VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device that executes autonomous driving of a vehicle based on a detection result of a LiDAR, calculates a road surface equivalent height that is equivalent to a height of a road surface on which the vehicle is traveling, based on a reflection point detected by the LiDAR, calculates the number of road surface equivalent height reflection points that are reflection points positioned at heights within a predetermined range from the road surface equivalent height, calculates a reflection point low density section that is a section where a density of the road surface equivalent height reflection points is less than a value that is predetermined, calculates a shortest distance between the reflection point low density section and the vehicle on a target traveling track of the vehicle as a detection limit distance, and decides an upper limit vehicle speed of the vehicle based on the detection limit distance.