Vehicle control device, vehicle control method, and storage medium

A vehicle control method in which a computer executes:

• recognizing left and right dividing lines seen from a vehicle defining a driving lane of the vehicle as device dividing lines on the basis of an output of a detection device detecting surrounding conditions of the vehicle;
• recognizing dividing lines defining the driving lane of the vehicle from map information as map dividing lines on the basis of position information of the vehicle;
• performing a left side dividing line comparison for comparing the device dividing line defining a left side of the driving lane with the map dividing line, and a right side dividing line comparison for comparing the device dividing line defining a right side of the driving lane with the map dividing line at a first distance in a traveling direction seen from the vehicle, and if the results of the left side dividing line comparison and the right side dividing line comparison satisfy a specific condition, performing the left side dividing line comparison and the right side dividing line comparison at a second distance shorter than the first distance;
• and
• performing control of the vehicle on the basis of the comparison results,
• wherein the specific condition includes a condition in which a degree of discrepancy of only one of the results of the left side dividing line comparison and the right side dividing line comparison at the first distance is less than a threshold value.

A computer-readable non-transitory storage medium storing a program configured to cause a computer to execute:

• recognizing left and right dividing lines seen from a vehicle defining a driving lane of the vehicle as device dividing lines on the basis of an output of a detection device detecting surrounding conditions of the vehicle;
• recognizing dividing lines defining the driving lane of the vehicle from map information as map dividing lines on the basis of position information of the vehicle;
• performing a left side dividing line comparison for comparing the device dividing line defining a left side of the driving lane with the map dividing line, and a right side dividing line comparison for comparing the device dividing line defining a right side of the driving lane with the map dividing line at a first distance in a traveling direction seen from the vehicle;
• if the results of the left side dividing line comparison and the right side dividing line comparison satisfy a specific condition, performing the left side dividing line comparison and the right side dividing line comparison at a second distance shorter than the first distance;
• and
• performing control of the vehicle on the basis of the comparison results,
• wherein the specific condition includes a condition in which a degree of discrepancy of only one of the results of the left side dividing line comparison and the right side dividing line comparison at the first distance is less than a threshold value.