VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a recognizer configured to recognize a surrounding situation of a vehicle, a driving controller configured to execute driving control for controlling one or both of steering and a speed of the vehicle, an incoming call determiner configured to determine presence or absence of an incoming call for an occupant of the vehicle, and a notification controller configured to notify the occupant of information about an operation of the vehicle based on the driving control and information about the incoming call in a mode corresponding to a state of the driving control. The driving controller determines whether or not to make a lane change from a travel lane of the vehicle to an adjacent lane on the basis of a degree of progress of the control if the incoming call is present when control related to the lane change of the vehicle is executed.