Determination device, determination method, and storage medium
A determination device of an embodiment includes a first recognizer configured to recognize a first partition line that divides a travel lane of a host vehicle, and other vehicles present around based on a detection device, a second recognizer configured to recognize a second partition line that divides lanes around the host vehicle based on map, and a determiner configured to perform correctness determination on whether at least one of the first and the second partition line is correct based on at least one of the first and the second partition line and traveling trajectories of the other vehicles, in which, when a first and a second other vehicle recognized laterally are moving in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, the determiner does not perform the correctness determination based on the first and the second other vehicle.
1 . A determination device comprising:
a first recognizer configured to recognize a surrounding situation including a first partition line that divides a travel lane of a host vehicle and other vehicles present around the host vehicle on the basis of an output of a detection device that has detected a surrounding situation of the host vehicle;
a second recognizer configured to recognize a second partition line that divides lanes around the host vehicle based on map information, on the basis of position information of the host vehicle; and
a determiner configured to perform correctness determination on whether at least one of the first partition line and the second partition line is correct on the basis of at least one of the first partition line and the second partition line and traveling trajectories of the other vehicles,
wherein, when a first other vehicle and a second other vehicle recognized by the first recognizer laterally are moving in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, the determiner does not perform the correctness determination on the basis of the first other vehicle and the second other vehicle.
2 . The determination device according to claim 1 ,
wherein the predetermined distance is set on the basis of a width of a lane divided by the first partition line or a lane divided by the second partition line.
3 . The determination device according to claim 1 ,
wherein the predetermined distance is set according to a distance between the lateral positions before the first other vehicle and the second other vehicle move laterally.
4 . The determination device according to claim 1 ,
wherein, when the first recognizer recognizes a third other vehicle that is different from the first other vehicle and the second other vehicle, and the third other vehicle has not moved laterally in the same direction as the first other vehicle and the second other vehicle that have moved laterally at positions that are different by a predetermined distance or more, the determiner performs the correctness determination on the basis of the third other vehicle.
5 . The determination device according to claim 1 ,
wherein, when there is a point in front of the host vehicle where the number of lanes in which the host vehicle is able to travel decreases, and when the first other vehicle and the second other vehicle laterally move within a predetermined range before that point, the determiner performs the correctness determination on the basis of the first other vehicle and the second other vehicle.
6 . A determination method comprising:
by a computer,
recognizing a surrounding situation including a first partition line that divides a travel lane of a host vehicle and other vehicles present around the host vehicle on the basis of an output of a detection device that has detected a surrounding situation of the host vehicle;
recognizing a second partition line that divides lanes around the host vehicle based on map information, on the basis of position information of the host vehicle;
performing correctness determination on whether at least one of the first partition line and the second partition line is correct on the basis of at least one of the first partition line and the second partition line and traveling trajectories of the other vehicles; and
when a first other vehicle and a second other vehicle recognized by the first recognizer laterally move in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, not performing the correctness determination on the basis of the first other vehicle and the second other vehicle.
7 . A computer-readable non-transitory storage medium that has stored a program causing a computer to execute:
recognizing a surrounding situation including a first partition line that divides a travel lane of a host vehicle and other vehicles present around the host vehicle on the basis of an output of a detection device that has detected a surrounding situation of the host vehicle,
recognizing a second partition line that divides lanes around the host vehicle based on map information, on the basis of position information of the host vehicle,
performing correctness determination on whether at least one of the first partition line and the second partition line is correct on the basis of at least one of the first partition line and the second partition line and traveling trajectories of the other vehicles, and
when a first other vehicle and a second other vehicle recognized by the first recognizer laterally move in front of the host vehicle, and the positions after the lateral movement differ by a predetermined distance or more, the determiner does not perform the correctness determination on the basis of the first other vehicle and the second other vehicle.