VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

Provided is a vehicle control device configured to: recognize a road division line existing in front of a vehicle based on an image captured by a camera; match road division line information obtained based on the recognition result with map information describing a distribution of the road division line to identify a position of the vehicle; perform travel control for the vehicle based on the matching result, in which when the vehicle has finished changing lanes from a travel lane in which the vehicle is currently traveling to an adjacent lane, the processor does not match the road division line information with the map information in a section by a predetermined distance with respect to a front-back direction of the vehicle, and matches the road division line information with the map information in such a range outside the section as to include a front-back side of the section.