Traveling control device, traveling control method, and storage medium

A traveling control method comprising:

• recognizing, by a computer, a surrounding situation including a first partition line that partitions a lane around a vehicle from an image captured by an imaging part;
• recognizing, by the computer, a second partition line that partitions a lane around the vehicle from map information on the basis of position information of the vehicle;
• recognizing, by the computer, a target marker around the vehicle on the basis of an output of a radar device;
• determining, by the computer, whether or not the first partition line and the second partition line match;
• selecting, by the computer, any one of the first partition line and the second partition line when it is determined that the first partition line and the second partition line do not match;
• executing, by the computer, traveling control of the vehicle on the basis of the selected partition line;
• and
• determining, by the computer, reliability of each of the first partition line and the second partition line according to whether or not a stationary target marker is present on a first lane partitioned by the first partition line and a second lane partitioned by the second partition line, and selecting, by the computer, any one of the first partition line and the second partition line on the basis of the reliability.

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

• recognize a surrounding situation including a first partition line that partitions a lane around a vehicle from an image captured by an imaging part;
• recognize a second partition line that partitions a lane around the vehicle from map information on the basis of position information of the vehicle;
• recognize a target marker around the vehicle on the basis of an output of a radar device;
• determine whether or not the first partition line and the second partition line match;
• select any one of the first partition line and the second partition line when it is determined that the first partition line and the second partition line do not match;
• execute traveling control of the vehicle on the basis of the selected partition line;
• and
• determine reliability of each of the first partition line and the second partition line according to whether or not a stationary target marker is present on a first lane partitioned by the first partition line and a second lane partitioned by the second partition line, and selects any one of the first partition line and the second partition line on the basis of the reliability.