VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device includes: a first recognizer configured to recognize a surrounding situation of a vehicle including a first marking; a second recognizer configured to recognize a second marking associated with a lane near the vehicle from map; a driving controller; and a mode determiner. The mode determiner is configured to perform: determining a driving mode and determining whether to refer to the map based on a determination result indicating whether the first marking and the second marking match and a determination result indicating whether there is a separation between two of the second markings; and setting driving support details which are able to be executed by the driving controller to be different between a first state in which the map is referred to and a second state in which the map is not referred to when the first driving mode based on the first marking is executed.