VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device is configured to acquire a camera image obtained by imaging a surrounding situation of a vehicle, generate a traveling possible region, which is a region where the vehicle is able to travel, based on first information including a traveling route shape defined by a road marking line captured in the camera image and second information including a traveling route shape defined by a road marking line included in map information, and control traveling of the vehicle so that the vehicle travels in the generated traveling possible region, and the processor further sets any one of the first information and the second information as priority information based on information regarding one or more stationary targets included in the first information or the second information to generate the traveling possible region from the set priority information.