VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM

A vehicle control device according to an embodiment includes an imager configured to image surroundings of a host vehicle, a recognizer configured to recognize a surroundings situation of the host vehicle, a driving controller configured to control one or both of speed and steering of the host vehicle on the basis of a result of the recognition of the recognizer, and a controller configured to control the driving controller on the basis of imaging content of the imager, and the controller sets relative position information with respect to the host vehicle for an object around the host vehicle present on a two-dimensional image captured by the imager, and corrects the recognition result of the recognizer on the basis of the set relative position information.