travel direction of the vehicle. ### Claim 7 A vehicle control method comprising: recognizing, by a computer, a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle; recognizing, by the computer, a second marking for defining the travel lane on the basis of position information and map information of the vehicle; correcting, by the computer, the second marking on the basis of road gradient information of a travel direction of the vehicle; and deciding, by the computer, on a travel lane of the vehicle on the basis of a comparison result between the first marking and the corrected second marking. ### Claim 8 A computer-readable non-transitory storage medium storing a program for causing a computer to: recognize a first marking for defining a travel lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle; recognize a second marking for defining the travel lane on the basis of position information and map information of the vehicle; correct the second marking on the basis of road gradient information of a travel direction of the vehicle; and decide on a travel lane of the vehicle on the basis of a comparison result between the first marking and the corrected second marking.