VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM

A vehicle control device of embodiments includes a recognizer configured to recognize a surrounding status of a vehicle, a driving controller configured to control one or both of steering and acceleration or deceleration of the vehicle on the basis of the surrounding status recognized by the recognizer or map information, a storage configured to store images of the surroundings of the vehicle captured by a peripheral camera mounted on the vehicle; and a storage controller configured to control the storage. The driving controller causes the vehicle to travel in one of a plurality of driving modes including a first driving mode and a second driving mode in which a task imposed on an occupant of the vehicle is greater than that in the first driving mode. The driving controller causes the vehicle to travel by switching from the first driving mode to the second driving mode when an abnormality has occurred in one or both of the peripheral camera and the storage in the first driving mode, and continues the second driving mode when an abnormality has occurred in one or both of the peripheral camera and the storage in the second driving mode.