VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes a storage medium configured to store a computer-readable instruction and a processor connected to the storage medium, in which the processor executes the computer-readable instruction, thereby recognizing a surrounding situation of a vehicle, generating a target route of the vehicle on the basis of the recognized surrounding situation and performing steering control of the vehicle along the target route, and stopping, by the processor, the steering control when it is determined that a deviation between a traveling position of the vehicle and the target route is equal to or greater than a threshold value, and a time taken until the vehicle deviates from the traveling lane of the vehicle is equal to or less than a predetermined time.