Patent attributes
A vehicle control device includes a recognizer configured to recognize situations around a vehicle; a determiner configured to determine any of lanes included in a road on which the vehicle travels as a reference lane; and a driving controller configured to control at least one of a speed and steering of the vehicle according to the situations recognized by the recognizer and the reference lane determined by the determiner, wherein the determiner is configured to, when the vehicle moves from a first road to a second road different from the first road, among a plurality of lanes included in the first road, according to a relative position of a first reference lane determined at a time before the vehicle moves to the second road with respect to the plurality of lanes, determine a second reference lane on the second road.
