Vehicle control device, vehicle control method, and storage medium

A vehicle control method to be executed by a computer, the vehicle control method comprising:

• acquiring a camera image obtained by photographing a surrounding situation of a vehicle;
• generating a travelable region, which is a region in which the vehicle is capable of traveling, based on at least one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information;
• detecting a travel trajectory of another vehicle traveling ahead of the vehicle with respect to a travel direction of the vehicle;
• controlling traveling of the vehicle such that the vehicle travels in the travelable region;
• and
• prioritizing, when a deviation between the camera road division line and the map road division line has occurred, one of the camera road division line and the map road division line to generate the travelable region based on a camera deviation representing a deviation between the detected travel trajectory and the camera road division line and a map deviation between the detected travel trajectory and the map road division line.

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

• acquire a camera image obtained by photographing a surrounding situation of a vehicle;
• generate a travelable region, which is a region in which the vehicle is capable of traveling, based on at least one of a camera road division line representing a road division line shown in the camera image and a map road division line representing a road division line stored in map information;
• detect a travel trajectory of another vehicle traveling ahead of the vehicle with respect to a travel direction of the vehicle;
• and
• control traveling of the vehicle such that the vehicle travels in the travelable region;
• wherein when a deviation between the camera road division line and the map road division line has occurred, the computer prioritizes one of the camera road division line and the map road division line to generate the travelable region based on a camera deviation representing a deviation between the detected travel trajectory and the camera road division line and a map deviation between the detected travel trajectory and the map road division line.