VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

The vehicle control device controls the steered wheels so that the target steered angle for the vehicle to travel while maintaining a predetermined target lateral position in the travel area in which the vehicle travels matches the steered angle of the steered wheels of the vehicle. It is possible to perform lateral position control. During a non-execution period in which lateral position control is not executed, the vehicle control device learns the characteristics of the driver on a curved road, and changes the control parameters used for lateral position control based on the learned characteristics of the driver, based on an index value representing the relationship between a steering direction representing the direction in which the vehicle is traveling due to the driver's steering operation on the steering wheel and a target lateral position.