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, and a controller configured to control the driving controller, wherein the controller determines a lane to which the object belongs, based on a positional relationship between left and right demarcation lines defining a host lane in which the host vehicle travels and left and right edges of an object present around the host vehicle, which are present on a two-dimensional image captured by the imager, and determines the lane to which the object belongs, based on the positional relationship between the recognized demarcation line and the edge of the object when one of the left and right demarcation lines is not recognized.