Abstract: A vehicle control device includes a recognizer configured to recognize a position of a vehicle, a driving controller configured to control one or both of acceleration/deceleration and steering of the vehicle and to cause the vehicle to travel in one of a plurality of driving modes in which tasks imposed on an occupant of the vehicle are different, and a mode determiner configured to determine a driving mode which is to be performed by the driving controller. The recognizer recognizes first road information including road marking objects near the vehicle with respect to a position of the vehicle on the basis of a recognition result from an external sensor, recognizes second road information including road marking objects near the vehicle from map information on the basis of position information of the vehicle, and performs a process of recognizing the position of the vehicle through matching between the first road information and the second road information.

Abstract: A vehicle control device includes a recognizer configured to recognize a position of a vehicle, a driving controller configured to control one or both of acceleration/deceleration and steering of the vehicle and to cause the vehicle to travel in one of a plurality of driving modes in which tasks imposed on an occupant of the vehicle are different, and a mode determiner configured to determine a driving mode which is to be performed by the driving controller. The recognizer recognizes first road information including road marking objects near the vehicle with respect to a position of the vehicle on the basis of a recognition result from an external sensor, recognizes second road information including road marking objects near the vehicle from map information on the basis of position information of the vehicle, and performs a process of recognizing the position of the vehicle through matching between the first road information and the second road information.

Abstract: According to one or more aspects, a specimen processing method may use a cartridge comprising a chamber configured to store a liquid. The method may include: storing a specimen and a dispersion medium in the chamber of the cartridge; and rotating the cartridge about a rotational shaft to agitate the specimen and the dispersion medium in the chamber, to thereby form an emulsion in which a dispersoid containing the specimen is dispersed in the dispersion medium.