VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

Provided is a vehicle control device including: a recognizer that recognizes a surrounding situation of a vehicle, and identifies an interrupting vehicle trying to cut in a lane of the vehicle; a driving controller that controls steering and acceleration/deceleration of the vehicle without depending on an operation of the vehicle by a driver; and a mode determiner that determines a driving mode of the vehicle as one of a plurality of driving modes including a first driving mode and a second driving mode, wherein the second driving mode is a driving mode imposing a lighter task on the driver than the first driving mode, and a part of the plurality of driving modes including at least the second driving mode is controlled by the driving controller, and wherein the mode determiner restricts execution of the second driving mode when a relationship between the vehicle and the interrupting vehicle satisfies a predetermined condition.